CN114073407A

CN114073407A - Tea ceremony robot and working method thereof

Info

Publication number: CN114073407A
Application number: CN202111538087.4A
Authority: CN
Inventors: 汤晨雨; 李楷; 秦梓航
Original assignee: Zhuhai Yibo Technology Co ltd
Current assignee: Zhuhai Yibo Technology Co ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-02-22
Anticipated expiration: 2041-12-15
Also published as: CN114073407B

Abstract

The invention relates to the technical field of water dispensers, and aims to provide a tea path robot and a working method thereof. The tea path robot comprises a base, a tea water heating structure, a tea cup bearing structure, a tea pouring holder structure, a tea cup overturning structure and a tea cup conveying structure, wherein the tea water heating structure, the tea cup bearing structure, the tea pouring holder structure, the tea cup overturning structure and the tea cup conveying structure are connected with the base; the tea water heating structure is used for taking water and heating water flow; the teacup supporting structure is used for placing a teacup and is also used for driving the teacup to lift and rotate; the tea pouring holder structure is used for receiving hot water flowing out of the tea water heating structure and pouring tea into a tea cup on the tea cup bearing structure; the teacup overturning structure is used for driving the teacup to overturn after the teacup is placed so as to pour water into the teacup; and the teacup conveying structure is used for driving the teacup to move to the specified position of the base after the teacup is placed. The invention can show the flows of washing, brewing, transporting and the like of kungfu tea to users, thereby improving the tea making experience of the users and being beneficial to promoting the development of tea culture.

Description

Tea ceremony robot and working method thereof

Technical Field

The invention relates to the technical field of water dispensers, in particular to a tea path robot and a working method thereof.

Background

With the development of socioeconomic, the connotation of tea culture is continuously abundant, especially after the clearness. The 'morning tea drinking' of Guangzhou people and the 'kungfu tea' of Chaozhou people are important cultural phenomena in the social culture life of Guangdong. Guangdong tea produces tea, the production and development of the tea are quite rapid, tea leaves exist in Guangdong modern times, Guangdong people like eating tea and become the internal power of the production and development of the tea, and the tea is rich and provides reliable conditions for the development of Guangdong tea culture.

Although the tea ceremony has a long history, the modern times are reversed, and in the modern society, along with the increase of life rhythm, people can sit quietly for less and less time for tasting tea. The applicant finds that most people have tea attitude like cow chewing peony through a large amount of research and study, and the reason is mainly that various processes of making tea in the prior art are usually operated manually, and the process of making tea is too tedious, is difficult to adapt to the demands of current users, is not favorable for the development of tea culture, and then can not let the users know the tea culture deeply.

Disclosure of Invention

The invention aims to solve the technical problems at least to a certain extent, and provides a tea-path robot and a working method thereof.

The technical scheme adopted by the invention is as follows:

in a first aspect, the invention provides a tea-path robot, which comprises a base, and a tea water heating structure, a tea cup bearing structure, a tea pouring holder structure, a tea cup overturning structure and a tea cup conveying structure which are connected with the base; wherein the content of the first and second substances,

the tea water heating structure is used for taking water and heating water flow;

the teacup supporting structure is used for placing a teacup and is also used for driving the teacup to lift and rotate;

the tea pouring holder structure is used for receiving hot water flowing out of the tea water heating structure and pouring tea into a tea cup on the tea cup bearing structure;

the teacup overturning structure is used for driving the teacup to overturn after the teacup is placed so as to pour water into the teacup;

the teacup conveying structure is used for driving the teacup to move to the specified position of the base after the teacup is placed.

In one possible design, the tea water heating structure comprises a water guide pipe, and a water flowmeter, a water pump, a heater and a thermocouple which are sequentially arranged along the water flow direction of the water guide pipe, wherein the heater adopts a quick heating pipe, and a temperature sensor is arranged in the heater.

In one possible design, the teacup supporting structure comprises a teacup bracket, a connecting frame and a teacup driving module, the teacup bracket is used for placing a teacup, the teacup bracket is connected with the base through the connecting frame, the teacup driving module is connected with the teacup bracket, and the teacup driving module is used for driving the teacup bracket to rotate in a horizontal plane; the teacup bracket comprises a tea support and a tea support framework, the tea support framework is arranged at the top of the connecting frame, and the tea support is connected with the tea support framework; the teacup driving module comprises a rotary driving mechanism, the fixed end of the rotary driving mechanism is connected with the connecting frame, and the output end of the rotary driving mechanism penetrates through the connecting frame upwards and then is connected with the saucer framework.

In one possible design, the connecting structure of the tea tray and the tea tray framework is a tenon-and-mortise connecting structure, and the tea tray can slide on the tea tray framework along the horizontal direction; the teacup bracket further comprises a clamping sleeve, and the clamping sleeve is connected with the bottom of the saucer.

In one possible design, a convex block is arranged at the bottom of the teacup, and a self-locking buckle is arranged at the top of the saucer and matched with the convex block; the teacup bracket further comprises a cup stand, and the cup stand is arranged at the top of the tea stand around the self-locking buckle.

In one possible design, the teacup driving module is also used for driving the teacup bracket to move up and down; the connecting frame comprises a connecting plate and a sliding rod, the sliding rod is arranged in the base along the height direction of the base, and the connecting plate is sleeved on the sliding rod in a sliding manner; the teacup driving module further comprises a vertical driving mechanism, the fixed end of the vertical driving mechanism is connected with the base, and the output end of the vertical driving mechanism is arranged upwards and is connected with the connecting plate.

In one possible design, the tea pouring holder structure comprises a turnover tea pouring structure, a turnover tea pouring driving mechanism, a tea sea structure and a tea sea driving mechanism, wherein the turnover tea pouring driving mechanism is used for driving the turnover tea pouring structure to rotate towards a direction close to or far away from the tea sea structure, the tea sea structure is arranged close to the teacup bearing structure, and the tea sea driving mechanism is used for driving the tea sea structure to rotate towards a direction close to or far away from the teacup bearing structure; tea serving cloud platform structure still includes first positioning seat and second positioning seat, first positioning seat and second positioning seat all set up on the base, the stiff end and the first positioning seat of the actuating mechanism that pours tea in the upset are connected, the output and the upset of the actuating mechanism that pours tea are connected with the structural connection that pours tea, tea sea actuating mechanism's stiff end is connected with the second positioning seat, tea sea actuating mechanism's output and tea sea structural connection.

In one possible design, the turnover tea pouring structure comprises a turnover body and a tea leakage structure, the turnover body is connected with the turnover tea pouring driving mechanism, the tea leakage structure is connected with one end, away from the turnover tea pouring driving mechanism, of the turnover body, and the tea leakage structure is provided with a water leakage hole; the turnover body is provided with a water diversion groove, and the water diversion groove is used for guiding tea water in the tea strainer structure into the tea sea structure when the turnover tea pouring structure rotates towards the direction close to the tea sea structure.

In one possible design, the second positioning seat comprises two vertical plates symmetrically arranged on two sides of the tea sea structure, the fixed end of the tea sea driving mechanism is connected with any vertical plate, the output end of the tea sea driving mechanism penetrates through the vertical plate and then is connected with the tea sea structure, and one end, far away from the tea sea driving mechanism, of the tea sea structure is hinged with the other vertical plate through a limiting shaft; the limiting shaft is arranged in the other vertical plate in a penetrating mode, a limiting block is arranged at one end, away from the tea sea structure, of the limiting shaft, the limiting block is fan-shaped, and the central angle of the limiting block is smaller than the angle; and when the tea sea driving mechanism drives the tea sea structure to rotate towards the direction close to or far away from the teacup bearing structure, the clamping blocks can be contacted with two straight edges of the limiting block.

In one possible design, the tea cup turning structure comprises a turning water pouring structure and a waste water collecting structure; the overturning and water pouring structure comprises an overturning driving mechanism and an overturning fixing plate connected with the output end of the overturning driving mechanism, the overturning driving mechanism is used for driving the overturning fixing plate to overturn around a horizontal plane, and a teacup adsorption device is arranged at one end, far away from the overturning driving mechanism, of the overturning fixing plate; the wastewater collecting mechanism comprises a water tank which is matched with the overturning water pouring structure.

In one possible design, the turnover water pouring structure further comprises a positioning block and a guide rail, the guide rail is arranged on the base, the turnover driving mechanism is arranged on the positioning block, the positioning block is connected with the guide rail in a sliding mode, and two ends of the guide rail are close to the teacup supporting structure and the waste water collecting structure respectively.

In one possible design, the teacup conveying structure is arranged in the base and comprises a rail and a conveying mechanism matched with the rail; the rail is arranged around the tea water heating structure, the teacup supporting structure, the teacup overturning structure and the tea pouring holder structure; the transportation mechanism comprises a support frame, a walking wheel arranged on the support frame, a walking driving mechanism for driving the walking wheel to rotate and a cup supporting mechanism connected with the support frame, wherein the walking wheel is in contact with a top plate of the base;

the support frame comprises a bottom frame plate and a vertical frame seat, the vertical frame seat is arranged on the bottom frame plate, the vertical frame seat is rotatably connected with the bottom frame plate, and the vertical frame seat is sleeved outside the track; the fixed end of the walking driving mechanism is connected with the vertical frame seat, and the output end of the walking driving mechanism penetrates through the vertical frame seat to be connected with the walking wheel; the cup supporting mechanism is connected with the bottom frame plate.

In one possible design, the transportation mechanism further comprises positioning wheels and bull's-eye wheels which are arranged on the stand base, the positioning wheels are in contact with the side wall of the track, and the bull's-eye wheels are in contact with the lower wall of the track.

In one possible design, the cup supporting mechanism comprises a cup feeding driving mechanism connected with the supporting frame and a cup supporting frame connected with the output end of the cup feeding driving mechanism, and the cup supporting frame extends upwards to the top of the base; the top of the cup supporting frame is provided with a cup supporting seat.

In one possible design, the tea path robot further comprises a server and a main control module in communication connection with the server, wherein the main control module is electrically connected with the tea water heating structure, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure; wherein the content of the first and second substances,

the server is used for storing brewing process data corresponding to different types of tea leaves, wherein the brewing process data comprise tea leaf quantity, pouring water temperature, brewing time, extraction time and soaking degree data;

the main control module is used for acquiring tea variety data and selecting corresponding brewing process data in the server according to the current tea variety data so as to drive the tea water heating structure, the tea cup bearing structure, the tea pouring holder structure, the tea cup overturning structure and the tea cup conveying structure to move.

In one possible design, the tea robot further comprises:

the touch screen is used for realizing real-time interaction of data;

and the voice prompt module is used for carrying out voice prompt.

In a second aspect, the present invention provides a working method of a tea robot, including:

acquiring tea variety data, and then acquiring corresponding brewing process data according to the tea variety data so as to drive the tea water heating structure, the teacup bearing structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure to move;

receiving a one-key automatic tea making instruction, and then driving a tea water heating structure, a teacup supporting structure, a tea pouring holder structure, a teacup overturning structure and a teacup conveying structure to carry out position initialization;

driving the tea water heating structure to extract a specified amount of water, then driving the tea water heating structure to heat the water and pouring the hot water into a specified position of the tea pouring holder structure;

the tea pouring holder structure is driven to receive hot water flowing out of the tea water heating structure and pour tea into a tea cup on the tea cup bearing structure;

driving the teacup support structure to act so that the teacup support structure ascends and drives a teacup on the upper part of the teacup support structure to rotate until the teacup on the teacup support structure is filled with water and moves to the teacup overturning structure;

driving the teacup overturning structure to act so as to overturn the teacup on the teacup overturning structure to pour water into the teacup until the teacup on the teacup supporting structure is completely cleaned;

repeatedly driving the tea water heating structure, the tea pouring holder structure and the tea cup bearing structure to move until the tea cup is cleaned and filled with tea water;

the teacup conveying structure is driven to move, so that the teacup filled with tea water on the teacup conveying structure moves to the specified position of the base.

The invention has the beneficial effects that: the flows of washing, brewing, conveying and the like of the kungfu tea can be displayed to a user, so that the tea brewing experience of the user is improved, and the tea culture is convenient to develop. In the implementation process, water can be taken through the tea water heating structure and water flow is heated; then, a teacup is placed through the teacup supporting structure, and the teacup is driven to lift and rotate, so that the subsequent tea pouring holder structure can pour tea, the teacup overturning structure can pour tea, and the teacup conveying structure can deliver tea; then, the tea pouring holder structure can receive hot water flowing out of the tea water heating structure and perform tea pouring operation into a tea cup on the tea cup bearing structure; then, the tea water brewed for the first time in the tea cup can be poured out by the tea cup overturning structure, so that the operations of washing tea, washing the cup and the like can be realized; the teacup supporting structure and the tea pouring holder structure can act again until the tea cup is full of tea, and the teacup conveying structure can convey the teacup to the specified position of the base at the moment, so that the tea conveying operation is realized. In the process, the processes of washing tea, washing a cup, brewing tea, pouring tea and the like are all executed through a machine, the workload of manually brewing kungfu tea by a user is greatly reduced, the enthusiasm of the user for drinking tea and the user experience are improved, meanwhile, in the process, the user can see the processes of washing tea, brewing, conveying and the like of kungfu tea, and the development of tea culture is facilitated.

Drawings

FIG. 1 is a schematic structural view of a tea robot in accordance with the present invention;

FIG. 2 is a top view of the structure shown in FIG. 1;

FIG. 3 is a schematic view of the structure of FIG. 1 with the top and front side panels of the base removed;

FIG. 4 is a schematic view of the structure of the cup holder and the cup of the present invention;

FIG. 5 is a schematic view of the structure of the cup holder and cup of FIG. 4;

fig. 6 is a schematic structural view of the frame of the tea tray in the structure shown in fig. 4;

FIG. 7 is a schematic view of the lower viewing angle of the cup of the present invention;

FIG. 8 is a schematic structural diagram of a tea-pouring holder structure in the present invention;

FIG. 9 is a schematic diagram of the structure of FIG. 8 from another perspective;

FIG. 10 is an exploded view of the structure shown in FIG. 9;

FIG. 11 is a schematic view of the structure of the tea sea structure and the tea sea drive mechanism from another perspective of the structure of FIG. 8;

FIG. 12 is a schematic structural view of the inverted structure of the teacup of the present invention;

FIG. 13 is a schematic structural view of the tea cup carrying structure of the present invention;

FIG. 14 is a schematic view of the structure of the transport mechanism of the structure shown in FIG. 13;

FIG. 15 is a schematic diagram of the structure of FIG. 14 from another perspective;

FIG. 16 is a circuit schematic of the master control module of the present invention;

FIG. 17 is a circuit schematic of the power supply module of the present invention;

FIG. 18 is a schematic circuit diagram of an IO port over-voltage protection circuit in accordance with the present invention;

FIG. 19 is a schematic circuit diagram of a serial communication interface according to the present invention;

FIG. 20 is a schematic circuit diagram of a CAN communication circuit of the present invention;

FIG. 21 is a schematic circuit diagram of a four-way independent key of the present invention;

FIG. 22 is a circuit schematic of the USB power interface of the present invention;

FIG. 23 is a schematic circuit diagram of the slave module of the present invention.

Detailed Description

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

Example 1:

a first aspect of the present embodiment provides a tea robot, as shown in fig. 1 to 3, including a base 1, and a tea water heating structure 2, a cup supporting structure 3, a tea pouring pan-tilt structure 4, a cup turning structure 5, and a cup conveying structure 6 connected to the base 1; wherein the content of the first and second substances,

the tea water heating structure 2 is used for taking water and heating water flow;

the teacup supporting structure 3 is used for placing a teacup 7 and is also used for driving the teacup 7 to lift and rotate;

the tea pouring holder structure 4 is used for receiving hot water flowing out of the tea water heating structure 2 and pouring tea into a tea cup 7 on the tea cup bearing structure 3;

the teacup overturning structure 5 is used for driving the teacup 7 to overturn after the teacup 7 is placed so as to pour water into the teacup 7;

the teacup conveying structure 6 is used for driving the teacup 7 to move to a specified position of the base 1 after the teacup 7 is placed.

The embodiment can show the flows of washing, brewing, transporting and the like of kungfu tea to the user, thereby improving the tea brewing experience of the user and facilitating the development of tea culture. Specifically, in the implementation process of the present embodiment, water can be taken through the tea water heating structure 2 and the water flow can be heated; then, a teacup 7 is placed through the teacup supporting structure 3, and the teacup 7 is driven to lift and rotate, so that the subsequent tea pouring holder structure 4 can pour tea, the teacup overturning structure 5 can pour tea, and the teacup conveying structure 6 can convey tea; then, the tea pouring holder structure 4 can receive hot water flowing out of the tea water heating structure 2 and perform tea pouring operation into a tea cup 7 on the tea cup bearing structure 3; then, the tea water brewed for the first time in the tea cup 7 can be poured out by the tea cup overturning structure 5, so that the operations of washing tea, washing cups and the like can be realized; the teacup bearing structure 3 and the tea pouring holder structure 4 can act again until the teacup 7 is full of tea, and the teacup conveying structure 6 can convey the teacup 7 to the specified position of the base to realize the tea conveying operation. In the process, the processes of washing tea, washing a cup, brewing tea, pouring tea and the like are all executed through a machine, the workload of manually brewing kungfu tea by a user is greatly reduced, the enthusiasm of the user for drinking tea and the user experience are improved, meanwhile, in the process, the user can see the processes of washing tea, brewing, conveying and the like of kungfu tea, and the development of tea culture is facilitated.

In this embodiment, the tea water heating structure 2 includes a water guiding pipe, and a water flow meter, a water pump, a heater and a thermocouple (not shown in the figure) sequentially arranged along a water flow direction of the water guiding pipe, the heater adopts a fast heating pipe capable of realizing a thermal type fast heating manner, and a temperature sensor is arranged in the heater.

It should be noted that the heater can convert electric energy into heat energy to heat the water flowing into the water conduit, and the heated water flows out through the water conduit. In this embodiment, the heater adopts a fast heating pipe composed of a thick film heating body and a heating pipe sleeved outside the heating body, wherein the thick film heating body can realize fast heating, and the heating pipe is made of 304 stainless steel and is not easy to cause scale formation when contacting water. In particular, the fast heat pipe is an object with good heat conductivity, and can convert electric energy into heat energy in a high-power heating state and then transfer the heat energy into water, so that the water is heated rapidly. In this embodiment, tea heating structure 2 can be used together with traditional bottled water collocation, draws water to the aqueduct through the water pump in, then heats water rapidly through the heater, adopts the mode of opening promptly, further avoids producing the problem of incrustation scale easily.

In this embodiment, tea heating structure 2 can realize the quick hot heating mode of hot type to water, specifically, the quick hot heating mode of hot type is instant heating, does not have the rivers heating mode of inner bag promptly, for the heating mode of the quick hot traditional tea water machine of hot type, and it possesses following advantage:

1) more sanitary and healthy: the instant heating type realizes the flowing heating of water, is not easy to scale, has no liner, avoids the problem of boiling water, and can ensure that each cup of hot water is fresh;

2) is quick and convenient: the instant heating type can be heated instantly and on demand, and does not need to wait. The common water heating mode in the prior art is a mode of uniformly heating the whole tank, and consumes time and electricity;

3) energy conservation and environmental protection: because the heating is carried out immediately, heat preservation is not needed, and the energy consumption of repeated heating is avoided;

4) more intelligent: generally, the water tank is controlled by a microcomputer, so that the water outlet temperature and the water flow can be conveniently defined, whether water exists in the water tank or not can be judged through the water flow, and dry burning can be prevented.

In addition, in this embodiment, the tea heating structure 2 is further equipped with a temperature sensor and a flow meter to control the water yield and prevent dry heating, and the temperature sensor adopts a temperature control switch with a bimetallic strip and can be used as a first-stage temperature controller.

In this embodiment, the thermocouple can directly contact with the material that is surveyed such as rivers to sense the temperature of rivers more directly, make measured temperature more accurate, and the thermocouple is sensitive to temperature variation, and thermal response time is fast. The temperature signal (analog quantity) obtained by the thermocouple is converted by the temperature transmitter to obtain digital quantity which is sent to the main control module through the SPI bus protocol to control the water temperature and is used as a second-stage temperature controller.

In this embodiment, the water flowmeter adopts a water flow sensor made of food-grade materials, and is mainly composed of a copper valve body, a plastic molding, a water flow rotor assembly, a flow stabilizing assembly and a hall element. In this embodiment, the water flowmeter is installed and is used for measuring into water flow at the end of intaking of water pump. As water flows through the rotor assembly, the magnetic rotor rotates and the rotational speed varies linearly with the flow rate. The Hall element outputs corresponding pulse signals to be fed back to the main control module, and the main control module judges the water flow. The water flow sensor is applied to the tea path robot system, so that the number of tea cups for brewing can be controlled by controlling the water quantity of tea water, and whether the water tank is lack of water or not can be judged by the water inflow to prevent the heater from being burnt dry.

In the embodiment, the water pump is made of materials meeting food-grade standards, has low power consumption and low noise, and can work at a high temperature of 100 ℃ for a long time.

In this embodiment, as shown in fig. 4, the teacup supporting structure 3 includes a teacup bracket, a connecting frame, and a teacup driving module, the teacup bracket is used for placing a teacup 7, the teacup bracket is connected to the base 1 through the connecting frame, the teacup driving module is connected to the teacup bracket, and the teacup driving module is used for driving the teacup bracket to rotate in a horizontal plane; as shown in fig. 5, the teacup bracket comprises a saucer 31 and a saucer framework 32, the saucer framework 32 is arranged at the top of the connecting frame, and the saucer 31 is connected with the saucer framework 32; the teacup driving module comprises a rotary driving mechanism 33, the fixed end of the rotary driving mechanism 33 is connected with the connecting frame, and the output end of the rotary driving mechanism 33 penetrates through the connecting frame upwards and then is connected with the saucer framework 32.

In this embodiment, the teacup driving module may drive the teacup holder to rotate in the horizontal plane so as to displace the teacup 7 on the teacup holder, for example, to move the teacup 7 to a position such as a tea pouring position or a water pouring position, so as to facilitate the pouring of tea and water into the teacup 7.

In this embodiment, the rotation driving mechanism 33 may drive the saucer frame 32 and the saucer 31 and the teacup 7 and the like arranged on the saucer frame 32 to rotate in the horizontal plane, so as to drive the teacup 7 on the saucer 31 to move to the water outlet end of the tea pouring pan-tilt structure 4 or to the position where the teacup 7 of the teacup turning structure 5 is placed, so as to facilitate the tea pouring operation of the tea pouring pan-tilt structure 4 or the water pouring operation of the teacup turning structure 5.

As shown in fig. 6, in the present embodiment, the saucer frame 32 is in a sunflower-shaped structure, and a plurality of saucer holders 31 can be connected to the saucer frame 32, so that a plurality of cups of tea can be poured in the same batch, and a plurality of people can drink tea together.

In the present embodiment, the rotation driving mechanism 33 may be realized by, but not limited to, a structure that can realize rotation driving, such as a rotating motor or a rotating cylinder.

In this embodiment, the connection structure between the saucer 31 and the saucer framework 32 is a mortise and tenon connection structure, and the saucer 31 can slide on the saucer framework 32 in the horizontal direction; the teacup bracket further comprises a clamping sleeve 34, and the clamping sleeve 34 is connected with the bottom of the saucer 31.

It should be understood that the saucer 31 is slidably disposed on the saucer frame 32, so that when the saucer 31 is rotated to a certain position, for example, when the teacup 7 rotated to the teacup overturning structure 5 is placed, the saucer 31 and the teacup 7 are positioned by the teacup overturning structure 5, and then the teacup 7 is overturned to pour water.

Specifically, in this embodiment, the sliding block is arranged on the saucer 31, the slideway is arranged on the saucer frame 32 in a matching manner, and the sliding block is slidably arranged in the slideway. In this embodiment, the connection structure of the saucer 31 and the saucer frame 32 adopts a dovetail structure. Specifically, in this embodiment, adopt trapezoidal forked tail fourth of the twelve earthly branches, the spout sets up to the dovetail, and the slider sets up to trapezoidal forked tail structure. It should be noted that, the sliding groove is a dovetail groove, so that the sliding performance during movement can be guaranteed to the maximum extent, and the self-locking performance of the saucer 31 during rest can be guaranteed to the most reasonable extent.

It should be noted that the clamping sleeve 34 can be connected with a structure for overturning the teacup for pouring water, such as the teacup overturning structure 5, so as to conveniently realize the pouring operation of the teacup 7 for washing tea and the like. In this embodiment, the sleeve 34 is an h-shaped sleeve 34 with magnetism, so as to realize magnetic attraction positioning with the tea cup turning structure.

In this embodiment, as shown in fig. 7, a protrusion 71 is disposed at the bottom of the teacup 7, and a self-locking buckle 35 is disposed at the top of the saucer 31 and matches with the protrusion 71; specifically, the self-locking buckle 35 is configured to be a structure which opens when the projection 71 is pressed inward and realizes self-locking after the projection 71 is fixed, so that the push type self-locking of the teacup 7 at the top of the saucer 31 is realized, and the problems of displacement and the like of the teacup 7 are avoided.

The cup holder also includes a cup holder (not shown) that is positioned around the self-locking clasp 35 at the top of the saucer 31.

It should be noted that, in this embodiment, the cup holder is disposed around the self-locking buckle 35, and the cup holder can guide the teacup 7 to be placed at the position of the self-locking buckle 35, and at the same time, can prevent the teacup 7 from moving, so that a user can place the teacup 7 on the tea holder 31, and the positioning is realized through the self-locking buckle 35. In this embodiment, the cup holder may be, but not limited to, a boat-shaped, inverted truncated cone-shaped, or polygonal structure, and is not limited herein.

In this embodiment, the teacup driving module is further configured to drive the teacup holder to move up and down; therefore, the structure such as the teacup bracket can be conveniently stored in the base 1 when the embodiment is not needed, so that the overall occupied space of the embodiment is reduced, and the overall storage of the embodiment is convenient to realize.

The connecting frame comprises a connecting plate 36 and a sliding rod 37, the sliding rod 37 is arranged in the base 1 along the height direction of the base 1, and the connecting plate 36 is sleeved on the sliding rod 37 in a sliding manner; the teacup driving module further comprises a vertical driving mechanism 38, the fixed end of the vertical driving mechanism 38 is connected with the base 1, and the output end of the vertical driving mechanism 38 is arranged upwards and is connected with the connecting plate 36.

In this embodiment, the vertical driving mechanism 38 can drive the connecting plate 36, the saucer frame 32 and the saucer frame 32 to move up and down the structures such as the saucer 31 and the teacup 7, and then the structures such as the saucer 31 can be driven to move up to the top of the base 1 or move down to the position flush with the top plate of the base 1, so as to accommodate the structures such as the saucer 31. The connecting plate 36 is slidably sleeved on the sliding rod 37 to prevent the connecting plate 36 from lateral displacement, and in addition, the sliding rods 37 can be arranged in plurality but are not limited to be arranged so as to facilitate the stable sliding of the structures such as the connecting plate 36 along the height direction of the base 1; in this embodiment, a pillar is disposed in the base 1, and the fixed end of the vertical driving mechanism 38 is connected to the inner wall of the base through the pillar, so that the vertical driving mechanism 38 moves the teacup holder up to the outside of the base 1.

It should be noted that, in this embodiment, the bottom plate and the top plate of the base 1 are provided with bearings 39 in cooperation with the sliding rod 37, so as to increase the stability of the connection between the sliding rod 37 and the base 1.

In this embodiment, the vertical driving mechanism 38 may be implemented by, but not limited to, a linear motor, a linear cylinder, or other structures that can implement linear driving.

In this embodiment, as shown in fig. 8 to 10, the tea-pouring head structure 4 includes a tea-pouring overturning structure, a tea-pouring overturning driving mechanism 41, a tea sea structure 42 and a tea sea driving mechanism 43, where the tea-pouring overturning driving mechanism 41 is configured to drive the tea-pouring overturning structure to rotate towards a direction close to or away from the tea sea structure 42, the tea sea structure 42 is disposed close to the cup supporting structure 3, and the tea sea driving mechanism 43 is configured to drive the tea sea structure 42 to rotate towards a direction close to or away from the cup supporting structure 3; tea-pouring cloud platform structure 4 still includes first positioning seat 46 and second positioning seat, first positioning seat 46 and second positioning seat all set up on base 1, the stiff end and the first positioning seat 46 of tea actuating mechanism 41 are poured in the upset are connected, the output and the upset of tea actuating mechanism 41 are poured the tea structural connection, the stiff end and the second positioning seat of tea sea actuating mechanism 43 are connected, the output and the tea sea structure 42 of tea sea actuating mechanism 43 are connected.

It should be noted that the tea-pouring head structure 4 is used for receiving the hot water flowing out from the tea water heating structure 2 and performing the tea-pouring operation into the tea cup 7 on the tea cup supporting structure 3, specifically, the tea-pouring structure in the tea-pouring head structure 4 is used for receiving the hot water and then is turned over by the tea-pouring driving structure so as to pour the hot water in the tea-pouring structure into the tea sea structure 42, and then the tea sea driving structure 43 drives the tea sea structure 42 to turn over so as to pour the hot water in the tea sea structure 42 into the tea cup 7 on the cup holder 32.

It should be further noted that the first positioning seat 46 and the second positioning seat can respectively function to connect the tea-pouring driving mechanism 41 and the tea-sea driving mechanism 43 with the base 1, which is favorable for realizing the assembly between the tea-pouring driving mechanism 41 and the tea-sea driving mechanism 43 and the base 1.

In this embodiment, the tea-inverting and pouring driving mechanism 41 and the tea-caddy driving mechanism 43 may be implemented by, but not limited to, a structure that can realize rotational driving, such as a rotary motor or a rotary cylinder.

Specifically, the tea structure is poured in upset includes a body 44 and a tea leak structure 45, a body 44 is connected with upset tea actuating mechanism 41, tea leak structure 45 is kept away from upset tea actuating mechanism 41 one end with a body 44 and is connected, the tea leaks and has seted up the hole that leaks on the structure 45. It should be noted that, when in use, tea can be placed in the tea strainer structure 45, and a user can place tea in the tea strainer structure 45 in advance, so as to perform subsequent operations such as making tea and pouring tea. Specifically, in the implementation process of the present embodiment, hot water flowing out of the tea water heating structure 2 can flow into the tea drain structure 45 through the water leakage holes, so as to brew tea leaves, when tea needs to be washed or drunk, the tea water can flow out of the tea drain structure 45 through the water leakage holes and be guided into the tea sea structure 42 through the turning body 44, and the turning tea pouring driving mechanism 41 can drive the turning tea pouring structure to rotate towards the direction close to the tea sea structure 42.

The turning body 44 is provided with a water guiding groove, and the water guiding groove is used for guiding the tea water in the tea drain structure 45 into the tea sea structure 42 when the turning tea pouring structure rotates towards the direction close to the tea sea structure 42, so that the problems of tea water overflow and the like can be avoided.

Specifically, as shown in fig. 11, the second positioning seat includes two vertical plates 47 symmetrically disposed on two sides of the tea sea structure 42, a fixed end of the tea sea driving mechanism 43 is connected to any vertical plate 47, an output end of the tea sea driving mechanism 43 passes through the vertical plate 47 and then is connected to the tea sea structure 42, and one end of the tea sea structure, which is far away from the tea sea driving mechanism 43, is hinged to the other vertical plate 47 through a limiting shaft; with this arrangement, the stability of the tea sea structure 42 and the tea sea driving mechanism 43 can be improved.

The limiting shaft penetrates through the other vertical plate 47, a limiting block 48 is arranged at one end of the limiting shaft, which is far away from the tea sea structure 42, the limiting block 48 is fan-shaped, and the central angle of the limiting block 48 is smaller than 180 degrees; the side of the other vertical plate 47 far away from the tea sea structure 42 is provided with a blocking block 49 by matching with the limiting block 48, and when the tea sea driving mechanism 43 drives the tea sea structure 42 to rotate towards the direction close to or far away from the tea cup supporting structure 3, the blocking block 49 can be contacted with two straight edges of the limiting block 48.

It should be noted that, in this embodiment, two ends of the tea sea structure 42 are respectively connected to the two vertical plates 47 through the straight couplers, wherein a bearing is embedded between the limiting shaft and the corresponding vertical plate 47, so as to counteract the radial force and the axial tension and compression of the vertical plate 47 caused by the gravity and the torsional moment of the tea sea structure 42. In this embodiment, stopper 48 and screens piece 49 can realize spacing to the maximum rotation angle of tea sea structure 42, stopper 48's central angle is 125 degrees, this moment can make tea sea actuating mechanism 43 drive tea sea structure 42 rotatory to the position towards teacup bearing structure 3 slope by horizontal position, and tea sea structure 42 when teacup bearing structure 3 slopes, tea in the tea sea structure 42 just can get into the teacup on the teacup bearing structure 3 completely, stopper 48 and the cooperation of screens piece 49, spacing to tea sea structure 42, can prevent effectively that tea sea actuating mechanism 43's rotating error, improve the accuracy that the position was emptyd to the tea, do benefit to the reduction simultaneously and carry out the degree of difficulty that software debugged to tea sea actuating mechanism 43.

In this embodiment, the second positioning seat is provided with an in-place sensor a for detecting whether the teacup supporting structure 3 is in place. It should be noted that, in the present embodiment, the position sensor a is used for detecting whether the connecting plate 36 in the cup holder is lifted to a position flush with the top plate of the base 1, so as to prevent the tea water from flowing into the base 1. It should be understood that, in this embodiment, the in-position sensor a may be implemented by, but not limited to, an infrared sensor, an ultrasonic sensor, and the like, and is not described herein in detail.

In this embodiment, as shown in fig. 12, the tea cup turning structure 5 includes a turning water pouring structure and a waste water collecting structure; the overturning and water pouring structure comprises an overturning driving mechanism 51 and an overturning fixing plate 52 connected with the output end of the overturning driving mechanism 51, the overturning driving mechanism 51 is used for driving the overturning fixing plate 52 to overturn around a horizontal plane, and a teacup adsorption device is arranged at one end, far away from the overturning driving mechanism 51, of the overturning fixing plate 52; the wastewater collection mechanism comprises a water tank 53 which is matched with the turnover water pouring structure. It should be noted that the turnover pouring structure is used for carrying out turnover pouring operation on the teacup 7, and the turnover fixing plate 52 is used for placing the teacup 7; waste water collection structure is used for accomodating the waste water in teacup 7, and in this embodiment, the opening part cooperation of basin 53 is provided with seal structure to avoid tea to flow in the inside of base 1, the bottom of basin 53 is provided with basin 53 adsorption equipment, and teacup adsorption equipment and basin 53 adsorption equipment all can nevertheless not only be limited to adopting magnetism to inhale the device and realize, in order to realize the location to teacup 7 or basin 53, after the water was fully collected in basin 53, the user can take out basin 53 and pour water.

In this embodiment, the turnover water pouring structure further includes a positioning block 54 and a guide rail 55, the guide rail 55 is disposed on the base 1, the turnover driving mechanism 51 is disposed on the positioning block 54, the positioning block 54 is slidably connected to the guide rail 55, two ends of the guide rail 55 are respectively close to the cup bearing structure 3 and the waste water collecting structure, that is, the guide rail 55 extends from one end close to the cup bearing structure 3 to one end close to the waste water collecting structure.

Specifically, the turnover water pouring structure fixes the turnover fixing plate 52 on the guide rail 55 through the second slide block, the guide rail 55 bears the self weight of the turnover structure and the weight of the power mechanism, and the turnover driving mechanism 51 provides the motion power; specifically, the teacup adsorption device adopts a steering engine and an electromagnet so as to complete the adsorption and overturning water pouring actions of the teacup 7 in a matching manner. In addition, the wastewater collection mechanism consists of a water tank 53, an electromagnetic valve and a leakage-proof device, the joint of the water tank 53 and the leakage-proof device is in cross riveting through a circular rivet, and then a gap is sealed by reversely buckling a waterproof cover plate from the upper side, so that the waterproof effect is achieved. The electromagnetic valve is connected with the connector through the rubber pipeline, and the on-off of the valve is controlled through the main control module, so that the wastewater discharge is freely controlled.

In this embodiment, as shown in fig. 13 to 15, the tea cup carrying structure 6 is disposed in the base 1, and the tea cup carrying structure 6 includes a rail 61 and a transportation mechanism disposed in cooperation with the rail 61; the rail 61 is arranged around the tea water heating structure 2, the teacup supporting structure 3, the teacup overturning structure 5 and the tea pouring holder structure 4; the transportation mechanism comprises a support frame 62, a walking wheel 63 arranged on the support frame 62, a walking driving mechanism 64 driving the walking wheel 63 to rotate and a cup supporting mechanism connected with the support frame 62, wherein the walking wheel 63 is in contact with the top plate of the base 1. It should be noted that the travel drive mechanism 64 can drive the travel wheels 63 to rotate, so as to provide the forward power and upward supporting force of the transport mechanism on the rails 61.

In this embodiment, the teacup transport structure 6 senses the position of the user through the infrared sensor arranged on the transport mechanism, so as to transport the teacup 7 on the transport mechanism to the position of the user, and the technology of sensing the position of the user according to the infrared sensor and controlling the operation of the transport mechanism according to the signal output by the infrared sensor can be realized based on the prior art, which is not repeated herein.

The support frame 62 comprises a bottom frame plate 621 and a stand seat 622, the stand seat 622 is arranged on the bottom frame plate 621, the stand seat 622 is rotatably connected with the bottom frame plate 621, and the stand seat 622 is sleeved outside the track 61; the fixed end of the walking driving mechanism 64 is connected with the vertical frame seat 622, and the output end of the walking driving mechanism 64 penetrates through the vertical frame seat 622 to be connected with the walking wheel 63; the cup holder mechanism is connected to the bottom frame plate 621.

In this embodiment, the support frame 62 is provided, so that the bottom frame plate 621 can be positioned on the vertical frame seat 622, the bottom frame plate 621 is rotatably connected with the vertical frame seat 622, and the vertical frame seat 622 can rotate around the rail 61, so that the friction between the transportation mechanism and the rail 61 can be reduced, and the transportation mechanism can be assisted to move forward integrally.

In this embodiment, the transportation mechanism further includes positioning wheels 65 and bull's-eye wheels 66 disposed on the stand 622, the positioning wheels 65 being in contact with the side walls of the rails 61; it should be noted that the positioning wheel is vertically arranged in the axial direction, so as to achieve contact with the side wall of the rail 61, thereby further reducing friction between the supporting frame 62 and the rail 61, and facilitating noise reduction and speed increase. In particular, the positioning wheels 65 can be pressed against the rails 61, the positioning wheels 65 being cooperatively provided with elastic means so that the flexibility autonomously stretches or compresses according to the variation of the transport mechanism path and provides, by squeezing, a lateral friction force and a counter force to the tendency of the ground to sag.

In this embodiment, the bull-eye wheel 66 is in contact with the lower wall of the rail 61. It should be noted that the bull-eye wheel 66 can further reduce the friction between the lower wall of the rail 61 and the stand seat 622, further help the driving wheel 63 to move forward, reduce the running resistance of the transportation mechanism, and further reduce noise.

In this embodiment, the upright frame seat 622 is U-shaped, and a bottom plate of the upright frame seat 622 is rotatably connected to the bottom frame plate 621; the two groups of walking driving mechanisms 64 and the two groups of walking wheels 63 are arranged in a matched mode, and the two groups of walking driving mechanisms 64 and the two groups of walking wheels 63 are arranged on two arms of the stand seat 622 in an opposite mode. It should be noted that, the stand seat 622 is U-shaped, which can improve the overall stability of the supporting frame 62 and avoid the problem of the supporting frame 62 shifting relative to the rail 61.

Further, a plurality of the stand seats 622 are provided, and the plurality of stand seats 622 are provided at intervals along the longitudinal direction of the base frame plate 621. Therefore, the stability of the transportation mechanism in operation on the rail 61 can be conveniently realized, and the position of the teacup on the cup supporting mechanism can be ensured to be more stable. In this embodiment, the two stand seats 622 are provided, so as to increase the stability of the transportation mechanism in the walking process and reduce the overall volume of the transportation mechanism.

Specifically, in the present embodiment, the cup holding mechanism includes a cup feeding driving mechanism 67 connected to the supporting frame 62 and a cup holding frame 68 connected to an output end of the cup feeding driving mechanism 67, and the cup holding frame 68 extends upward to the top of the base 1. In this embodiment, the cup feeding driving mechanism 67 may be implemented by, but not limited to, a micro linear motor, so as to move the teacup 7 on the cup holder 68 toward the radial direction of the track 61, thereby facilitating the user to take the teacup 7.

The cup holder 68 is provided with a cup holder 69 at the top. In this embodiment, the cup holder 69 is configured as a magnetic structure, for example, as an electromagnet, so as to be attracted to the magnetic teacup 7, thereby realizing stable transportation of the teacup 7, and avoiding the problems of displacement of the teacup 7 during transportation of the teacup 7.

In this embodiment, the tea path robot further comprises a server and a main control module in communication connection with the server, wherein the main control module is electrically connected with the tea water heating structure 2, the teacup supporting structure 3, the tea pouring holder structure 4, the teacup overturning structure 5 and the teacup conveying structure 6; wherein the content of the first and second substances,

the server is used for storing brewing process data corresponding to different types of tea leaves, wherein the brewing process data comprise tea leaf quantity, pouring water temperature, brewing time, extraction time and soaking degree data; specifically, in the research and development process, the applicant carries out multiple effective scheme revisions according to the growth environment and the frying method of various tea leaves such as black tea, green tea, dark tea, pul tea and the like through a large number of practical tests and professional suggestions of professional tea tasters to obtain corresponding brewing process data so as to enable the tea brewing effect to be optimal; it should be understood that the user can also adjust the tea amount, pour the water temperature, brewing time, extraction time and the proportion of the soaking degree data by himself, so as to customize the tea brewing manner according to the user's own habits and tastes, which is not described herein again.

The main control module is used for acquiring tea variety data and selecting corresponding brewing process data in the server according to the tea variety data selected by the current user so as to drive the tea water heating structure 2, the teacup bearing structure 3, the tea pouring holder structure 4, the teacup overturning structure 5 and the teacup conveying structure 6 to move.

In this embodiment, as shown in fig. 16, the main control module uses a chip of model STM32F103RCT6, the size of which is as small as 50 × 59mm, the output power is as large as 15W, a power supply circuit with 5-12V input and 5V output is used, the input port has reverse connection protection, surge protection and electrostatic overvoltage protection, and the output port has short circuit protection, backflow protection, overheating protection and overcurrent protection.

In this embodiment, circuits such as the main control module and the like are all powered by the power supply module shown in fig. 17, so that the stable and normal operation of the tea path robot system can be ensured. And secondly, the main control module is provided with an IO port overvoltage protection circuit, supports hot plug and prevents electrostatic breakdown. In addition, the main control module also carries an SWD download interface, a serial port communication interface, a CAN communication circuit, four independent keys and a USB power supply interface on board, and corresponding circuit schematic diagrams are respectively shown in FIGS. 18-22.

In this embodiment, the slave control module shown in fig. 23 is further included, and the slave control module is connected to the master control module through a board-to-board connector, so as to expand an interface and lead out a modular interface, thereby facilitating wiring. Specifically, the slave control module is connected with three power supply output interfaces, a limit switch interface, a motor interface, a steering engine interface, a touch screen interface, a user key interface and other external interfaces, and a board-mounted amplifying circuit and an interface P5 are used for driving high power. In the embodiment, the slave control module adopts a chip with the model of ULN2003, has the characteristics of high current gain, high working voltage, wide temperature range, strong load carrying capacity and the like, is suitable for various systems requiring high-speed and high-power driving, and can be used as a chip for driving a large current load.

In this embodiment, the tea ceremony robot further includes:

the touch screen is used for realizing real-time interaction of data; in the embodiment, the touch screen is provided with the independent user keys, so that a user can continue to use the cup through the user keys, and the user experience is improved;

and the voice prompt module is used for carrying out voice prompt. For example: and after pouring the tea, reminding the user that the tea temperature is too high and the user is not suitable for drinking, and when the tea reaches the suitable temperature, reminding the user that the tea temperature is suitable for drinking, and the like.

The tea ceremony robot in this embodiment can carry out the data quantization with this complicated professional work of manual making tea, changes humanized touch screen operation into, promotes user's interactive experience. The tea ceremony robot is convenient for users to sample tea at rest when people live in a busy city, and people feel bitter and happy in the tea ceremony.

Example 2:

the embodiment provides a working method of a tea ceremony robot, which is realized based on the tea ceremony robot in embodiment 1, and comprises the following steps:

acquiring tea variety data, and then acquiring corresponding brewing process data according to the tea variety data so as to drive the tea water heating structure 2, the teacup bearing structure 3, the tea pouring holder structure 4, the teacup overturning structure 5 and the teacup conveying structure 6 to move;

receiving a one-key automatic tea making instruction, and then driving the tea water heating structure 2, the teacup supporting structure 3, the tea pouring holder structure 4, the teacup overturning structure 5 and the teacup conveying structure 6 to perform position initialization; specifically, after the position is initialized, the dovetail sunflower rotating disc rises to the initial position, and the teapot and teacup overturning structure 5 returns to the original position;

driving the tea water heating structure 2 to extract a specified amount of water, then driving the tea water heating structure 2 to heat the water and pouring hot water into a specified position of the tea-pouring holder structure 4;

the tea-pouring holder structure 4 is driven to receive hot water flowing out of the tea water heating structure 2 and pour tea into a tea cup 7 on the tea cup bearing structure 3;

driving the teacup support structure 3 to move so that the teacup support structure 3 ascends and drives the teacup 7 on the upper part of the teacup support structure to rotate until the teacup 7 on the teacup support structure 3 is filled with water and moves to the teacup overturning structure 5;

the teacup overturning structure 5 is driven to act so as to overturn the teacup 7 on the teacup overturning structure 5 to pour water into the teacup 7 until the teacup 7 on the teacup supporting structure 3 is completely cleaned;

repeatedly driving the tea water heating structure 2, the tea pouring holder structure 4 and the tea cup bearing structure 3 until the tea cup 7 is cleaned and filled with tea water;

the tea cup conveying structure 6 is driven to act so as to move the tea cup 7 filled with tea water on the tea cup conveying structure 6 to a specified position of the base 1.

Specifically, in this embodiment, the tea cup carrying structure 6 is based on an independent slave control module of the master control module, and communicates with the master control module through a wireless serial port, the slave control module collects and processes field data at regular time, sends real-time data to the master control module, and responds to a control command sent by the master control module.

After the tea path robot is initialized, the tea washing operation, the tea cup 7 blanching operation and the tea pouring operation can be sequentially performed, and finally the tea feeding operation is performed. When the user is in the tea ceremony robot in the embodiment of the utility model, the user button on the touch screen can be used for sending a cup adding instruction to the main control module, so that the cup adding operation can be conveniently carried out.

In this embodiment, after using up the tea ceremony robot, the shutdown button on the accessible touch-sensitive screen sends the shutdown instruction to host system, and teacup transport structure 6 withdraws teacup 7 in proper order and pours the water operation through teacup flip structure 5 this moment, if the tea has tea in the sea, also can carry out the task of pouring the water. Then tea water heating structure 2, teacup bearing structure 3, pour tea tripod head structure 4, teacup flip structure 5 and teacup transport structure 6 and reset, and the saucer 32 on the teacup bearing structure 3 descends to carry out the playback with the roof parallel and level of base 1. And finally, the main power supply can be disconnected through a power supply key on the touch screen.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.

Claims

1. A tea ceremony robot, its characterized in that: comprises a base (1), a tea water heating structure (2) connected with the base (1), a teacup supporting structure (3), a tea pouring holder structure (4), a teacup overturning structure (5) and a teacup conveying structure (6); wherein the content of the first and second substances,

the tea water heating structure (2) is used for taking water and heating water flow;

the teacup supporting structure (3) is used for placing a teacup (7) and is also used for driving the teacup (7) to lift and rotate;

the tea pouring holder structure (4) is used for receiving hot water flowing out of the tea water heating structure (2) and pouring tea into a tea cup (7) on the tea cup bearing structure (3);

the teacup overturning structure (5) is used for driving the teacup (7) to overturn after the teacup (7) is placed so as to pour water into the teacup (7);

the teacup conveying structure (6) is used for driving the teacup (7) to move to the specified position of the base (1) after the teacup (7) is placed.

2. The tea robot of claim 1, wherein: the tea heating structure (2) comprises a water guide pipe, and a water flowmeter, a water pump, a heater and a thermocouple which are sequentially arranged along the water flow direction of the water guide pipe, wherein the heater adopts a fast heating pipe, and a temperature sensor is arranged in the heater.

3. The tea robot of claim 1, wherein: the teacup supporting structure (3) comprises a teacup bracket, a connecting frame and a teacup driving module, the teacup bracket is used for placing a teacup (7), the teacup bracket is connected with the base (1) through the connecting frame, the teacup driving module is connected with the teacup bracket, and the teacup driving module is used for driving the teacup bracket to rotate in the horizontal plane; the teacup bracket comprises a tea support (31) and a tea support framework (32), the tea support framework (32) is arranged at the top of the connecting frame, and the tea support (31) is connected with the tea support framework (32); the teacup driving module comprises a rotary driving mechanism (33), the fixed end of the rotary driving mechanism (33) is connected with the connecting frame, and the output end of the rotary driving mechanism (33) penetrates through the connecting frame upwards and then is connected with the saucer framework (32).

4. The tea robot of claim 3, wherein: the connecting structure of the tea support (31) and the tea support framework (32) is a tenon-and-mortise connecting structure, and the tea support (31) can slide on the tea support framework (32) along the horizontal direction; the teacup bracket further comprises a clamping sleeve (34), and the clamping sleeve (34) is connected with the bottom of the saucer (31).

5. The tea robot of claim 3, wherein: the bottom of the teacup (7) is provided with a convex block (71), and the top of the saucer (31) is provided with a self-locking buckle (35) matched with the convex block (71); the teacup bracket also comprises a cup stand, and the cup stand is arranged at the top of the tea stand (31) around the self-locking buckle (35).

6. The tea robot of claim 3, wherein: the teacup driving module is also used for driving the teacup bracket to move up and down; the connecting frame comprises a connecting plate (36) and a sliding rod (37), the sliding rod (37) is arranged in the base (1) along the height direction of the base (1), and the connecting plate (36) is sleeved on the sliding rod (37) in a sliding manner; the teacup driving module further comprises a vertical driving mechanism (38), the fixed end of the vertical driving mechanism (38) is connected with the base (1), and the output end of the vertical driving mechanism (38) is arranged upwards and is connected with the connecting plate (36).

7. The tea robot of claim 1, wherein: the tea pouring holder structure (4) comprises a turnover tea pouring structure, a turnover tea pouring driving mechanism (41), a tea sea structure (42) and a tea sea driving mechanism (43), wherein the turnover tea pouring driving mechanism (41) is used for driving the turnover tea pouring structure to rotate towards the direction close to or far away from the tea sea structure (42), the tea sea structure (42) is arranged close to the teacup bearing structure (3), and the tea sea driving mechanism (43) is used for driving the tea sea structure (42) to rotate towards the direction close to or far away from the teacup bearing structure (3); tea-pouring cloud platform structure (4) still include first positioning seat (46) and second positioning seat, first positioning seat (46) and second positioning seat all set up on base (1), the stiff end and first positioning seat (46) of tea actuating mechanism (41) are poured in the upset are connected, the output and the upset of tea actuating mechanism (41) are poured in the upset and are connected, the stiff end and the second positioning seat of tea sea actuating mechanism (43) are connected, the output and the tea sea structure (42) of tea sea actuating mechanism (43) are connected.

8. The tea robot of claim 7, wherein: the turnover tea pouring structure comprises a turnover body (44) and a tea leakage structure (45), the turnover body (44) is connected with a turnover tea pouring driving mechanism (41), the tea leakage structure (45) is connected with one end, far away from the turnover tea pouring driving mechanism (41), of the turnover body (44), and a water leakage hole is formed in the tea leakage structure (45); the turnover body (44) is provided with a water guide groove, and the water guide groove is used for guiding tea water in the tea strainer structure (45) into the tea sea structure (42) when the turnover tea pouring structure rotates towards the direction close to the tea sea structure (42).

9. The tea robot of claim 7, wherein: the second positioning seat comprises two vertical plates (47) symmetrically arranged on two sides of the tea sea structure (42), the fixed end of the tea sea driving mechanism (43) is connected with any vertical plate (47), the output end of the tea sea driving mechanism (43) penetrates through the vertical plate (47) and then is connected with the tea sea structure (42), and one end, far away from the tea sea driving mechanism (43), of the tea sea structure is hinged with the other vertical plate (47) through a limiting shaft; the limiting shaft penetrates through the other vertical plate (47), a limiting block (48) is arranged at one end of the limiting shaft, which is far away from the tea sea structure (42), the limiting block (48) is fan-shaped, and the central angle of the limiting block (48) is smaller than 180 degrees; and a clamping block (49) is arranged on one side of the other vertical plate (47) far away from the tea sea structure (42) in a manner of being matched with the limiting block (48), and when the tea sea driving mechanism (43) drives the tea sea structure (42) to rotate towards the direction close to or far away from the teacup supporting structure (3), the clamping block (49) can be contacted with two straight edges of the limiting block (48).

10. The tea robot of claim 1, wherein: the teacup overturning structure (5) comprises an overturning water pouring structure and a waste water collecting structure; the overturning and water pouring structure comprises an overturning driving mechanism (51) and an overturning fixing plate (52) connected with the output end of the overturning driving mechanism (51), the overturning driving mechanism (51) is used for driving the overturning fixing plate (52) to overturn around a horizontal plane, and a teacup adsorption device is arranged at one end, far away from the overturning driving mechanism (51), of the overturning fixing plate (52); the wastewater collecting mechanism comprises a water tank (53) which is matched with the overturning water pouring structure.

11. The tea robot of claim 10, wherein: the turnover pouring structure further comprises a positioning block (54) and a guide rail (55), the guide rail (55) is arranged on the base (1), the turnover driving mechanism (51) is arranged on the positioning block (54), the positioning block (54) is in sliding connection with the guide rail (55), and two ends of the guide rail (55) are respectively close to the teacup supporting structure (3) and the waste water collecting structure.

12. The tea robot of claim 1, wherein: the teacup conveying structure (6) is arranged in the base (1), and the teacup conveying structure (6) comprises a rail (61) and a conveying mechanism matched with the rail (61); the rail (61) is arranged around the tea water heating structure (2), the teacup supporting structure (3), the teacup overturning structure (5) and the tea pouring holder structure (4); the transportation mechanism comprises a support frame (62), a walking wheel (63) arranged on the support frame (62), a walking driving mechanism (64) for driving the walking wheel (63) to rotate and a cup supporting mechanism connected with the support frame (62), wherein the walking wheel (63) is in contact with a top plate of the base (1);

the supporting frame (62) comprises a bottom frame plate (621) and a vertical frame seat (622), the vertical frame seat (622) is arranged on the bottom frame plate (621), the vertical frame seat (622) is rotatably connected with the bottom frame plate (621), and the vertical frame seat (622) is sleeved outside the track (61); the fixed end of the walking driving mechanism (64) is connected with the vertical frame seat (622), and the output end of the walking driving mechanism (64) penetrates through the vertical frame seat (622) to be connected with the walking wheel (63); the cup supporting mechanism is connected with the bottom frame plate (621).

13. The tea robot of claim 12, wherein: the transport mechanism further comprises positioning wheels (65) and bull's-eye wheels (66) which are arranged on the stand seats (622), the positioning wheels (65) are in contact with the side walls of the rails (61), and the bull's-eye wheels (66) are in contact with the lower walls of the rails (61).

14. The tea robot of claim 12, wherein: the cup supporting mechanism comprises a cup feeding driving mechanism (67) connected with the supporting frame (62) and a cup supporting frame (68) connected with the output end of the cup feeding driving mechanism (67), and the cup supporting frame (68) extends upwards to the top of the base (1); the top of the cup holding rack (68) is provided with a cup holding seat (69).

15. The tea robot of claim 1, wherein: the tea path robot further comprises a server and a main control module in communication connection with the server, and the main control module is electrically connected with the tea water heating structure (2), the teacup supporting structure (3), the tea pouring holder structure (4), the teacup overturning structure (5) and the teacup conveying structure (6); wherein the content of the first and second substances,

the main control module is used for acquiring tea variety data and selecting corresponding brewing process data in the server according to the current tea variety data so as to drive the tea water heating structure (2), the teacup bearing structure (3), the tea pouring holder structure (4), the teacup overturning structure (5) and the teacup conveying structure (6) to move.

16. The tea robot of claim 15, wherein: the tea ceremony robot further comprises:

the touch screen is used for realizing real-time interaction of data;

and the voice prompt module is used for carrying out voice prompt.

17. A working method of the tea robot according to any one of claims 1 to 16, characterized in that: the method comprises the following steps:

the tea brewing method comprises the steps of obtaining tea variety data, and then obtaining corresponding brewing process data according to the tea variety data so as to drive a tea water heating structure (2), a teacup supporting structure (3), a tea pouring holder structure (4), a teacup overturning structure (5) and a teacup conveying structure (6) to move;

receiving a one-key automatic tea making instruction, and then driving the tea water heating structure (2), the teacup supporting structure (3), the tea pouring holder structure (4), the teacup overturning structure (5) and the teacup conveying structure (6) to initialize positions;

the tea water heating structure (2) is driven to extract a specified amount of water, then the tea water heating structure (2) is driven to heat the water, and hot water is poured into a specified position of the tea pouring holder structure (4);

the tea pouring holder structure (4) is driven to receive hot water flowing out of the tea heating structure (2) and pour tea into a teacup (7) on the teacup supporting structure (3);

the teacup supporting structure (3) is driven to move, so that the teacup supporting structure (3) ascends and drives a teacup (7) on the upper part of the teacup supporting structure to rotate until the teacup (7) on the teacup supporting structure (3) is filled with water and moves to the teacup overturning structure (5);

the teacup overturning structure (5) is driven to act so as to overturn the teacup (7) on the teacup overturning structure (5) to pour water on the teacup (7) until the teacup (7) on the teacup supporting structure (3) is completely cleaned;

repeatedly driving the tea water heating structure (2), the tea pouring holder structure (4) and the teacup bearing structure (3) to act until the teacup (7) is cleaned and is filled with tea water;

the teacup conveying structure (6) is driven to act so as to move the teacup (7) filled with tea water on the teacup conveying structure (6) to the appointed position of the base (1).