CN114415578A - Tea ceremony robot circuit - Google Patents
Tea ceremony robot circuit Download PDFInfo
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- CN114415578A CN114415578A CN202210317637.8A CN202210317637A CN114415578A CN 114415578 A CN114415578 A CN 114415578A CN 202210317637 A CN202210317637 A CN 202210317637A CN 114415578 A CN114415578 A CN 114415578A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention relates to the technical field of tea robot, and aims to provide a tea robot circuit. The adopted technical scheme is as follows: a tea ceremony robot circuit comprises a master control circuit, a slave control circuit and a power supply circuit, wherein the power supply circuit is used for providing power support for the master control circuit and the slave control circuit; the main control circuit is used for controlling the teacup bearing structure to position and shift the teacup, is used for controlling the tea heating structure to heat tea and pour the tea into the tea-pouring pan-tilt structure, is used for controlling the tea-pouring pan-tilt structure to pour water into the teacup on the teacup bearing structure, is used for controlling the teacup overturning structure to pour water into the teacup on the teacup bearing structure, and is also used for controlling the operation of driving the teacup conveying structure from the control circuit, so that the teacup on the teacup bearing structure is moved to the assigned position of the base. The invention can realize the automatic tea making and sending operations, improve the tea making experience of users and facilitate the development of tea culture.
Description
Technical Field
The invention relates to the technical field of tea robot, in particular to a tea robot circuit.
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.
In order to solve the problems that people who love tea do not have time to make tea or can not make tea too much, the taste of making tea is not good, and the like, the tea robot is suitable for transportation.
Disclosure of Invention
In order to solve the technical problem at least to a certain extent, the invention provides a tea-path robot circuit.
The technical scheme adopted by the invention is as follows:
a tea ceremony robot circuit is used for a tea ceremony robot, and the tea ceremony 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 path robot circuit comprises a master control circuit, a slave control circuit and a power supply circuit, wherein the power supply circuit is used for providing power support for the master control circuit and the slave control circuit; the main control circuit is used for controlling the teacup bearing structure to position and shift a teacup, controlling the tea water heating structure to heat tea water and pour the tea water into the tea pouring holder structure, controlling the tea pouring holder structure to pour the tea water into the teacup on the teacup bearing structure, controlling the teacup overturning structure to pour the tea water into the teacup on the teacup bearing structure, and controlling the slave control circuit to drive the teacup conveying structure to operate so as to move the teacup on the teacup bearing structure to a specified position of the base.
In one possible design, the main control circuit comprises a main controller, and a steering engine interface circuit, a stepping motor driver interface circuit, an electromagnetic valve interface circuit and a first limit switch interface circuit which are in communication connection with the main controller;
the main controller is in communication connection with a turnover tea pouring driving mechanism and a turnover driving mechanism through the steering engine interface circuit; the tea pouring and overturning driving mechanism is used for conveying the teapot in the tea pouring holder structure to the tea sea, and the overturning driving mechanism is used for driving an overturning fixing plate in the teacup overturning structure to overturn so as to pour the wastewater in the teacup to a water tank;
the main controller is in communication connection with a rotary driving mechanism, a vertical driving mechanism and a guide rail driving mechanism through the stepping motor driver interface circuit; the tea cup supporting structure comprises a tea cup supporting structure, a guide rail driving mechanism, a rotary driving mechanism, a vertical driving mechanism and a turnover driving mechanism, wherein the rotary driving mechanism is used for driving a tea cup bracket in the tea cup supporting structure to rotate in a horizontal plane;
the main controller is in communication connection with a drainage switch through the electromagnetic valve interface circuit, and the drainage switch is used for controlling the conduction or the closing of a water outlet of a water tank in the teacup overturning structure;
the main controller is in communication connection with a first limit switch through the first limit switch interface circuit, and the first limit switch is used for limiting the stroke of the teacup supporting structure and/or the teacup overturning structure.
In one possible design, the main controller is further in wireless communication connection with a server, the server is used for storing brewing process data corresponding to different types of tea, and the brewing process data comprises tea amount, pouring water temperature, brewing time, extraction time and soaking degree data;
the main controller is further used for acquiring tea variety data from the server 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, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure to operate according to the brewing process data.
In one possible design, the main control circuit further comprises an instant hot water module, and the instant hot water module comprises a water taking device, a tea water heater, a water temperature sensor and a water flow meter which are respectively in communication connection with the main controller; the water taking device is used for driving the tea water heating structure to take water; the tea water heater is arranged at the water outlet end of the water taking device so as to adjust the water outlet temperature of the tea water heating structure; the water temperature sensor is arranged at the water outlet end of the water taking device so as to detect the water outlet temperature information of the tea water heating structure and send the water outlet temperature information to the main controller; the water flow meter is arranged at the water inlet end of the water taking device so as to detect the water inlet flow information and send the water inlet flow information to the main controller.
In one possible design, the tea water heater employs a thick film heater.
In a possible design, the master control circuit further comprises a CAN transceiver circuit and a CAN bus servo motor interface circuit, the master control circuit is connected with a tea sea driving mechanism in a communication mode through the CAN transceiver circuit and the CAN bus servo motor interface circuit, and the tea sea driving mechanism is used for driving tea sea in the tea-pouring holder structure to perform tea-pouring operation.
In one possible design, the main control circuit further comprises a touch screen interface circuit, the main controller is in communication connection with a touch screen through the touch screen interface circuit, the touch screen is used for receiving state information sent by the main controller and displaying the state information, and the touch screen is further used for sending a driving instruction to the main controller so that the main controller can control the tea water heating structure, the tea cup bearing structure, the tea pouring holder structure, the tea cup overturning structure and/or the tea cup conveying structure to operate.
In one possible design, the main control circuit further comprises a membrane key interface circuit, the main controller is in communication connection with a membrane key through the membrane key interface circuit, the membrane key is used for sending a driving command to the main controller through the membrane key interface circuit, so that the main controller controls the tea water heating structure, the teacup bearing structure, the tea pouring holder structure, the teacup overturning structure and/or the teacup conveying structure to operate.
In one possible design, the slave control circuit comprises a slave controller, and a direct current motor driver interface circuit, an infrared sensor circuit and a second limit switch interface circuit which are in communication connection with the slave controller;
the slave controller is in communication connection with a walking driving mechanism through the direct current motor driver interface circuit, and the walking driving mechanism is used for moving a teacup on the teacup supporting structure to a specified position of the base;
the slave controller is in communication connection with an in-place sensor through the infrared sensor circuit, and the in-place sensor is used for detecting whether the teacup moves to the specified position of the base or not;
and the slave controller is in communication connection with a second limit switch through the second limit switch interface circuit, and the second limit switch is used for limiting the stroke of the walking driving mechanism.
In one possible design, the master control circuit further includes a first wireless transceiver circuit, and the slave control circuit further includes a second wireless transceiver circuit and a lithium battery charger interface; the first wireless transceiver circuit is in wireless communication connection with the second wireless transceiver circuit.
The beneficial effects of the invention are concentrated and expressed as follows:
1) 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, the tea water heating structure, the teacup bearing structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure are controlled by the master control circuit, and water is taken and heated through the tea water heating structure; 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 driven by the tea path robot circuit, so that 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, and meanwhile, the user can see the processes of washing tea, brewing, conveying and the like of the kungfu tea, and the development of tea culture is facilitated.
2) The instant heating type hot water module can realize instant heating and instant use of tea, is convenient for a user to make tea instantly, and is more energy-saving and environment-friendly. Specifically, the tea water heater in the instant heating type hot water module adopts the thick film heating element, and in the use, rivers can directly flow to containers such as teacup after the thick film heating element heats fast, and the instant heating promptly, need not to wait for, it is hard to have solved traditional electric kettle, wastes time a great deal of difficult problem, has also stopped the dirt deposit that traditional water boiler brought, bacterial growing scheduling problem, and more energy-concerving and environment-protective need not to keep warm simultaneously, has avoided the power consumption scheduling problem that the repetitious heating of water led to the fact many times.
Drawings
FIG. 1 is a control block diagram of a master control circuit in the present invention;
FIG. 2 is a circuit schematic of the master controller of the present invention;
FIG. 3 is a control block diagram of a slave circuit in the present invention;
fig. 4 is a block diagram of the master control circuit and the slave control circuit powered by the power supply circuit.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
the embodiment provides a tea path robot circuit, which is used for a tea path robot, and 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 path robot circuit comprises a master control circuit, a slave control circuit and a power supply circuit, wherein the power supply circuit is used for providing power support for the master control circuit and the slave control circuit; the main control circuit is used for controlling the teacup bearing structure to position and shift a teacup, controlling the tea water heating structure to heat tea water and pour the tea water into the tea pouring holder structure, controlling the tea pouring holder structure to pour the tea water into the teacup on the teacup bearing structure, controlling the teacup overturning structure to pour the tea water into the teacup on the teacup bearing structure, and controlling the slave control circuit to drive the teacup conveying structure to operate so as to move the teacup on the teacup bearing structure to a specified position of the base.
In this embodiment, the tea ceremony robot can but not only be limited to the tea ceremony robot that the chinese patent that adopts the publication number to be CN114073407A, through the tea ceremony robot circuit disclosed in this embodiment, the tea ceremony robot 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, and the user of being convenient for is in the busy life in city, and the quiet people is Ming, draws the life in the tea ceremony and is bitter. In the implementation process, the tea water heating structure, the teacup bearing structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure are controlled by the master control circuit, and water is taken and heated through the tea water heating structure; 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 driven by the tea path robot circuit in the embodiment, 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 favorably improved, and meanwhile, in the process, the user can see the processes of washing tea, brewing, conveying and the like of the kungfu tea, so that the development of tea culture is facilitated.
Specifically, as shown in fig. 1, the main control circuit includes a main controller, and a steering engine interface circuit, a stepping motor driver interface circuit, an electromagnetic valve interface circuit, and a first limit switch interface circuit, which are in communication connection with the main controller.
The main controller is in communication connection with a turnover tea pouring driving mechanism in the tea pouring holder structure and a turnover driving mechanism in the tea cup turnover structure through the steering engine interface circuits; the tea pouring and overturning driving mechanism is used for conveying the teapot in the tea pouring holder structure to the tea sea, and the overturning driving mechanism is used for driving an overturning fixing plate in the teacup overturning structure to overturn so as to pour the wastewater in the teacup to a water tank; in this embodiment, the tea actuating mechanism is poured in the upset and upset actuating mechanism all adopts the steering wheel.
The main controller is in communication connection with a rotary driving mechanism and a vertical driving mechanism in the teacup bearing structure and a guide rail driving mechanism in the tea-pouring holder structure through the stepping motor driver interface circuit; the tea cup supporting structure comprises a tea cup supporting structure, a guide rail driving mechanism, a turnover fixing plate and the like, wherein the rotary driving mechanism is used for driving a tea cup bracket in the tea cup supporting structure to rotate in a horizontal plane, the vertical driving mechanism is used for driving the tea cup bracket in the tea cup supporting structure to move up and down, and the guide rail driving mechanism is used for driving the turnover driving mechanism, the turnover fixing plate and the like to move between the tea cup supporting structure and a waste water collecting structure in the tea pouring holder structure; in this embodiment, the rotation driving mechanism, the vertical driving mechanism, and the guide rail driving mechanism all employ step motors, and enable pins, direction control pins, and PWM pins of a driver interface of the step motors are all connected to the main controller.
The main controller is in communication connection with a drainage switch through the electromagnetic valve interface circuit, and the drainage switch is used for controlling the conduction or the closing of a water outlet of a water tank in the teacup overturning structure.
The main controller is in communication connection with a first limit switch through the first limit switch interface circuit, and the first limit switch is used for limiting the stroke of the teacup supporting structure and/or the teacup overturning structure. Specifically, in this embodiment, the first limit switch is connected to an IO port of the main controller through the first limit switch interface circuit; the number of the first limit switches is four, two of the first limit switches are respectively arranged at the upper end and the lower end of the slide rod in the teacup support structure so as to limit the lifting stroke of the teacup support structure, and the other two of the first limit switches are respectively arranged at the front end and the rear end of the guide rail in the teacup turnover structure so as to limit the displacement of the teacup turnover structure.
In this embodiment, the main controller is further connected with a server in a wireless communication manner, the server is used for storing brewing process data corresponding to different types of tea leaves, and the brewing process data includes tea leaf amount, 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 controller is further used for acquiring tea variety data from the server 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, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure to operate according to the brewing process data.
In this embodiment, the main control circuit further includes an instant hot water module, and the instant hot water module includes a water taking device, a tea water heater, a water temperature sensor and a water flow meter, which are respectively in communication connection with the main controller; the water taking device is used for driving the tea water heating structure to take water; the tea water heater is arranged at the water outlet end of the water taking device so as to adjust the water outlet temperature of the tea water heating structure; the water temperature sensor is arranged at the water outlet end of the water taking device so as to detect the water outlet temperature information of the tea water heating structure and send the water outlet temperature information to the main controller; the water flow meter is arranged at the water inlet end of the water taking device so as to detect the water inlet flow information and send the water inlet flow information to the main controller. In the embodiment, the main controller can obtain the difference value between the actual water temperature and the target water temperature according to the outlet water temperature information and the target temperature information which are obtained in real time, and then control the tea water heater to regulate the temperature according to the difference value, so that the automatic control of the tea water temperature is realized; the water flow meter can be arranged to conveniently realize the self-defined control of the water outlet flow. Specifically, water intaking device, tea water heater, temperature sensor and water flowmeter connect the IO mouth of main control unit respectively to main control unit acquires information such as water temperature information and inflow flow information, and controls flows such as water intaking, tea heating, and in this embodiment, the setting of water flowmeter can not only make main control unit control the teacup number of dashing through the water yield of controlling the tea, can also be convenient for main control unit judge whether have water in the water tank (like the bottled water), in order to prevent that tea water heater from burning futilely.
Specifically, the tea water heater adopts a thick film heating element.
It should be noted that the thick film heating element has the advantages of high power density, high heating speed, high working temperature, high heating rate, high mechanical strength, small volume, convenient installation, uniform heating temperature field, long service life, energy conservation, environmental protection, safety and the like. This embodiment is at the implementation in-process, rivers can directly flow to containers such as teacup after thick film heating body heats fast, and is heated promptly, need not to wait for, solved traditional electric kettle hard, waste time a great deal of difficult problem, also stopped dirt deposit, bacterial growing scheduling problem that traditional water boiler brought, more energy-concerving and environment-protective, need not to keep warm simultaneously, avoided the power consumption scheduling problem that causes to the repeated heating of water many times.
In this embodiment, master control circuit still includes CAN transceiver circuit and CAN bus servo motor interface circuit, master control circuit loops through CAN transceiver circuit and CAN bus servo motor interface circuit communication connection have tea sea actuating mechanism, tea sea actuating mechanism is used for the drive tea sea in the tea-pouring pan-tilt structure carries out the operation of serving tea. In this embodiment, the tea sea driving mechanism adopts a CAN bus servo motor.
In this embodiment, the main control circuit further includes a touch screen interface circuit, the main controller is communicatively connected to a touch screen through the touch screen interface circuit, the touch screen is configured to receive and display status information sent by the main controller, and the touch screen is further configured to send a driving instruction to the main controller, so that the main controller controls the operation of the tea water heating structure, the tea cup supporting structure, the tea serving holder structure, the tea cup turning structure and/or the tea cup conveying structure, and it should be understood that the touch screen is configured to implement real-time interaction of data; in this embodiment, dispose independent user's button on the touch-sensitive screen to the user is continued the cup through the user button, does benefit to and promotes user experience, in addition, state information includes but not only limited to tea heating structure, teacup bearing structure, serve tea cloud platform structure, the state information of teacup upset structure and teacup transport structure, information such as heating temperature and velocity of water flow, so that the user knows the running state of tea robot. In this embodiment, the touch screen adopts the digital liquid crystal display, and the touch screen passes through the touch screen interface circuit and is connected with the serial port communication pin of main control unit to it is right that main control unit realizes the interactive control of tea heating structure isotructure.
In this embodiment, the main control circuit further includes a voice prompt interface circuit, the main controller is connected to the speaker through the voice prompt interface circuit, and the speaker is configured to receive the voice prompt information sent by the main controller and perform 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.
In this embodiment, the main control circuit further includes a membrane key interface circuit, the main controller is connected to the membrane key through the membrane key interface circuit in a communication manner, the membrane key is used for sending a driving instruction to the main controller through the membrane key interface circuit, so that the main controller controls the operation of the tea water heating structure, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and/or the teacup conveying structure. It should be noted that, in this embodiment, a plurality of film keys are provided, and a plurality of film keys are respectively connected with the IO port of the main controller through the film key interface circuit in a communication manner, so as to implement different controls on the tea robot, such as implementing water pouring control, cup continuing control, and the like.
In this embodiment, as shown in fig. 2, the main controller 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. Specifically, in this embodiment, pins USER _ KEY1 to USER _ KEY6 of the main controller are connected to the control terminal of the thin film KEY interface circuit, pins EN1 to EN3 are connected to the enable pin of the interface circuit of the stepping motor driver, pins ser 1 to ser 2 are connected to the PWM control pin of the interface circuit of the steering engine, pins U3_ TX and U3_ RX are connected to the communication pin of the interface circuit of the touch screen, the TEMP pin is connected to the control terminal of the tea water heater, the FLOW pin is connected to the control terminal of the water FLOW meter, the VALVE pin is connected to the control terminal of the interface circuit of the solenoid VALVE, the PUMP pin is connected to the control terminal of the water intake device, pins DIR1 to 3 are connected to the control direction pin of the interface circuit of the stepping motor driver, pins CAN _ TX and CAN _ RX are connected to the communication interface of the CAN transceiver circuit, the serial port and TX pins are connected to the serial port pin of the slave controller, the MAGNET pin is connected to the control terminal of the first electromagnet interface circuit, the PWM 1-3' pins are respectively connected to pulse control pins of the interface circuit of the stepping motor driver, and the SW _ UP-SW _ RIGHT pins are respectively connected to the control end of the first limit switch interface circuit.
In this embodiment, as shown in fig. 3, the slave control circuit includes a slave controller, and a dc motor driver interface circuit, an infrared sensor circuit, and a second limit switch interface circuit that are communicatively connected to the slave controller.
The slave controller is in communication connection with a walking driving mechanism in the teacup conveying structure through the direct current motor driver interface circuit, and the walking driving mechanism is used for moving a teacup on the teacup supporting structure to a specified position of the base; specifically, an enable pin, a direction control pin and a PWM pin of the walking driving mechanism are connected with a slave controller through the direct current motor driver interface circuit; in this embodiment, the travel driving mechanism employs a dc motor driver.
The slave controller is in communication connection with an in-place sensor through the infrared sensor circuit, and the in-place sensor is used for detecting whether the teacup moves to the specified position of the base or not.
And the slave controller is in communication connection with a second limit switch through the second limit switch interface circuit, and the second limit switch is used for limiting the stroke of the walking driving mechanism. Specifically, in this embodiment, the second limit switch is connected to an IO port of the slave controller through the second limit switch interface circuit; the number of the second limit switches is two, and the two second limit switches are respectively arranged at two ends of the travel driving mechanism so as to limit the movement travel of the travel driving mechanism.
In this embodiment, the master control circuit further includes a first electromagnet interface circuit, the master controller is communicatively connected to a first electromagnet in the teacup supporting structure through the first electromagnet interface circuit, the slave control circuit further includes a second electromagnet interface circuit, the slave controller is communicatively connected to a second electromagnet in the teacup supporting structure through the second electromagnet interface circuit, and both the first electromagnet and the second electromagnet are used for fixing a teacup bracket in the teacup supporting structure to the teacup; specifically, the first electromagnet is in communication connection with an IO port of a main controller through the first electromagnet interface, and the second electromagnet is in communication connection with the IO port of the sub controller through the second electromagnet interface.
In this embodiment, the slave controller is connected to the master controller through the board-to-board connector, and is used to expand the interface and lead out a modular interface, so as to facilitate wiring. The main controller, the slave controller and other circuits are powered by the power circuit, so that the stable and normal work of the tea path robot system can be ensured. And secondly, the main controller is provided with an IO port overvoltage protection circuit, supports hot plug and prevents electrostatic breakdown. In addition, the main controller is also provided with an onboard SWD download interface circuit, a serial port communication interface circuit, a CAN communication circuit, four independent keys and a USB power supply interface circuit.
In this embodiment, the master control circuit further includes a first wireless transceiver circuit, and the slave control circuit further includes a second wireless transceiver circuit and a lithium battery charger interface; the first wireless transceiver circuit is in wireless communication connection with the second wireless transceiver circuit so as to realize wireless communication connection between the master controller and the slave controller.
In this embodiment, as shown in fig. 4, the power circuit includes a switching power circuit, a first voltage-reducing circuit, a first voltage-stabilizing circuit, a second voltage-reducing circuit, a second voltage-stabilizing circuit, a lithium battery, and a lithium battery charger interface, an input terminal of the switching power circuit is connected to an ac power supply, an output terminal of the switching power circuit is electrically connected to the first voltage-reducing circuit and the first voltage-stabilizing circuit in sequence, an output terminal of the switching power circuit is also electrically connected to the lithium battery charger interface, the lithium battery, the second voltage-reducing circuit, and the second voltage-stabilizing circuit in sequence, the main controller, the first wireless transceiver circuit, the first limit switch interface circuit, and the membrane key interface circuit are electrically connected to an output terminal of the first voltage-stabilizing circuit, the steering engine interface circuit, the first electromagnet interface circuit, the touch screen interface circuit, and the CAN transceiver circuit are electrically connected to an output terminal of the first voltage-reducing circuit, the electromagnetic valve interface circuit, the CAN bus servo motor interface circuit and the stepping motor driver interface circuit are electrically connected with the output end of the switching power supply circuit, the direct current motor driver interface circuit and the second electromagnet interface circuit are electrically connected with the output end of the second voltage reduction circuit, the slave controller, the second wireless transceiver circuit, the infrared sensor circuit and the second limit switch interface circuit are electrically connected with the output end of the second voltage stabilizing circuit, and the instant hot water module is electrically connected with the output end of the alternating current power supply. In this embodiment, the ac power supply outputs 12V voltage to the switching power supply circuit, and then the first voltage reduction module or the second voltage reduction module reduces the 12V voltage to 5V, and then the first voltage stabilizing circuit or the second voltage stabilizing circuit stabilizes the 5V voltage to 3.3V for power supply. In this embodiment, from the accuse circuit through lithium cell power supply, can avoid the teacup to transport the structure and receive the electric wire interference, do benefit to and extend the scope of transporting of teacup, simultaneously, lithium cell charger can be when switching on through lithium cell charger interface and switching power supply circuit, charges the lithium cell, can monitor the running state of lithium cell simultaneously.
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 (10)
1. A tea ceremony robot circuit is used for a tea ceremony robot, and the tea ceremony 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 method is characterized in that: the tea path robot circuit comprises a master control circuit, a slave control circuit and a power supply circuit, wherein the power supply circuit is used for providing power support for the master control circuit and the slave control circuit; the main control circuit is used for controlling the teacup bearing structure to position and shift a teacup, controlling the tea water heating structure to heat tea water and pour the tea water into the tea pouring holder structure, controlling the tea pouring holder structure to pour the tea water into the teacup on the teacup bearing structure, controlling the teacup overturning structure to pour the tea water into the teacup on the teacup bearing structure, and controlling the slave control circuit to drive the teacup conveying structure to operate so as to move the teacup on the teacup bearing structure to a specified position of the base.
2. The tea robot circuit of claim 1, wherein: the main control circuit comprises a main controller, a steering engine interface circuit, a stepping motor driver interface circuit, an electromagnetic valve interface circuit and a first limit switch interface circuit, wherein the steering engine interface circuit, the stepping motor driver interface circuit, the electromagnetic valve interface circuit and the first limit switch interface circuit are in communication connection with the main controller;
the main controller is in communication connection with a turnover tea pouring driving mechanism and a turnover driving mechanism through the steering engine interface circuit; the tea pouring and overturning driving mechanism is used for conveying the teapot in the tea pouring holder structure to the tea sea, and the overturning driving mechanism is used for driving an overturning fixing plate in the teacup overturning structure to overturn so as to pour the wastewater in the teacup to a water tank;
the main controller is in communication connection with a rotary driving mechanism, a vertical driving mechanism and a guide rail driving mechanism through the stepping motor driver interface circuit; the tea cup supporting structure comprises a tea cup supporting structure, a guide rail driving mechanism, a rotary driving mechanism, a vertical driving mechanism and a turnover driving mechanism, wherein the rotary driving mechanism is used for driving a tea cup bracket in the tea cup supporting structure to rotate in a horizontal plane;
the main controller is in communication connection with a drainage switch through the electromagnetic valve interface circuit, and the drainage switch is used for controlling the conduction or the closing of a water outlet of a water tank in the teacup overturning structure;
the main controller is in communication connection with a first limit switch through the first limit switch interface circuit, and the first limit switch is used for limiting the stroke of the teacup supporting structure and/or the teacup overturning structure.
3. The tea robot circuit of claim 2, wherein: the main controller is also in wireless communication connection with a server, the server is used for storing brewing process data corresponding to different types of tea, and the brewing process data comprises tea quantity, pouring water temperature, brewing time, extraction time and soaking degree data;
the main controller is further used for acquiring tea variety data from the server 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, the teacup supporting structure, the tea pouring holder structure, the teacup overturning structure and the teacup conveying structure to operate according to the brewing process data.
4. The tea robot circuit of claim 2, wherein: the main control circuit also comprises an instant hot water module, and the instant hot water module comprises a water taking device, a tea water heater, a water temperature sensor and a water flowmeter which are respectively in communication connection with the main controller; the water taking device is used for driving the tea water heating structure to take water; the tea water heater is arranged at the water outlet end of the water taking device so as to adjust the water outlet temperature of the tea water heating structure; the water temperature sensor is arranged at the water outlet end of the water taking device so as to detect the water outlet temperature information of the tea water heating structure and send the water outlet temperature information to the main controller; the water flow meter is arranged at the water inlet end of the water taking device so as to detect the water inlet flow information and send the water inlet flow information to the main controller.
5. The robotic tea circuit of claim 4, wherein: the tea water heater adopts a thick film heating body.
6. The tea robot circuit of claim 2, wherein: master control circuit still includes CAN transceiver circuit and CAN bus servo motor interface circuit, master control circuit loops through CAN transceiver circuit and CAN bus servo motor interface circuit communication connection have tea sea actuating mechanism, tea sea actuating mechanism is used for the drive tea sea among the tea-serving cloud platform structure is carried out the tea-serving operation.
7. The tea robot circuit of claim 2, wherein: the tea making machine is characterized in that the main control circuit further comprises a touch screen interface circuit, the main controller is in communication connection with a touch screen through the touch screen interface circuit, the touch screen is used for receiving state information sent by the main controller and displaying the state information, and the touch screen is further used for sending a driving command to the main controller, so that the main controller controls the tea heating structure, the tea cup bearing structure, the tea pouring holder structure, the tea cup overturning structure and/or the tea cup conveying structure to operate.
8. The tea robot circuit of claim 2, wherein: the main control circuit further comprises a film key interface circuit, the main controller is in communication connection with a film key through the film key interface circuit, the film key is used for sending a driving instruction to the main controller through the film key interface circuit, so that the main controller controls the operation of the tea water heating structure, the teacup bearing structure, the tea pouring holder structure, the teacup overturning structure and/or the teacup conveying structure.
9. The tea robot circuit of claim 1, wherein: the slave control circuit comprises a slave controller, and a direct current motor driver interface circuit, an infrared sensor circuit and a second limit switch interface circuit which are in communication connection with the slave controller;
the slave controller is in communication connection with a walking driving mechanism through the direct current motor driver interface circuit, and the walking driving mechanism is used for moving a teacup on the teacup supporting structure to a specified position of the base;
the slave controller is in communication connection with an in-place sensor through the infrared sensor circuit, and the in-place sensor is used for detecting whether the teacup moves to the specified position of the base or not;
and the slave controller is in communication connection with a second limit switch through the second limit switch interface circuit, and the second limit switch is used for limiting the stroke of the walking driving mechanism.
10. The tea robot circuit of claim 1, wherein: the master control circuit further comprises a first wireless transceiving circuit, and the slave control circuit further comprises a second wireless transceiving circuit and a lithium battery charger interface; the first wireless transceiver circuit is in wireless communication connection with the second wireless transceiver circuit.
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| CN202210317637.8A CN114415578A (en) | 2022-03-29 | 2022-03-29 | Tea ceremony robot circuit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210317637.8A CN114415578A (en) | 2022-03-29 | 2022-03-29 | Tea ceremony robot circuit |
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| CN114176393A (en) * | 2021-12-29 | 2022-03-15 | 深圳奕航智能有限公司 | Tea ceremony robot and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104807173A (en) * | 2015-05-04 | 2015-07-29 | 广东众辰科技有限公司 | Constant-temperature constant-flow water heating system |
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Application publication date: 20220429 |