CN111493659B

CN111493659B - Intelligent robot for making Hongkong-style milk tea

Info

Publication number: CN111493659B
Application number: CN201910099536.6A
Authority: CN
Inventors: 葛明; 黄家和; 张志威; 林浩诺
Original assignee: Jinbaijia Development Co ltd; Hong Kong Productivity Council
Current assignee: Jinbaijia Development Co ltd; Hong Kong Productivity Council
Priority date: 2019-01-31
Filing date: 2019-01-31
Publication date: 2022-04-15
Anticipated expiration: 2039-01-31
Also published as: CN111493659A

Abstract

The invention provides an intelligent robot for making harbor type milk tea, which comprises a rack, wherein the rack is internally provided with an accommodating space, the top surface of the rack is provided with an operating table, the intelligent robot also comprises a bracket, and the bracket is arranged on one side of the operating table; a first mechanical arm and a second mechanical arm which are arranged on the bracket; a tea separating mechanism which is arranged on the bracket in a way of moving up and down; the first teapot and the second teapot are arranged on the operating platform and can be clamped and moved by the first mechanical arm and the second mechanical arm; a first electronic scale disposed on the operation table; the second electronic scale is arranged on the operating platform, and at least one teacup is placed on the second electronic scale; an electric heating furnace arranged on the operation table; and the operation terminal is arranged on the operation table, is provided with an operation interface and sends an operation instruction. Therefore, the problems that the operation of the traditional milk tea brewing process still depends on manual operation and the production period, quality and precision can not be ensured are solved.

Description

Intelligent robot for making Hongkong-style milk tea

Technical Field

The invention relates to the technical field of milk tea brewing process operation, in particular to an intelligent robot for making Hongkong style milk tea.

Background

Nowadays, the world is stepping into the industrial automation era, and robots and automation technology will become a great trend for future development. The application of industrial robots has been extended to different fields to improve efficiency and reduce human error. The hong Kong diet industry has huge demand on manpower, and a plurality of task techniques still depend on manual operation, including the flow operation of milk tea modulation. Meanwhile, the existing milk tea brewing process needs to be completed by a master trained for a long time, the precision is difficult to ensure, and the production period and the quality are limited by human factors. Therefore, the application of the innovative technology is enhanced, the tense manpower requirement can be relieved, and the competitiveness is improved.

Compared with other milk tea, the Hongkong style milk tea has unique requirements on raw materials and processes. The black tea mainly uses the tin blue black tea, so that the strong tea flavor is brought, and the black tea is broken black tea, so that the tea flavor is stronger. In addition, a special long filter screen made of cotton is used in the manufacturing process to filter out broken tea. The traditional process for artificially making hong Kong style milk tea involves certain specific actions: 1. "sui" tea; 2. "baked" tea; 3. "La" tea; 4. the 'pour' tea mainly comprises the following steps: 1. putting the prepared tea powder into a filter screen; 2. baking tea, namely putting the filter screen into a first teapot to boil the tea; 3. taking out the filter screen, placing the filter screen above a second teapot, pouring the tea in the first teapot into the filter screen, and filtering to flow into the second teapot, wherein the second teapot is heated; 4. repeating the step 3, and pouring the tea in the second teapot into the first teapot; 5. repeating the steps 3 and 4 to finish the back-and-forth tea hitting and the tea pulling for a plurality of times; 6. pouring the bland milk and sugar into the kettle without water and then pouring the hot tea into the milk; 7. stirring uniformly, adding sugar, and pouring the milk tea in the pot into the tea cups respectively to finish pouring tea. In these steps, strict requirements are imposed on the duration and duration of the fire, and improper handling can result in over-bitter or light taste.

Disclosure of Invention

In view of the above, the invention mainly aims to provide an intelligent robot for making Hongkong style milk tea, which overcomes the problem that the traditional milk tea brewing process still depends on manual operation and can not ensure the production period, quality and precision.

In order to achieve the above object, the present invention provides an intelligent robot for making hong Kong style milk tea, which is characterized by comprising: including the rack, rack inside accommodation space, the top surface have the operation panel, its characterized in that, intelligent robot still includes: the bracket is arranged on one side of the operating platform; a first mechanical arm and a second mechanical arm which are arranged on the bracket; a tea separating mechanism which is arranged on the bracket in a way of moving up and down; the first teapot and the second teapot are arranged on the operating platform and can be clamped and moved by the first mechanical arm and the second mechanical arm; the first electronic scale is arranged on the operating platform and used for weighing the first teapot, the second teapot, tea, water and fresh milk in the first teapot and the second teapot; the second electronic scale is arranged on the operating platform, and at least one teacup is placed on the second electronic scale and used for weighing the teacup and the tea and the blanched milk in the teacup; the electric heating furnace is arranged on the operating platform and used for heating the first teapot or the second teapot; and the operation terminal is arranged on the operation table, is provided with an operation interface and sends an operation instruction.

Optionally, the both sides of operation panel are equipped with first teapot seat and second teapot seat respectively, first teapot seat and second teapot seat are used for placing first teapot and second teapot respectively.

Optionally, the contact surfaces of the first teapot and the second teapot, and the contact surfaces of the first teapot seat and the second teapot seat are respectively provided with a plurality of mutually matched positioning protrusions or positioning grooves.

Optionally, the first mechanical arm and the second mechanical arm are respectively provided with a first pneumatic clamp and a second pneumatic clamp, and the first mechanical arm and the second mechanical arm are connected with a mechanical arm control device, fixed in the accommodating space of the rack and connected with the operation terminal.

Optionally, a clamping jaw is arranged at the tail end of each pneumatic clamp, each clamping jaw consists of two clamping jaw units, and a clamping jaw groove is formed in the contact surface of at least one clamping jaw unit.

Optionally, the handles of the first teapot and the second teapot are provided with special handle workpieces, and one side of each special handle workpiece is provided with a concave part.

Optionally, the recess corresponds to the shape of the jaw unit, so that the jaw unit and the recess can be tightly clamped.

Optionally, the cross section of the clamping jaw unit is approximately in a right trapezoid shape, and two contact surfaces of the clamping jaw unit are parallel planes, a contact surface of one clamping jaw unit is provided with a protruding clamping part which is in a trapezoid shape, and the recessed part is a trapezoid recess corresponding to the shape of the clamping part.

Optionally, the center of operation panel still disposes the water receiving pedestal, separate tea mechanism and contain electronic jar and pneumatic clamping device.

Optionally, a plurality of positioning grooves are formed in the top of the second electronic scale.

The intelligent robot for making the hong Kong milky tea can provide an automatic solution for the traditional milky tea preparation process, can improve the production efficiency, improve the product quality, reduce the dependence on hands, help to solve the problems of cost rise and labor shortage, can improve the production efficiency and the product quality due to the automation of the process, and avoid the problems of production waste and occupational safety caused by human errors.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent robot for making Hongkong style milk tea of the present invention;

FIG. 2 is a perspective view of the internal structure of the gantry of the present invention;

FIG. 3 is an enlarged schematic view of the tea-separating mechanism of the present invention;

FIG. 4 is an enlarged schematic view of the pneumatic clamp of the present invention;

FIG. 5 is a side view of the jaws of the pneumatic clamp of the present invention;

FIG. 6 is a top view of the jaws of the pneumatic clamp of the present invention;

FIG. 7 is a perspective view of the jaws of the pneumatic clamp of the present invention;

FIG. 8 is a left view of the special handle of the teapot of the present invention;

FIG. 9 is a schematic view of the right view of the special handle of the teapot of the present invention;

FIG. 10 is a top view of a special handle of the present invention;

FIG. 11 is a schematic view of a pneumatic clamp gripping a teapot specialty handle of the present invention;

FIG. 12 is a schematic view of a positioning ring for a teapot according to the present invention;

FIG. 13 is an enlarged view of the teapot base of the present invention;

FIG. 14 is a schematic view of the positioning of the teapot base according to the present invention;

FIG. 15 is an interface for operation of the present invention.

In the figure: 10 machine frame; 11 a first teapot base; 12 a second teapot base; 13 a first electronic scale; 14 a second electronic scale; 15 electric heating furnace; 16, receiving a water pedestal; 17 operating the terminal; 18 milk tea cup; 20 a support; 21 a first robot arm; 22 a second mechanical arm; 23, a pneumatic clamp; 24, a base; a 30-compartment tea mechanism; 40 a first teapot; 41 a second teapot; 50 a robot arm control device; 51 a computer host; 52 a pneumatic clamping device; 53 electric cylinders; 54 jaw recesses; 55 a clamping part; 56. a recessed portion; 57 positioning the groove; 58 a retaining ring; 59 locate the projections.

Detailed Description

To facilitate a further understanding of the structure and resulting effects of the invention, reference should be made to the following detailed description of preferred embodiments taken in conjunction with the accompanying drawings.

As shown in fig. 1 to 3, the present invention provides an embodiment of an intelligent robot for making hong Kong style milk tea, which at least includes: the tea making machine comprises a machine frame 10, a support 20, an electric heating furnace 15, a tea separating mechanism 30, two pneumatic clamps 23, a first tea pot 40, a second tea pot 41, an operation terminal 17 and a mechanical arm control device 50.

The machine frame 10 forms a main body platform of the intelligent robot for making the harbor type milk tea, the whole operation process of the robot is completed on the machine frame 10, the robot is placed on the ground, the surface of the robot is preferably a stainless steel flat plate, the top surface of the robot is provided with an operation table, and the robot is internally provided with an accommodating space.

The electric heating furnace 15 is fixed on the operating platform and is manually controlled to be switched on and off and power;

the support 20 is fixed in the middle of one side of the operating platform, and a first mechanical arm 21 and a second mechanical arm 22 are respectively arranged on two sides of the support; the tea separating mechanism 30 consists of an electric cylinder 53 and a pneumatic clamping device 52, wherein the pneumatic clamping device 52 is used for clamping a handle of a tea bag (a filter screen filled with tea), and the electric cylinder 53 allows the tea separating mechanism 30 to move up and down and is fixed on one side surface of the bracket 20 facing the center of the rack 10; the main function of the support 20 is to fix the tea separation mechanism 30, the first mechanical arm 21 and the second mechanical arm 22, and the bottom of the support 20 can communicate with the inside of the rack 10 to accommodate the data lines and cables connecting the tea separation mechanism 30, the first mechanical arm 21 and the second mechanical arm 22. The first robot arm 21 and the second robot arm 22 may be commercially available robot arms, such as UR5 robot arms of Universal Robots, which are configured to provide a complete control program, and a designer can complete the corresponding activities and operations of the robot arms by defining corresponding configurations as required.

First arm 21 and second arm 22 all can include base 24, shoulder, first festival arm, elbow, second festival arm, first wrist, second wrist and third wrist respectively, first arm 21 and second arm 22 pass through bolt installation fixed with support 20 through the one end of base 24 respectively, the other end of base 24 has shoulder, first festival arm, elbow, second festival arm, first wrist, second wrist and third wrist through a plurality of servo motor extension connection in proper order, just the end of third wrist has pneumatic clamp 23 through bolted connection. The base 24, shoulder, elbow, first wrist, second wrist, and third wrist of UR5 robot can all realize 360 ° rotation. When the intelligent robot for making the harbor type milk tea works, the two mechanical arms can sequentially move the pneumatic clamps 23 at the tail ends of the mechanical arms to the appointed space coordinate points according to the preset rule and rotate the joints of the mechanical arms by the preset angle, so that the corresponding tea making action is realized.

The clamping jaws are arranged at the tail ends of the two pneumatic clamps 23, and the main function of the clamping jaws is to independently complete the clamping work of the first teapot 40 and the second teapot 41 by matching with a mechanical arm. As shown in fig. 5, in order to further improve the clamping performance of the pneumatic clamp 23 and the clamping jaws, the clamping jaws of the pneumatic clamp 23 of the present application have structural features including: the clamping jaw groove 54 for clamping the lids of the first teapot 40 and the second teapot 41 is arranged in the center of the clamping jaw, and the shape of the clamping jaw groove is designed to be tightly attached to the specially-made handles of the first teapot 40 and the second teapot 41, and the clamping jaw groove is used for clamping the lids of the first teapot 40 and the second teapot 41.

Specifically, please refer to fig. 4 to 7, which are a side view, a top view and a perspective view of the clamping jaw of the pneumatic clamp 23, wherein the clamping jaw is composed of two clamping jaw units, each clamping jaw unit is fixed on the surface of the pneumatic clamp 23 by a plurality of bolts and performs opening and closing actions along with the pneumatic clamp 23. As shown in fig. 6, each jaw unit is substantially a right trapezoid in top view, the contact surfaces of the two jaw units are two parallel planes, and the jaw groove 54 is exposed from the contact surface of one of the jaw units.

The overall shape of the jaw unit is merely for example and not limited thereto. In particular, the clamping surface of one of the jaw units in the present application has a trapezoidal clamping portion 55.

Correspondingly, the handles of the first tea pot 40 and the second tea pot 41 are provided with special handle workpieces. As shown in fig. 8 to 10, the left side view, the right side view and the top view of the handle are shown in sequence. As shown in fig. 10, one side of the tailor-made handle workpiece of the handle has a concave portion 56, the concave portion 56 is a trapezoid concave, and the trapezoid shape of the concave portion 56 corresponds to the trapezoid shape of the holding portion 55, so that when the holding jaws hold the first teapot 40 and the second teapot 41, the holding portion 55 and the concave portion 56 can be completely attached.

Fig. 11 is a schematic view showing the pneumatic clamp 23 clamping the special handles of the first and

second teapots

40 and 41 according to the present invention. The special handle workpiece can allow a certain deviation of the clamping position by matching with a special pneumatic clamp 23 device, the trapezoidal design can correct the first teapot 40 and the second teapot 41 to the correct position, the clamping capacity is improved, and the robot can better clamp the first teapot 40 and the second teapot 41 to perform different actions.

The operation terminal 17 is movably installed on the gantry 10, and a user can adjust the height and the angle of the operation terminal 17 according to needs, in this embodiment, the operation terminal 17 uses a liquid crystal touch screen display, as shown in fig. 12, which can display an operation interface for the user to view and perform touch operation, so as to receive an operation instruction.

The robot control device 50 is fixed in the accommodating space of the gantry 10, and electrically connected to the operation terminal 17, the first robot 21, and the second robot 22. The robot arm control devices 50 may be a plurality of robot arm control devices, and further connected to a computer host 51, and the computer host 51 receives the operation instruction of the operation terminal 17 and the corresponding setting selected by the user in a unified manner, thereby completing the control of each electrical component.

More than one electronic scale is also fixed on the operating platform. In the embodiment of the present application, there are two electronic scales, as shown in fig. 1, a first electronic scale 13 and a second electronic scale 14 are respectively disposed at two sides of the operation table, which can be used for placing a first teapot 40, a second teapot 41 and a plurality of teat cups 18, respectively, and the scale of the second electronic scale 14 for placing the teat cups 18 is larger in size. The first electronic scale 13 can collect the tea amount or milk amount of the first teapot 40 or the second teapot 41 on the first electronic scale in real time, and transmits the collected data to the computer host 51, and the computer host 51 controls the angle of each mechanical arm for pouring tea and milk after analyzing the collected data. The second electronic scale 14 is used for collecting the total mass of the milk tea cups 18 in real time and transmitting the collected data to the computer host 51 so as to control the tea pouring speed of the mechanical arm. For example, before each tea pouring step is started, the computer 51 can record the total mass of all the milk tea cups 18, obtain and calculate the increased value of the total mass in real time during the tea pouring process, thereby estimating the tea amount or the milk amount in the current milk tea cup 18 and controlling the angle of the mechanical arm for pouring the tea and the milk according to the increased value.

The top of the second electronic scale 14 is provided with a plurality of positioning grooves 57, each positioning groove 57 can be used for placing a teacup, a user can be helped to accurately stack the teacup on the second electronic scale 14, and when the mechanical arm carries out the step of pouring tea, the first teapot 40 and the second teapot 41 are sequentially moved to the upper part of the corresponding teacup and rotationally inclined to the first teapot 40 and the second teapot 41 according to a plurality of preset space coordinates, so that the steps of pouring tea and pouring milk are completed.

Optionally, as shown in fig. 13, the operating platform is further configured with a first teapot holder 11 and a second teapot holder 12, and the first teapot holder 11 and the second teapot holder 12 are respectively provided with a plurality of protrusions 59 for positioning the first teapot 40 and the second teapot 41.

Correspondingly, as shown in fig. 12, the positioning rings 58 are arranged at the bottoms of the first teapot 40 and the second teapot 41, and a plurality of positioning grooves 57 are formed on the positioning rings 58. Please refer to fig. 14, which is a schematic diagram illustrating the positioning completion of the first teapot seat 11 and the second teapot seat 12 according to the present invention, by combining the positioning protrusions 59 and the positioning grooves 57, the number of the positioning protrusions 59 is equal to the number of the positioning grooves 57, and the positions thereof correspond to each other, so that the first teapot 40 and the second teapot 41 can be accurately positioned, the positions and directions of the first teapot 40 and the second teapot 41 during placement are ensured, and the efficiency of the mechanical arm during placement and clamping of the first teapot 40 and the second teapot 41 is improved. In addition, on the contrary, the positioning groove 57 may be disposed on the first teapot seat 11 and the second teapot seat 12, respectively, and the positioning protrusion 59 may be disposed on the positioning ring 58.

Optionally, a water receiving pedestal 16 is further disposed in the center of the machine console, and the water receiving pedestal 16 is a fixed platform for placing the first teapot 40 or the second teapot 41 during the process of "hitting" tea or "pulling" tea.

The robot system of the invention can replace manual operation of partial steps, realizes more automatic milk tea making, and has the following specific working procedures:

1. the tea bag (the filter screen with tea) is manually placed in the first teapot 40, and the first teapot 40, the second teapot 41 and the teacup are respectively placed on the two teapot seats and the second electronic scale.

2. Tea leaves and hot water required for manually pouring milk tea are poured into the first tea pot 40, and a proper amount of light milk is poured into the second tea pot 41.

3. A user inputs data of guest taste to a control interface on an operation terminal 17, presses a starting switch, starts an electric heating furnace 15, the robot respectively clamps two teapots and measures the weight of milk and hot water through a first electronic scale 13, and then places the first teapot 40 on the electric heating furnace 15 to start 'baking tea'.

4. The mechanical arm pours the fresh milk into the tea cup in sequence, the second electronic scale 14 collects and analyzes the milk amount in the cup in real time, the mechanical arm is controlled to pour the milk at an angle, and the pouring of the milk is stopped when the required milk amount is reached.

5. After the tea baking is finished, the mechanical arm puts the teapot on the electric heating furnace 15 and the tea bag below the tea separating mechanism 30, the electric cylinder 53 drives the tea separating mechanism 30 to descend, and the pneumatic clamping device 52 clamps the tea bag on the teapot.

6. The electric cylinder 53 drives the tea separating mechanism 30 and the tea bag to rise, the first mechanical arm 21 and the second mechanical arm 22 respectively pick up the first tea pot 40 and the second tea pot 41, tea is poured into the empty tea pot through the tea bag, and the process is repeated, so that the tea hitting and the tea pulling are carried out.

7. The electric cylinder 53 drives the tea separating mechanism 30 to descend, the pneumatic clamping device 52 is released, the teapot is placed back to the teapot, the mechanical arm places the teapot back to the electric heating furnace 15 for temperature return, and the empty teapot is placed back to the original position.

8. The arm lets earlier to separate tea mechanism 30 and takes away the tea bag, then takes the teapot and add tea for milk teacup 18, and the second electronic scale gathers and analyzes the tea volume in the cup in real time, and the angle of falling the tea of control arm reachs required tea volume and just can stop falling the tea.

9. The mechanical arm puts all teapots back to the original position to finish the process of making the milk tea.

In the milk tea modulation control in the step 3, the control interface can input data of the tastes of guests, and a computer judges and selects a proper milk tea modulation mode.

The specific implementation manner of the tea pouring control in the step 8 comprises the following steps: 1. controlling a tea pouring angle, wherein a first electronic scale 13 collects the tea/milk amount in the real-time kettle, and a mechanical arm is controlled to pour the tea/milk starting angle after the tea/milk amount is analyzed by a computer; 2. the tea pouring speed is controlled in a two-section mode, the milk amount in the cup is collected in real time by the second electronic scale 14, the tea pouring speed is fast when the milk amount is lower than a certain numerical value, the tea pouring angle is reduced firstly when the milk amount exceeds a certain numerical value, and then the tea pouring speed is converted into slow speed.

An intelligent robot for making hong Kong style milk tea can provide an automatic solution for the operation of the traditional milk tea making process, can improve the production efficiency, improve the product quality, reduce the dependence on hands, assist in solving the problems of cost rise and labor shortage, can also improve the production efficiency and the product quality due to the automation of the process, and avoids the problems of production waste and occupational safety caused by human errors.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.

Claims

1. The utility model provides an intelligent robot for making harbor formula milk tea, includes the rack, rack inside has accommodation space, top surface has the operation panel, a serial communication port, intelligent robot still includes:

the bracket is arranged on one side of the operating platform;

a first mechanical arm and a second mechanical arm which are arranged on the bracket;

a tea separating mechanism which is arranged on the bracket in a way of moving up and down;

the first teapot and the second teapot are arranged on the operating platform and can be clamped and moved by the first mechanical arm and the second mechanical arm, and a tea bag can be contained in the first teapot or the second teapot;

the first electronic scale is arranged on the operating platform and used for weighing the first teapot, the second teapot, tea, water and fresh milk in the first teapot and the second teapot;

the second electronic scale is arranged on the operating platform, at least one teacup is placed on the second electronic scale and used for weighing the teacup and tea and fresh milk in the teacup, and a plurality of space coordinates are preset at the top of the second electronic scale;

the electric heating furnace is arranged on the operating platform and used for heating the first teapot or the second teapot;

the operation terminal is arranged on the operation table, is provided with an operation interface and sends an operation instruction;

a mechanical arm control device and a computer host are fixedly arranged in the accommodating space, and the mechanical arm control device is respectively and electrically connected with the first mechanical arm, the second mechanical arm and the computer host;

the first electronic scale transmits data of the tea amount or the milk amount of the first teapot or the second teapot collected in real time to the computer host, and the computer host analyzes the data to control the speed and the angle of the first mechanical arm or the second mechanical arm for pouring tea and milk to the first teapot or the second teapot;

the second electronic scale can collect the total mass and the increased value of the total mass of a plurality of tea cups placed on the second electronic scale in real time to serve as another datum, and transmits the other datum to the computer host so as to control the speed and the angle of the first mechanical arm or the second mechanical arm for pouring tea and milk to the tea cups.

2. The intelligent robot for making hong Kong tea with milk according to claim 1, wherein a first teapot seat and a second teapot seat are respectively arranged on two sides of the operating platform, and the first teapot seat and the second teapot seat are respectively used for placing a first teapot and a second teapot.

3. The intelligent robot for making hong Kong tea with milk according to claim 2, wherein the contact surfaces of the first and second teapots and the first and second teapot holders respectively have a plurality of mutually matched positioning bulges or positioning grooves.

4. The intelligent robot for making hong Kong tea with milk according to claim 1, wherein the first and second mechanical arms are respectively provided with a first and a second pneumatic clamp.

5. The intelligent robot for making harbor style milk tea according to claim 4, wherein the tail end of each pneumatic clamp is provided with a clamping jaw, the clamping jaw is composed of two clamping jaw units, and a clamping jaw groove is arranged on the contact surface of at least one clamping jaw unit.

6. The intelligent robot for making harbor milk tea according to claim 5, wherein the handles of the first and second teapots are mounted with special handle workpieces, one side of which has a concave part.

7. The intelligent robot for making hong Kong tea with milk according to claim 6, wherein the recess is corresponding to the shape of the jaw unit, so that the jaw unit and the recess can be tightly clamped.

8. The intelligent robot for making harbor milk tea according to claim 6 or 7, wherein the cross section of the clamping jaw units is approximately in a right trapezoid shape, the contact surfaces of the two clamping jaw units are parallel planes, the contact surface of one clamping jaw unit is provided with a protruding and trapezoidal clamping part, and the sunken part is a trapezoidal sunken part corresponding to the shape of the clamping part.

9. The intelligent robot for making hong Kong tea with milk according to claim 1, wherein the center of the operating platform is further provided with a water receiving pedestal, and the tea separating mechanism comprises an electric cylinder and a pneumatic clamping device.

10. The intelligent robot for making hong Kong tea with milk according to claim 1, wherein a plurality of positioning grooves are arranged at the top of the second electronic scale.