CN114073407B

CN114073407B - Tea ceremony robot and working method thereof

Info

Publication number: CN114073407B
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: 2023-06-27
Anticipated expiration: 2041-12-15
Also published as: CN114073407A

Abstract

The invention relates to the technical field of water dispensers, and aims to provide a tea ceremony robot and a working method thereof. The tea ceremony robot comprises a base, a tea water heating structure, a teacup supporting structure, a tea pouring holder structure, a teacup overturning structure and a teacup conveying structure, wherein the tea water heating structure, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup 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 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 teacup on the teacup supporting 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 appointed position of the base after the teacup is placed. The invention can show the processes of tea washing, brewing, conveying 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 ceremony robot and a working method thereof.

Background

Along with the development of social economy, the connotation of tea culture is continuously rich, and the tea is especially clear. The Guangzhou people 'drink early tea' and the Chaozhou people 'kungfu tea' are important cultural phenomena in Guangdong social cultural life. Guangdong element is used for producing tea, the production and development of the tea are quite rapid, the modern Guangdong has tea outlets, and Guangdong people 'ingest tea' become the internal power of the production and development of the tea, and the tea is rich, so that reliable conditions are provided for the development of the culture of the Guangdong tea.

Although the tea ceremony has a long history, the modern times are backward, and in the current society, along with the acceleration of the life rhythm, people can sit down for tea more and less. Through a great deal of investigation and research, the applicant finds that the tea attitude of most people like bovine chews peony is mainly because various procedures of tea making in the prior art are usually manually operated, the process of tea making is too complicated, the tea making is difficult to adapt to the requirements of current users, the development of tea culture is not facilitated, and further the users cannot 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 ceremony 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 ceremony robot, which comprises a base, a tea water heating structure, a teacup supporting structure, a tea pouring holder structure, a teacup overturning structure and a teacup conveying structure, wherein the tea water heating structure, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure are connected with the base; wherein, the liquid crystal display device comprises a liquid crystal display device,

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 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 teacup on the teacup supporting 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 appointed position of the base after the teacup is placed.

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

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

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

In one possible design, the bottom of the teacup is provided with a convex block, and the top of the tea tray is provided with a self-locking buckle in cooperation 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 further 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 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 approaching or away from the tea sea structure, the tea sea structure is arranged near the teacup supporting structure, and the tea sea driving mechanism is used for driving the tea sea structure to rotate towards a direction approaching or away from the teacup supporting structure; the tea pouring holder structure further comprises a first positioning seat and a second positioning seat, wherein the first positioning seat and the second positioning seat are arranged on the base, the fixed end of the overturning tea pouring driving mechanism is connected with the first positioning seat, the output end of the overturning tea pouring driving mechanism is connected with the overturning tea pouring structure, the fixed end of the tea driving mechanism is connected with the second positioning seat, and the output end of the tea driving mechanism is connected with the tea structure.

In one possible design, the turnover tea pouring structure comprises a turnover body and a tea leakage structure, wherein the turnover body is connected with the turnover tea pouring driving mechanism, the tea leakage structure is connected with one end of the turnover body far away from the turnover tea pouring driving mechanism, and a water leakage hole is formed in the tea leakage structure; the turnover body is provided with a water diversion groove, and the water diversion groove is used for introducing 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 at two sides of the tea-sea structure, the fixed end of the tea-sea driving mechanism is connected with any one of the vertical plates, the output end of the tea-sea driving mechanism passes through the vertical plate and then is connected with the tea-sea structure, and one end of the tea-sea structure far away from the tea-sea driving mechanism 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, far away from the tea sea structure, of the limiting shaft, the limiting block is in a fan shape, and the central angle of the limiting block is smaller than the degree; one side of the other vertical plate far away from the tea sea structure is provided with a clamping block matched with the limiting block, 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 supporting structure, the clamping block can be contacted with two straight edges of the limiting block.

In one possible design, the teacup overturning structure comprises an overturning water pouring structure and a waste water collecting structure; the turnover pouring structure comprises a turnover driving mechanism and a turnover fixing plate connected with the output end of the turnover driving mechanism, wherein the turnover driving mechanism is used for driving the turnover fixing plate to turn around a horizontal plane, and one end, far away from the turnover driving mechanism, of the turnover fixing plate is provided with a teacup adsorption device; the waste water collecting mechanism comprises a water tank 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 in sliding connection with the guide rail, and two ends of the guide rail are respectively close to the teacup supporting structure and the waste water collecting structure.

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 track is arranged around the tea water heating structure, the teacup supporting structure, the teacup overturning structure and the tea pouring holder structure; the transport mechanism comprises a support frame, a travelling wheel arranged on the support frame, a travelling driving mechanism for driving the travelling wheel to rotate and a cup supporting mechanism connected with the support frame, and the travelling wheel is in contact with a top plate of the base;

The support frame comprises a chassis plate and a stand seat, the stand seat is arranged on the chassis plate and is rotationally connected with the chassis plate, and the stand seat is sleeved outside the track; the fixed end of the walking driving mechanism is connected with the stand seat, and the output end of the walking driving mechanism penetrates through the stand seat to be connected with the walking wheels; the cup supporting mechanism is connected with the underframe plate.

In one possible design, the transport mechanism further comprises a positioning wheel and a bullnose wheel disposed on the stand, the positioning wheel being in contact with the side wall of the track, the bullnose wheel being in contact with the lower wall of the track.

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

In one possible design, the tea ceremony 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 liquid crystal display device comprises a liquid crystal display device,

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

The main control module is used for acquiring tea type data, and selecting corresponding brewing flow data in the server according to the current tea type data so as to drive the tea heating structure, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure to act.

In one possible design, 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.

In a second aspect, the invention provides a working method of a tea ceremony robot, comprising the following steps:

obtaining tea type data, and then obtaining corresponding brewing flow data according to the tea type data so as to drive a tea water heating structure, a tea cup supporting structure, a tea pouring holder structure, a tea cup overturning structure and a tea cup conveying structure to act;

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 initialize positions;

driving the tea heating structure to extract a specified amount of water, then driving the tea heating structure to heat the water and pouring 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 heating structure and pour tea into a teacup on the teacup supporting structure;

driving the teacup supporting structure to act so that the teacup supporting structure rises and drives the teacup at the upper part of the teacup supporting structure to rotate until the teacup on the teacup supporting 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 cleaned;

repeatedly driving the tea water heating structure, the tea pouring holder structure and the teacup supporting structure to act until the teacup is cleaned and filled with tea water;

the teacup conveying structure is driven to act so as to enable the teacup filled with tea water on the teacup conveying structure to move to the appointed position of the base.

The beneficial effects of the invention are as follows: the processes of tea washing, brewing, conveying and the like of the kungfu tea can be displayed to a user, so that the tea making experience of the user is improved, and the tea culture is facilitated to develop. Specifically, in the implementation process of the invention, 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 is used for pouring tea, the teacup overturning structure is used for pouring tea, and the teacup conveying structure is used for conveying tea and the like; then, the tea pouring holder structure can receive hot water flowing out from the tea water heating structure and pour tea into a teacup on the teacup supporting structure; then, the tea water firstly brewed in the tea cup can be poured out by the tea cup overturning structure so as to realize the operations of tea washing, cup washing and the like; the teacup supporting structure and the tea pouring holder structure can act again until the teacup is filled with tea, and at the moment, the teacup conveying structure can convey the teacup to the appointed position of the base, so that tea conveying operation is realized. In the process, the working procedures of tea washing, cup washing, tea brewing, tea pouring and the like are all carried out through a machine, so that the workload of manually brewing kungfu tea by a user is greatly reduced, the enthusiasm and user experience of drinking tea by the user are improved, and meanwhile, in the process, the user can see the working procedures of tea washing, tea brewing, conveying and the like of the kungfu tea, and the development of tea culture is facilitated.

Drawings

FIG. 1 is a schematic diagram of a tea ceremony robot in 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 panel and front side panel of the base removed;

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

fig. 5 is a schematic view of the structure of the tea cup holder and the tea cup in the structure shown in fig. 4;

figure 6 is a schematic diagram of the structure of the tray skeleton in the structure shown in figure 4;

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

FIG. 8 is a schematic diagram of a structure of a tea pouring holder according to the present invention;

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

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

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

fig. 12 is a schematic structural view of a turnover structure of a teacup in the present invention;

FIG. 13 is a schematic view of a tea cup transport structure according to the present invention;

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

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

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

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

FIG. 18 is a schematic circuit diagram of an IO port overvoltage 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 in accordance with the invention;

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

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

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

Detailed Description

The invention will be further elucidated with reference to the drawings and to specific embodiments.

Example 1:

the first aspect of the embodiment provides a tea ceremony robot, as shown in fig. 1 to 3, comprising a base 1, 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, wherein 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 are connected with the base 1; wherein, the liquid crystal display device comprises a liquid crystal display device,

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 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 the tea cup 7 on the tea cup supporting 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 appointed position of the base 1 after the teacup 7 is placed.

The embodiment can show the processes of tea washing, brewing, conveying and the like of the kungfu tea to a user, so that the tea making experience of the user is improved, and the tea culture is facilitated to develop. Specifically, in the implementation process of the embodiment, water can be taken through the tea water heating structure 2 and water flow can be heated; then, a tea cup 7 is placed through the tea cup supporting structure 3, and the tea cup 7 is driven to lift and rotate, so that the subsequent tea pouring operation of the tea pouring holder structure 4, the tea cup overturning structure 5, the tea pouring operation of the tea cup conveying structure 6, the tea feeding operation and the like can be conveniently performed; then, the tea pouring holder structure 4 can receive hot water flowing out from the tea water heating structure 2 and pour tea into the tea cup 7 on the tea cup supporting structure 3; then, the tea cup overturning structure 5 can pour out tea water firstly brewed in the tea cup 7 so as to realize operations of tea washing, cup washing and the like; the teacup supporting structure 3 and the tea pouring holder structure 4 can act again until the teacup 7 is filled with tea, and at the moment, the teacup conveying structure 6 can convey the teacup 7 to the appointed position of the base, so that tea conveying operation is realized. In the process, the working procedures of tea washing, cup washing, tea brewing, tea pouring and the like are all carried out through a machine, so that the workload of manually brewing kungfu tea by a user is greatly reduced, the enthusiasm and user experience of drinking tea by the user are improved, and meanwhile, in the process, the user can see the working procedures of tea washing, tea brewing, conveying and the like of the kungfu tea, and the development of tea culture is facilitated.

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

The heater can convert electric energy into heat energy so as to heat the water flowing into the water guide pipe, and the heated water flows out through the water guide pipe. In the embodiment, the heater adopts a quick heat 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 quick heating, and the heating pipe is made of 304 stainless steel, and is not easy to form scale when in contact with water. Specifically, the fast heat pipe is an object with better heat conductivity, can convert electric energy into heat energy under a high-power heating state, and then transfers the heat energy into water, so that the water is rapidly heated. In this embodiment, the tea heating structure 2 can be used together with the traditional barreled water, and pump water into the water guide pipe through the water pump, then heat water rapidly through the heater, adopts the mode of instant heating that opens promptly, further avoids producing the problem of incrustation scale easily.

In this embodiment, the tea water heating structure 2 can realize a thermal type quick heating mode for water, specifically, the thermal type quick heating mode is an instant heating mode, that is, a water flow heating mode without an inner container, and has the following advantages compared with a heating mode of a thermal type quick heating traditional tea water machine:

1) More sanitary and healthy: the instant heating type water-flowing heating is realized, scale is not easy to form, an inner container is not arranged, the problem of thousands of boiling water is avoided, and each cup of hot water can be ensured to be fresh;

2) The method is rapid and convenient: the instant heating type can heat instantly and heat according to the requirement without waiting. The water heating modes commonly used in the prior art are all modes of unified heating of the whole tank, and are time-consuming and power-consuming;

3) Energy saving and environmental protection: because of instant heating, heat preservation is not needed, and the energy consumption of repeated heating for many times is avoided;

4) More intelligent: the microcomputer control is generally adopted, the self-defining of the water outlet temperature and water flow is facilitated, whether the water tank has water or not is judged through the water flow, and dry burning can be prevented.

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

In this embodiment, the thermocouple can directly contact with measured substances such as water flow, so as to more directly sense the temperature of water flow, so that the measured temperature is more accurate, and the thermocouple is sensitive to temperature change and has a fast thermal response time. The digital quantity obtained by the temperature signal (analog quantity) obtained by the thermocouple after being converted by the temperature transmitter is sent to the main control module through the SPI bus protocol to control the water temperature, and the water temperature is used as a second-stage temperature controller.

In the embodiment, the water flow meter adopts a water flow sensor made of food grade materials, and mainly comprises a copper valve body, a plastic molding, a water flow rotor component, a steady flow component and a Hall element. In this embodiment, the water flow meter is installed at the water inlet end of the water pump and is used for measuring the inflow. When water flows through the rotor assembly, the magnetic rotor rotates and the rotational speed varies linearly with the flow. The Hall element outputs a corresponding pulse signal and feeds the pulse signal back to the main control module, and the main control module judges the water flow. The water flow sensor is applied to the tea ceremony robot system, not only can control the number of tea cups for brewing by controlling the water quantity of tea water, but also can judge whether the water tank lacks water by the water inflow to prevent the heater from being burned 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 for a long time at a high temperature of 100 ℃.

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

In this embodiment, the teacup driving module may drive the teacup bracket to rotate in a horizontal plane, so as to realize the displacement of the teacup 7 on the teacup bracket, for example, the teacup 7 is moved to a tea pouring station or a water pouring station, so that the procedures of pouring tea, pouring water, and the like of the teacup 7 are conveniently realized.

In this embodiment, the rotary driving mechanism 33 may drive the tea tray skeleton 32 and the structures such as the tea tray 31 and the tea cup 7 set on the tea tray skeleton 32 to rotate in the horizontal plane, so as to drive the tea cup 7 on the tea tray 31 to move to the water outlet end of the tea pouring holder structure 4 or to the tea cup 7 placement position of the tea cup overturning structure 5, thereby facilitating the tea pouring operation of the tea pouring holder structure 4 or facilitating the water pouring operation of the tea cup overturning structure 5.

As shown in fig. 6, in this embodiment, the saucer skeleton 32 adopts a structure of sunflower style, and a plurality of saucers 31 can be connected to the saucer skeleton 32, so that tea can be conveniently poured into a plurality of cups of tea in the same batch, and tea can be conveniently drunk by a plurality of people together.

In the present embodiment, the rotation driving mechanism 33 may be realized by, but not limited to, a structure in which rotation driving is realized by a rotary motor, a rotary cylinder, or the like.

In this embodiment, the connection structure between the tea tray 31 and the tea tray skeleton 32 is a mortise-tenon connection structure, and the tea tray 31 may slide on the tea tray skeleton 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 tea tray 31.

It should be understood that the tea tray 31 is slidably disposed on the tea tray skeleton 32, so that when the tea tray 31 rotates to a certain position, for example, when the tea cup 7 of the tea cup turning structure 5 is placed, the tea tray 31 and the tea cup 7 are positioned by the tea cup turning structure 5, and then the turnover water pouring operation of the tea cup 7 is realized.

Specifically, in this embodiment, the saucer 31 is provided with a sliding block, the saucer skeleton 32 is provided with a sliding groove in cooperation with the sliding block, and the sliding block is slidably arranged in the sliding groove. In this embodiment, the connection structure of the saucer 31 and the saucer skeleton 32 adopts a dovetail mortise structure. Specifically, in this embodiment, the dovetail mortise shaped like a trapezoid is adopted, the chute is arranged as a dovetail groove, and the slider is arranged as a dovetail structure shaped like a trapezoid. It should be noted that, the sliding groove is configured as a dovetail groove, so that the sliding performance during movement is ensured to the maximum extent, and the self-locking performance of the tea tray 31 during static state is ensured to the maximum extent.

It should be noted that, the cutting ferrule 34 may be connected with a structure for turning over the teacup to pour water, such as the teacup turning over structure 5, so as to facilitate the pouring operation of the teacup 7 for washing tea, etc. In this embodiment, the ferrule 34 is an i-shaped ferrule 34 with magnetism, so as to realize magnetic attraction positioning with the teacup overturning structure.

In this embodiment, as shown in fig. 7, a protruding block 71 is provided at the bottom of the teacup 7, and a self-locking buckle 35 is provided at the top of the tea tray 31 in cooperation with the protruding block 71; specifically, the self-locking buckle 35 is configured to be a structure that the lug 71 opens when being pressed inwards and the lug 71 is fixed and then realizes self-locking, so that the pressing type self-locking of the teacup 7 at the top of the tea tray 31 is realized, and the problems of displacement and the like of the teacup 7 are avoided.

The cup holder further comprises a cup holder (not shown) arranged around the self-locking catch 35 on top of the tea holder 31.

It should be noted that, in this embodiment, the cup stand is disposed around the self-locking buckle 35, and the cup stand can guide the teacup 7 to be placed at the position where the self-locking buckle 35 is located, and meanwhile, the teacup 7 can be prevented from being shifted, so that the user can place the teacup 7 on the tea stand 31 conveniently, and positioning is achieved through the self-locking buckle 35. In this embodiment, the cup holder may be, but is not limited to, a boat-shaped, inverted truncated cone-shaped or polygonal structure, which is not limited herein.

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

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

In this embodiment, the vertical driving mechanism 38 may drive the connecting plate 36, the tea tray skeleton 32, and the tea tray 31 and the teacup 7 disposed on the tea tray skeleton 32 to move up and down, so as to drive the tea tray 31 and other structures to move up to the top of the base 1, or move down to a position flush with the top plate of the base 1, so as to realize storage of the tea tray 31 and other structures. Wherein, the connecting plate 36 is slidably sleeved on the slide bar 37 to avoid the lateral displacement of the connecting plate 36, and in addition, the slide bar 37 can be provided with a plurality of slide bars, but not limited to, so that the structures such as the connecting plate 36 can stably slide along the height direction of the base 1; in this embodiment, a support is provided 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 support, so that the vertical driving mechanism 38 moves the teacup bracket up to the outside of the base 1.

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

In the present embodiment, the vertical driving mechanism 38 may be realized by, but not limited to, a structure that can realize linear driving using a linear motor, a linear cylinder, or the like.

In this embodiment, as shown in fig. 8 to 10, the tea pouring holder structure 4 includes a turnover tea pouring structure, a turnover tea pouring driving mechanism 41, a tea sea structure 42 and a tea sea driving mechanism 43, where the turnover tea pouring driving mechanism 41 is used to drive the turnover tea pouring structure to rotate in a direction approaching or separating from the tea sea structure 42, the tea sea structure 42 is disposed near the tea cup supporting structure 3, and the tea sea driving mechanism 43 is used to drive the tea sea structure 42 to rotate in a direction approaching or separating from the tea cup supporting structure 3; the tea pouring holder structure 4 further comprises a first positioning seat 46 and a second positioning seat, the first positioning seat 46 and the second positioning seat are arranged on the base 1, the fixed end of the overturning and tea pouring driving mechanism 41 is connected with the first positioning seat 46, the output end of the overturning and tea pouring driving mechanism 41 is connected with the overturning and tea pouring structure, the fixed end of the tea driving mechanism 43 is connected with the second positioning seat, and the output end of the tea driving mechanism 43 is connected with the tea structure 42.

It should be noted that the tea pouring holder structure 4 is used for receiving hot water flowing out from the tea water heating structure 2 and pouring tea into the teacup 7 on the teacup supporting structure 3, specifically, the overturning tea pouring structure in the tea pouring holder structure 4 is used for receiving hot water, and then overturning through the overturning tea pouring driving structure so as to pour the hot water in the overturning tea pouring structure into the tea sea structure 42, and then, the tea sea driving mechanism 43 drives the tea sea structure 42 to overturn so as to pour the hot water in the tea sea structure 42 into the teacup 7 on the cup stand 32.

It should be noted that, the first positioning seat 46 and the second positioning seat may function as the connection between the overturning and tea driving mechanism 41 and the tea driving mechanism 43 and the base 1, respectively, so as to facilitate the assembly between the overturning and tea driving mechanism 41 and the tea driving mechanism 43 and the base 1.

In the present embodiment, both the inversion tea pouring driving mechanism 41 and the tea driving mechanism 43 may be realized by, but not limited to, a structure in which rotation driving is realized by a rotary motor, a rotary cylinder, or the like.

Specifically, the turnover tea pouring structure comprises a turnover body 44 and a tea leakage structure 45, the turnover body 44 is connected with the 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. When in use, tea leaves can be placed in the tea strainer 45, and a user can place tea leaves in the tea strainer 45 in advance so as to perform subsequent operations such as tea making and tea pouring. Specifically, in the implementation process of this embodiment, hot water flowing out of the tea water heating structure 2 can flow into the tea leakage structure 45 through the water leakage hole, so as to brew tea, when tea is required to be washed or drunk, the turnover tea pouring structure is driven to rotate towards the direction close to the tea sea structure 42 by the turnover tea pouring driving mechanism 41, and tea water can flow out of the tea leakage structure 45 through the water leakage hole and is guided into the tea sea structure 42 through the turnover body 44.

Wherein, the turnup body 44 is provided with a water diversion groove, and the water diversion groove is used for introducing tea water in the tea strainer structure 45 into the tea strainer structure 42 when the turnover tea pouring structure rotates towards the direction close to the tea strainer structure 42, so that the problems of overflow of tea water and the like can be avoided.

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

The limiting shaft is arranged in the other vertical plate 47 in a penetrating way, one end, far away from the tea sea structure 42, of the limiting shaft is provided with a limiting block 48, the limiting block 48 is in a fan shape, and the central angle of the limiting block 48 is smaller than 180 degrees; the other vertical plate 47 is provided with a clamping block 49 matched with the limiting block 48 at one side far away from the tea sea structure 42, 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 sides of the limiting block 48.

It should be noted that, in this embodiment, two ends of the tea sea structure 42 are respectively connected with two vertical plates 47 through straight shaft couplings, wherein bearings are embedded between the limiting shafts and the corresponding vertical plates 47 to offset radial force and axial tension and compression on the vertical plates 47 caused by gravity and torsion moment of the tea sea structure 42. In this embodiment, the maximum rotation angle limit of the tea-sea structure 42 can be realized by the limiting block 48 and the clamping block 49, the central angle of the limiting block 48 is 125 degrees, at this time, the tea-sea driving mechanism 43 can drive the tea-sea structure 42 to rotate from a horizontal position to a position inclined towards the tea cup supporting structure 3, and when the tea-sea structure 42 inclines towards the tea cup supporting structure 3, tea water in the tea-sea structure 42 just can completely enter a tea cup on the tea cup supporting structure 3, the limiting block 48 and the clamping block 49 are matched, the limiting of the tea-sea structure 42 can effectively prevent the rotation error of the tea-sea driving mechanism 43, improve the accuracy of the tea pouring position, and simultaneously facilitate reducing the difficulty of software debugging of the tea-sea driving 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. In this embodiment, the in-place sensor a is used to detect whether the connection plate 36 in the teacup holder is lifted to a position flush with the top plate of the base 1, so as to prevent tea from flowing into the base 1. It should be understood that in this embodiment, the in-place sensor a may be, but is not limited to, implemented by using an infrared sensor, an ultrasonic sensor, etc., and will not be described herein.

In this embodiment, as shown in fig. 12, the teacup overturning structure 5 includes an overturning water pouring structure and a waste water collecting structure; the turnover pouring structure comprises a turnover driving mechanism 51 and a turnover fixing plate 52 connected with the output end of the turnover driving mechanism 51, wherein the turnover driving mechanism 51 is used for driving the turnover fixing plate 52 to turn around a horizontal plane, and a teacup adsorption device is arranged at one end, far away from the turnover driving mechanism 51, of the turnover fixing plate 52; the waste water collection mechanism comprises a water tank 53 which is matched with the overturning water pouring structure. The overturning pouring structure is used for overturning and pouring the teacup 7, and the overturning fixing plate 52 is used for placing the teacup 7; the waste water collection structure is used for accomodating the waste water in the teacup 7, and in this embodiment, the opening part cooperation of basin 53 is provided with seal structure to avoid tea to flow into 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 but not only adopt the magnetism to inhale the device realization, in order to realize the location to teacup 7 or basin 53, after the water is fully collected in basin 53, the user can take out basin 53 and pour water.

In this embodiment, the turnover 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 with the guide rail 55, two ends of the guide rail 55 are respectively close to the teacup supporting structure 3 and the waste water collecting structure, that is, the guide rail 55 extends to one end close to the teacup supporting structure 3.

Specifically, the turnover pouring structure fixes the turnover fixing plate 52 on the guide rail 55 through the second sliding block, the guide rail 55 bears the weight of the dead weight and the power mechanism in the turnover structure, and the turnover driving mechanism 51 provides 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 matched manner. In addition, waste water collection mechanism comprises basin 53, solenoid valve and leak protection device, and the junction of basin 53 and leak protection device is through circular mortise and tenon joint riveting, and waterproof apron sealing gap is detained in the top again in order to reach waterproof effect. The electromagnetic valve is connected with the connector through the rubber pipeline, and the main control module controls the on-off of the valve to freely control the discharge of wastewater.

In this embodiment, as shown in fig. 13 to 15, the teacup conveying structure 6 is disposed in the base 1, and the teacup conveying structure 6 includes a rail 61 and a conveying mechanism cooperating with the rail 61; the track 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 transport mechanism comprises a support frame 62, a travelling wheel 63 arranged on the support frame 62, a travelling driving mechanism 64 for driving the travelling wheel 63 to rotate and a cup supporting mechanism connected with the support frame 62, wherein the travelling wheel 63 is in contact with the top plate of the base 1. It should be noted that the traveling driving mechanism 64 may drive the traveling wheels 63 to rotate so as to provide the advancing power and the upward supporting force of the transport mechanism on the rail 61.

In this embodiment, the teacup conveying structure 6 senses the position of the user through the infrared sensor arranged on the conveying mechanism, so as to convey the teacup 7 on the conveying mechanism to the position of the user, and the technology of carrying out operation control on the conveying mechanism according to the position of the user sensed by the infrared sensor and the signal output by the infrared sensor can be realized based on the prior art, and will not be repeated here.

The supporting frame 62 comprises a chassis plate 621 and a stand seat 622, the stand seat 622 is arranged on the chassis plate 621, the stand seat 622 is rotationally connected with the chassis 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 stand seat 622, and the output end of the walking driving mechanism 64 passes through the stand seat 622 to be connected with the walking wheel 63; the cup holding mechanism is connected with the bottom bracket plate 621.

In this embodiment, the support frame 62 is arranged, so that the chassis plate 621 can realize positioning of the stand 622, the chassis plate 621 is rotationally connected with the stand 622, and the stand 622 can be conveniently rotated around the track 61, so that friction between the transport mechanism and the track 61 is reduced, and the transport mechanism is assisted to integrally move forward.

In this embodiment, the transport mechanism further comprises a positioning wheel 65 and a bullseye wheel 66 disposed on the stand 622, the positioning wheel 65 contacting the side wall of the rail 61; it should be noted that, the positioning wheel is vertically arranged in the axial direction so as to contact with the side wall of the track 61, thereby further reducing friction between the support frame 62 and the track 61 and facilitating noise reduction and speed increase. In particular, the positioning wheel 65 may be pressed against the rail 61, the positioning wheel 65 being cooperatively provided with a resilient mechanism so that the flexibility autonomously stretches or compresses in accordance with the change in the path of the transport mechanism and provides a lateral friction force and a counter force to the tendency of sagging of the ground by pressing.

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

In this embodiment, the stand 622 is U-shaped, and the bottom plate of the stand 622 is rotatably connected to the bottom plate 621; the two sets of the traveling driving mechanisms 64 and the traveling wheels 63 are cooperatively arranged, and the two sets of the traveling driving mechanisms 64 and the traveling wheels 63 are oppositely arranged on the two arms of the stand seat 622. The stand 622 is U-shaped, so that the overall stability of the support 62 is improved, and the displacement of the support 62 relative to the rail 61 is avoided.

Further, a plurality of the stand bases 622 are provided, and the plurality of stand bases 622 are provided at intervals along the longitudinal direction of the chassis plate 621. The arrangement can facilitate the realization of the running stability of the transport mechanism on the track 61, and ensure the stable teacup position on the cup supporting mechanism. In this embodiment, two stand bases 622 are provided to facilitate increasing the stability of the transportation mechanism during walking, and reducing the overall volume of the transportation mechanism.

Specifically, in the present embodiment, the cup supporting mechanism includes a cup feeding driving mechanism 67 connected to the support frame 62 and a cup supporting rack 68 connected to an output end of the cup feeding driving mechanism 67, and the cup supporting rack 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 cup 7 on the cup holder 68 in the radial direction of the track 61, thereby facilitating the user to take the cup 7.

The top of the cup holder 68 is provided with a cup holder 69. In this embodiment, the cup supporting seat 69 is configured as a magnetic attraction structure, such as an electromagnet, so as to be attracted to the cup 7 with magnetism, thereby realizing stable conveyance of the cup 7 and avoiding the problems of displacement of the cup 7 during conveyance of the cup 7.

In the embodiment, the tea ceremony 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 liquid crystal display device comprises a liquid crystal display device,

the server is used for storing brewing process data corresponding to different types of tea, wherein the brewing process data comprises tea quantity, pouring water temperature, brewing time, extraction time and soaking degree data; specifically, in the research and development process, the applicant carries out effective scheme revisions for a plurality of times according to the growth environment and the frying method of various tea such as black tea, green tea, black tea, pul tea and the like and through a large number of practical tests and professional suggestions of professional tea tasters, and obtains corresponding brewing flow data so as to ensure that the tea making effect is optimal; it should be understood that the user can also adjust the tea amount, pouring water temperature, brewing time, extraction time and the ratio of the soaking degree data by himself, so as to customize the tea making mode according to the habit and taste of the user, and the details are omitted here.

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

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

In this embodiment, the main control module and other circuits are all powered by the power module shown in fig. 17, so that the stable and normal operation of the tea ceremony 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 is also provided with an onboard SWD downloading interface, a serial port communication interface, a CAN communication circuit, four paths of independent keys and a USB power supply interface, and corresponding circuit schematic diagrams are respectively shown in figures 18-22.

The embodiment also comprises a slave control module as shown in fig. 23, wherein the slave control module is connected with the main control module through a board-to-board connector and is used for expanding the interface and leading out the modularized interface so as to facilitate wiring. Specifically, the slave control module is connected with an output interface, a limit switch interface, a motor interface, a steering engine interface, a touch screen interface, a user key interface and other external interfaces of three power supplies, and the slave control module also carries an amplifying circuit and an interface P5 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 capacity and the like, is suitable for various systems requiring high-speed high-power driving, and can be used as a driving high-current load chip.

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 the user can perform cup continuing through the user keys, and the user experience is improved;

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

The tea ceremony robot in this embodiment can carry out data quantization with this complicated professional work of manual tea making, changes humanized touch screen operation into, promotes user's interactive experience. The user can drink the tea ceremony with the robot in the embodiment while bust, and the user can feel happy in the tea ceremony.

Example 2:

the present embodiment provides a working method of a tea ceremony robot, which is implemented based on the tea ceremony robot in embodiment 1, and the working method of the tea ceremony robot includes:

acquiring tea type data, and acquiring corresponding brewing flow data according to the tea type data so as to drive a tea water heating structure 2, a tea cup supporting structure 3, a tea pouring holder structure 4, a tea cup overturning structure 5 and a tea cup conveying structure 6 to act;

Receiving a one-key automatic tea making instruction, and then driving a tea water heating structure 2, a tea cup supporting structure 3, a tea pouring holder structure 4, a tea cup overturning structure 5 and a tea cup conveying structure 6 to initialize positions; specifically, after the position is initialized, the dovetail sunflower rotary table is lifted to an initial position, and the teapot and teacup overturning structure 5 is reset;

driving the tea heating structure 2 to extract a specified amount of water, then driving the tea heating structure 2 to heat the water and pouring the 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 from the tea water heating structure 2 and pour tea into a tea cup 7 on the tea cup supporting structure 3;

driving the teacup supporting structure 3 to act so that the teacup supporting structure 3 rises and drives the teacup 7 at 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;

driving the teacup overturning structure 5 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 cleaned;

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

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

Specifically, in this embodiment, the teacup conveying 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, where the slave control module periodically collects and processes field data, sends real-time data to the master control module, and responds to a control command sent by the master control module.

After the initialization, the tea ceremony robot may perform the tea washing operation, the tea cup 7 blanching operation, and the tea pouring operation in order, and finally perform the tea feeding operation. When the user is practical to the tea ceremony robot in this embodiment, the user button on the touch-sensitive screen still accessible sends a continuous cup instruction to the main control module to be convenient for carry out continuous cup operation.

In this embodiment, after the tea ceremony robot is used, a shutdown instruction can be sent to the main control module through a shutdown button on the touch screen, at this time, the teacup conveying structure 6 sequentially withdraws the teacup 7 and performs pouring operation through the teacup overturning structure 5, and if tea water exists in the tea ceremony, a pouring task can be performed. Then 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 are reset, and the cup stand 32 on the teacup supporting structure 3 is lowered to be flush with the top plate of the base 1 for homing. And finally, the total power supply can be disconnected through a power button on the touch screen.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Finally, it should be noted that the invention is not limited to the alternative embodiments described above, but can be used by anyone in various other forms of products in the light of the present invention. The above detailed description should not be construed as limiting the scope of the invention, which is defined in the claims and the description may be used to interpret the claims.

Claims

1. A tea ceremony robot, its characterized in that: comprises a base (1), a tea 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) which are connected with the base (1); wherein, the liquid crystal display device comprises a liquid crystal display device,

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 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 teacup (7) on the teacup supporting 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 appointed position of the base (1) after the teacup (7) is placed;

the teacup supporting structure (3) comprises a teacup bracket, a connecting frame and a teacup driving module, wherein 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 a horizontal plane; the teacup bracket comprises a tea tray (31) and a tea tray framework (32), wherein the tea tray framework (32) is arranged at the top of the connecting frame, and the tea tray (31) is connected with the tea tray framework (32); the teacup driving module comprises a rotary driving mechanism (33), wherein 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) upwards penetrates through the connecting frame and then is connected with the tea tray framework (32);

The tea tray (31) and tea tray framework (32) are connected in a mortise-tenon connection structure, and the tea tray (31) can slide on the tea tray framework (32) along the horizontal direction; the teacup bracket further comprises a cutting sleeve (34), and the cutting sleeve (34) is connected with the bottom of the tea tray (31);

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

the turnover water 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.

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

3. A tea ceremony robot as claimed in claim 1, wherein: the bottom of the teacup (7) is provided with a lug (71), and the top of the tea holder (31) is matched with the lug (71) and provided with a self-locking buckle (35); the teacup bracket further comprises a cup stand, and the cup stand is arranged at the top of the tea stand (31) around the self-locking buckle (35).

4. A tea ceremony robot as claimed in claim 1, 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 slide rod (37), the slide 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 slide rod (37) in a sliding manner; the teacup driving module further comprises a vertical driving mechanism (38), wherein 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 connected with the connecting plate (36).

5. A tea ceremony robot as claimed in 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 a direction close to or far away from the tea sea structure (42), the tea sea structure (42) is arranged close to the teacup supporting structure (3), and the tea sea driving mechanism (43) is used for driving the tea sea structure (42) to rotate towards a direction close to or far away from the teacup supporting structure (3); the tea pouring holder structure (4) further comprises a first positioning seat (46) and a second positioning seat, the first positioning seat (46) and the second positioning seat are both arranged on the base (1), the fixed end of the overturning tea pouring driving mechanism (41) is connected with the first positioning seat (46), the output end of the overturning tea pouring driving mechanism (41) is connected with the overturning tea pouring structure, the fixed end of the tea driving mechanism (43) is connected with the second positioning seat, and the output end of the tea driving mechanism (43) is connected with the tea structure (42).

6. A tea ceremony robot as claimed in claim 5, wherein: the turnover tea pouring structure comprises a turnover body (44) and a tea leakage structure (45), the turnover body (44) is connected with the 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 diversion groove, and the water diversion groove is used for introducing tea water in the tea leakage 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).

7. A tea ceremony robot as claimed in claim 5, 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 one of the vertical plates (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 is arranged in the other vertical plate (47) in a penetrating mode, a limiting block (48) is arranged at one end, far away from the tea sea structure (42), of the limiting shaft, the limiting block (48) is in a fan shape, and the central angle of the limiting block (48) is smaller than 180 degrees; one side of the other vertical plate (47) far away from the tea sea structure (42) is provided with a clamping block (49) in cooperation with a limiting block (48), and when the tea sea driving mechanism (43) drives the tea sea structure (42) to rotate towards a 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).

8. A tea ceremony robot as claimed in claim 1, wherein: the teacup conveying structure (6) is arranged in the base (1), and the teacup conveying structure (6) comprises a track (61) and a conveying mechanism matched with the track (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 conveying mechanism comprises a supporting frame (62), a travelling wheel (63) arranged on the supporting frame (62), a travelling driving mechanism (64) for driving the travelling wheel (63) to rotate and a cup supporting mechanism connected with the supporting frame (62), wherein the travelling wheel (63) is in contact with a top plate of the base (1);

the support frame (62) comprises a chassis plate (621) and a stand seat (622), the stand seat (622) is arranged on the chassis plate (621), the stand seat (622) is rotationally connected with the chassis 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 stand seat (622), and the output end of the walking driving mechanism (64) penetrates through the stand seat (622) to be connected with the walking wheel (63); the cup supporting mechanism is connected with the chassis plate (621).

9. A tea ceremony robot as claimed in claim 8, wherein: the transport mechanism further comprises a positioning wheel (65) and a bullnose wheel (66) which are arranged on the stand seat (622), the positioning wheel (65) is in contact with the side wall of the rail (61), and the bullnose wheel (66) is in contact with the lower wall of the rail (61).

10. A tea ceremony robot as claimed in claim 8, wherein: the cup supporting mechanism comprises a cup conveying driving mechanism (67) connected with the supporting frame (62) and a cup supporting frame (68) connected with the output end of the cup conveying driving mechanism (67), and the cup supporting frame (68) extends upwards to the top of the base (1); the top of the cup holder (68) is provided with a cup holder (69).

11. A tea ceremony robot as claimed in claim 1, wherein: the tea ceremony robot further comprises a server and a main control module which is 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 liquid crystal display device comprises a liquid crystal display device,

the main control module is used for acquiring tea type data, and selecting corresponding brewing flow data in the server according to the current tea type data so as to drive the tea water heating structure (2), the tea cup supporting structure (3), the tea pouring holder structure (4), the tea cup overturning structure (5) and the tea cup conveying structure (6) to act.

12. A tea ceremony robot as claimed in claim 11, 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.

13. A method of operating a tea ceremony robot as claimed in any one of claims 1 to 12, wherein: comprising the following steps:

obtaining tea type data, and then obtaining corresponding brewing flow data according to the tea type data so as to drive a tea water heating structure (2), a tea cup supporting structure (3), a tea pouring holder structure (4), a tea cup overturning structure (5) and a tea cup conveying structure (6) to act;

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

driving the tea heating structure (2) to extract a specified amount of water, then driving the tea heating structure (2) to heat the water and pouring the 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 teacup (7) on the teacup supporting structure (3);

Driving the teacup supporting structure (3) to act so that the teacup supporting structure (3) rises and drives the teacup (7) at 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);

driving the teacup overturning structure (5) 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 teacup supporting structure (3) to act until the teacup (7) is completely cleaned and filled with tea water;

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