CN114587142A - Kung fu tea robot and automatic kung fu tea making method - Google Patents

Abstract

The invention discloses a kungfu tea robot and an automatic kungfu tea making method, wherein the kungfu tea robot comprises: the water storage device comprises a water tank; the water injection device comprises a water injection head, and a water injection port of the water injection head is communicated with the water tank through a water channel; a pumping device for directing fluid from the tank to the fill port; the tea making device comprises a main tea making device and a cover body covering an opening at the top of the main tea making device; the temperature control device is used for controlling heating or heat preservation of the fluid; the tea tray is used for placing the cup body; a first driving device for driving the cover body to be separated from the main bubbler and opening the top opening; the second driving device is used for driving the water injection head to horizontally rotate around the base so as to enable the water injection port to swing between a water injection station above the top opening or an initial station separated from the top opening; and the third driving device is used for driving the tea making device to overturn so that fluid flows out from a gap between the top opening of the main tea maker and the cover body. The kungfu tea robot can simulate the manual tea making action and adapt to automatic tea making of various tea leaves.

Description

Kung fu tea robot and automatic kung fu tea making method

Technical Field

The invention relates to the technical field of automatic kungfu tea sets, in particular to a kungfu tea robot and an automatic kungfu tea making method using the same.

Background

Along with the improvement of living standard and social progress of people, the demand of people for drinking tea and tea ceremony is increased day by day, the natural plant beverage beneficial to body health, namely tea, is more and more popular in the sea and outside, and the tea set for drinking tea and tea ceremony is more and more popularized, wherein the kungfu tea ceremony and the tea set thereof present strong development prospect due to unique characteristics and historical culture. At present, kungfu tea sets provided in the market only have a heating function for a tea brewing device, and tea brewing actions of the kungfu tea sets are manually completed by users, so that the requirements of users who just learn kungfu tea ceremony or want to automatically and conveniently complete tea brewing processes through intelligent equipment cannot be met. The intelligent kungfu tea set provided in the prior art has the advantages that the mechanism action is not matched with the action track of actual manual tea making, and the structure and the mechanism action are complex, so that the production cost of the product is high.

Therefore, the traditional kungfu tea set cannot realize automatic intelligent tea making, and the existing intelligent kungfu tea set cannot be matched with the action track of actual manual tea making, and has complex structure and high cost, which is a technical problem to be solved in the field.

Disclosure of Invention

The invention provides a kungfu tea robot and an automatic kungfu tea making method using the same, and aims to solve the technical problems that automatic and intelligent tea making cannot be realized by a traditional kungfu tea set in the prior art, the traditional kungfu tea set cannot be matched with an actual manual tea making action track, the structure is complex, and the cost is high.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

the invention provides a kungfu tea robot, which comprises:

a machine base;

the water storage device is arranged on the base and comprises a water tank for storing fluid;

the water injection device is arranged on the base and comprises a water injection head, and a water injection port of the water injection head is communicated with the water tank through a water channel;

a pumping device for directing fluid from the tank to the fill port;

the tea making device is arranged on the base and comprises a main tea making device and a cover body covering the top opening of the main tea making device, and the cover body is used for receiving fluid flowing out of the water injection port;

the temperature control device is used for controlling and heating or insulating the fluid;

the tea tray is arranged on the base and is used for placing the cup body;

a first driving device for driving the cover body to be separated from the main bubbler and opening the top opening;

the second driving device is used for driving the water injection head to horizontally rotate around the base so as to enable the water injection head to swing back and forth between a water injection station reaching the position right above the top opening or an initial station separated from the position right above the top opening;

and the third driving device is used for driving the tea making device to turn over between a horizontal state and an inclined state so that the fluid contained in the main tea maker flows out from a gap between the top opening and the cover body and is poured into the cup body below the tea making device.

Furthermore, the water injection head is cylindrical, the water injection port is eccentrically arranged relative to the central axis of the water injection head,

the second driving device includes:

the first rotating unit is arranged on the base and used for driving the fourth driving device and the water injection head to horizontally rotate around the base, and the fourth driving device is used for driving the water injection head to horizontally rotate around the central axis of the water injection head and driving the water injection port to eccentrically rotate relative to the central axis of the water injection head so as to change the outflow direction of the fluid relative to the top opening.

Further, the tea making device further comprises:

the main bubble device seat is used for installing a main bubble device;

the first driving device includes:

the first driving mechanism is arranged on the main bulb holder;

the second driving mechanism is correspondingly and fixedly connected with the cover body and the first driving mechanism respectively;

the first driving mechanism is used for driving the second driving mechanism to drive the cover body to move up and down so as to enable the cover body to be separated from or cover the top opening;

the second driving mechanism is used for driving the cover body to horizontally rotate relative to the first driving mechanism so as to enable the cover body to swing back and forth between the state of reaching or separating from the position right above the top opening.

Further, the first drive mechanism includes:

the first lifting unit is arranged on the mounting platform and is used for driving the second driving mechanism to move up and down;

the second drive mechanism includes:

the second rotating unit is installed on the first lifting unit, the vertical rod is installed on the second rotating unit, one end of the cross rod is fixedly connected to the top end of the vertical rod, the other end of the cross rod is fixedly connected to the cover body, and the vertical rod is driven by the second rotating unit to drive the cross rod and the cover body to rotate horizontally relative to the first lifting unit.

Further, the third driving device includes:

the overturning unit arranged in the base comprises a first cross arm which can vertically rotate and is fixedly connected with the main bubble device and is used for driving the first cross arm to drive the main bubble device to overturn.

The first rotating unit includes:

the driving motor, the gear set driven by the output shaft of the driving motor and the second cross arm which horizontally rotates around the central axis of the base are driven by the gear set;

the fourth driving device includes:

the third rotating unit is arranged on the hanging rack and is used for driving the water injection head to horizontally rotate along the central axis of the water injection head;

the water inlet end of the water channel is communicated with the water tank, and after the water channel sequentially passes through the base, the first rotating unit, the second cross arm, the hanging rack, the third rotating unit and the water injection head from the water inlet end, the water outlet end of the water channel is communicated with the water injection port.

Furthermore, the first lifting unit is driven by an electromagnetic valve, and the second rotating unit is driven by a motor;

the water injection device still includes:

an opening and closing mechanism capable of opening or closing the water injection port; and the pressurizing device is arranged in the water injection head and is used for pressurizing the fluid so as to adjust the flow rate of the fluid flowing out of the water injection head.

Further, the temperature control device includes:

the first temperature control unit is arranged in the water injection head and is used for controlling and heating fluid; the second temperature control unit is arranged on the main brewing device seat and used for controlling the heating of the main brewing device so as to preserve heat of fluid, and the third temperature control unit is arranged on the tea tray and used for controlling the heating of the tea tray so as to preserve heat of the cup body and the fluid contained in the cup body.

Further, still include:

a sensor system, comprising:

the weighing sensing device is arranged in the main tea making device and is used for sensing whether the tea adding amount in the main tea making device is more than or less than the preset weight or not;

the first position sensing device is arranged on the tea tray and used for sensing whether the cup body is placed in place on the tea tray or not;

the second position sensing device is arranged on the main bulb holder and is used for sensing whether the main bulb is installed in place on the main bulb holder or not;

the water level sensing device is arranged in the water tank and used for sensing whether the water level of the fluid in the water tank reaches the working water level or not;

the water injection timing device is arranged in the main bubble device and used for sensing whether the water injection time for injecting fluid into the water injection head from the water tank at a constant flow reaches the preset water injection time or not;

the central control unit is respectively and correspondingly electrically connected with the water storage device, the water injection device, the tea making device, the temperature control device, the weighing device, the first driving device, the second driving device, the third driving device, the fourth driving device and the sensor system;

and the input device is arranged on the base and electrically connected with the central control unit and is used for inputting various control parameters of the kungfu tea robot.

The invention also provides an automatic kungfu tea making method, which applies the kungfu tea robot and comprises the following steps:

s1: starting the system, judging whether the tea tray is successfully linked, and if so, entering S2; if not, entering S2 until the tea tray is successfully linked;

s2: detecting whether a tea making starting instruction is input, and if so, entering S3; if not, the system is in standby state until the tea making starting instruction is detected to be input, and the step S3 is entered;

s3, judging whether the fluid level in the water tank reaches the working water level threshold, if so, entering S4; if not, controlling to fill water into the water tank until the fluid water level reaches the working water level threshold, and entering S4;

s4: judging whether the main bubble device is installed in place, if so, entering S5; if not, entering S5 until the main bubble device is installed in place;

s5, judging whether the cup body is placed on the tea tray in place or not, if so, entering S6; if not, the step is carried out until the cup body is placed in place, and S6 is carried out;

s6: inputting a tea variety selecting instruction;

s7: judging whether the temperature of the main bubbler reaches a first preset temperature threshold value, and if so, entering S8; if not, controlling to heat the main bubbler until the temperature of the main bubbler reaches a first preset temperature threshold, and entering S8;

s8: controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler;

s9: adding tea into the main tea making device, judging the tea adding amount in the main tea making device, and if the tea adding amount enters a preset tea adding threshold value, entering S10; if the tea adding amount is smaller than the lowest value of the preset tea adding threshold value, prompting to continue tea adding until the tea adding amount enters the preset tea adding threshold value, and entering S10; if the tea adding amount is larger than the highest value of the preset tea adding threshold value, prompting that the tea leaves are taken out from the main tea making device until the tea adding amount enters the preset tea adding threshold value, and entering S10;

s10: controlling the driving cover body to be close to the main bubble device and cover the top opening of the main bubble device;

s11: controlling and driving the main bubble device to overturn forwards, overturning reversely after horizontal resetting, and resetting horizontally again;

s12: controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler;

s13: controlling and driving the water injection head to swing from an initial station to a water injection station;

s14: starting a water injection device, controlling to lead fluid from a water tank to a water injection head through a water channel at a constant flow rate and preset water injection time, and controlling the water injection head to heat the fluid flowing through the water channel;

s15: judging whether the temperature of the fluid contained in the water channel in the water injection head reaches a second preset temperature threshold value or not, and if so, entering S16; if not, continuing to control the water injection head to heat the fluid until the temperature of the fluid reaches a second preset temperature threshold value, and entering S16;

s16: controlling the opening of a water injection port, enabling fluid to flow into the main bubble device from the water injection head through the water injection port at a constant flow rate for a preset water injection time, and controlling the closing of the water injection port;

s17: controlling the driving cover body to be close to the main bubbler and cover the top opening of the main bubbler;

s18: controlling and driving the water injection head to swing from the water injection station to the initial station;

s19: controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler; controlling and driving the main tea making device to reversely turn over, so that the fluid and the tea leaves contained in the main tea making device flow out from the top opening of the main tea making device at a certain inclination angle and pouring time, and are poured into the cup body on one side below the tea making device, and controlling and driving the main tea making device to horizontally reset;

s20 repeating the above steps S13-S18;

s21: the main brewing device is controlled and driven to turn over in the positive direction, so that the fluid contained in the main brewing device flows out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and is poured into the cup body on the other side below the tea making device, and the main brewing device is controlled and driven to reset horizontally.

Further, after controlling the water injection port to be opened in S16, the method further includes:

driving the water injection head to horizontally rotate around the central axis of the water injection head, and changing the outflow direction of fluid from an eccentric water injection port of the water injection head to the position right above the top opening of the main bubble device;

s11, controlling and driving the main bubble device to turn over for 60 degrees in the forward direction, and turning over for 60 degrees in the reverse direction after horizontal reset;

s14, the method further comprises the following steps after the pneumatic water injection device:

pressurizing the fluid out of the water injection port to adjust the flow rate of the fluid;

and S21 is followed by:

s22: controlling the tea tray to heat the cup body, judging whether the cup body reaches a third preset temperature threshold value, if so, prompting to take away the cup body, and entering S23; if not, controlling the tea tray to continue heating the cup body until the cup body reaches a third preset temperature threshold value, prompting to take away the cup body, and entering S23;

s23: taking away the cup body containing the fluid, and placing the empty cup body in the tea tray;

s24: judging whether the cup body is placed in place on the tea tray or not, if so, entering S25; if not, the step is carried out until the cup body is placed in place, and S25 is carried out;

s25: judging whether the fluid level in the water tank reaches a working water level threshold value, if so, entering S26; if not, controlling to fill water into the water tank until the fluid water level reaches the working water level threshold, and entering S26;

s26: judging whether the temperature of the main bubbler reaches a first preset temperature threshold value, and if so, entering S27; if not, controlling to heat the main bubbler until the temperature of the main bubbler reaches a first preset temperature threshold, and entering S27;

s27: repeating the above S12-S18;

s28: the main brewing device is controlled and driven to turn over in the positive direction, so that the fluid contained in the main brewing device flows out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and is poured into the cup body on one side below the tea making device, and the main brewing device is controlled and driven to reset horizontally.

S29: repeating the above S12-S18;

s30: the main tea making device is controlled and driven to turn over in the positive direction, so that fluid and tea leaves contained in the main tea making device flow out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and are poured into the cup body on the other side below the tea making device, and the main tea making device is controlled and driven to reset horizontally.

S31: repeating S22-S23;

s32: controlling the driving cover body to be separated from the main bubbler and open the top opening of the main bubbler, taking down the main bubbler, cleaning the main bubbler, reinstalling the main bubbler, and controlling the driving cover body to be close to the main bubbler and cover the top opening of the main bubbler;

s33: the system stands by and returns to S2.

Compared with the prior art, the kungfu tea robot and the kungfu tea automatic making method can realize automatic intelligent tea making through a relatively simple and low-cost structure, and the kungfu tea robot as an intelligent tea set can simulate an artificial tea path to make two functional path cups at one time according to an action track of actual manual tea making, so that a user who needs automatic tea making and does not lose traditional tea making action is satisfied; the tea brewing method can be suitable for six tea systems such as green tea, oolong tea, black tea, yellow tea and white tea, and can control parameter setting aiming at different tea varieties to achieve the optimal tea brewing effect.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic view of an overall assembly structure of a kungfu tea robot in an embodiment of the invention;

fig. 2 is a front view of an overall assembly structure of the kungfu tea robot in the embodiment of the invention;

FIG. 3 is a schematic diagram illustrating the turning operation of the tea making device when the water injection head is located at the initial station according to the embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating the lifting operation of the cover when the water injection head is located at the initial station according to the embodiment of the present invention;

FIG. 5 is a rear view of an overall assembly structure of the kungfu tea robot in an embodiment of the present invention;

FIG. 6 is a side view of the overall assembly structure of the kungfu tea robot in the embodiment of the present invention;

FIG. 7 is a top view of the overall assembly structure of the kungfu tea robot in an embodiment of the present invention;

FIG. 8 is a schematic view of the swinging motion of the filling head between the initial station and the filling station in the embodiment of the present invention;

FIG. 9 is a schematic diagram illustrating the swinging motion of the cover when the water injection head is at the initial position according to the embodiment of the present invention;

FIG. 10 is a bottom view of the overall assembly structure of the kungfu tea robot in an embodiment of the present invention;

FIG. 11 is a schematic view of the water injection head driving the water injection port to rotate eccentrically according to the embodiment of the present invention.

Wherein, in the figures, the various reference numbers are given by way of example only:

1-a machine base; 2-a water storage device; 3-a water injection device; 31-water injection head; 311-water injection port; 4-a tea making device; 41-a main bubbler; 411-top opening; 42-a cover body; 43-master bulb holder; 5-a first drive; 51-a mounting table; 52-a second drive mechanism; 521-vertical rod; 522-a cross bar; 6-a second drive; 61-a first rotation unit; 611-a second cross arm; 7-a first cross arm; 8-a hanger; 9-tea tray; 91-channel cup.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention more clearly understood, the following describes the structure and the operation principle of the present invention in detail with reference to fig. 1 to 11 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 11 together, the kungfu tea robot provided by the present invention includes:

the engine base 1 is preferably cylindrical, and can also adopt a rectangular shape or other shapes; in one embodiment, a tea tray 9 for placing a cup body is integrally connected with the bottom end of the machine base 1; in another embodiment, the tea tray 9 is detachably connected with or separated from the machine base 1; the cup body can be a power channel cup 91 or other tea cups and water cups, and the power channel cup 91 is adopted for explanation in the embodiment; the water storage device 2 arranged on the base 1 comprises a water tank for storing a certain amount of water for making tea; the water injection device 3 arranged on the machine base 1 comprises a water injection head 31, wherein a water injection port 311 of the water injection head 31 is communicated with the water tank through a water channel (not shown in the figure), and water (or other fluids such as distilled water) stored in the water tank can be guided into the water injection head 31 through the water channel by a water pumping device (not shown in the figure) and flows out from the water injection port 311; the water injection device 3 may include an opening and closing mechanism that opens or closes the water injection port 311; the water injection means 3 may further comprise pressurizing means provided in the water injection head 31 for pressurizing the fluid to adjust the flow rate thereof out of the water injection port 311; the water pumping device can adopt a water pump or a piston type device arranged in the engine base 1 to realize water pumping from the water tank to the water injection head; the tea making device 4 arranged on the base 1 comprises a main brewing device 41 and a cover body 42 covering an opening 411 at the top of the main brewing device, and is used for containing tea leaves to be brewed, receiving water flowing out from a water injection port 311 for brewing, and pouring the brewed tea water into the power channel cup 91 for making tea; the main bubble device 41 can be in a pot shape, a bowl shape or other shapes; in this embodiment, the water injection head 31 is disposed at the top of the base 1, the water injection port 311 is disposed at the bottom of the water injection head 31, and the tea making device 4 is connected to the base 1 below the water injection port 311; a temperature control device (not shown) for controlling the heating fluid.

Referring to fig. 3-4 and 8-9, further comprising: a first driving means 5 for driving the cover 42 to be detached from the main bubbler 41 and opening the top opening 411 of the main bubbler so that the fluid flowing out of the water filling port 311 may flow into the main bubbler 41; a second driving device 6 for driving the water injection head 31 to rotate horizontally (i.e., to rotate about a vertical line perpendicular to the horizontal plane as a rotation axis) around the housing 1 so that the water injection port 311 swings back and forth between a water injection station located right above the top opening 411 of the main bubbler or an initial station separated from the top opening 411 of the main bubbler 41 even if the water injection head 31 changes its spatial position with respect to the housing 1 along a rotation trajectory; in this embodiment, when the water injection head 31 is located at the water injection station, i.e. directly above the top opening 411 of the main bubble maker, the water injection head is switched to the initial station after horizontally rotating around the base 1 by plus or minus 90 degrees, i.e. the initial station can be located at both sides of the water injection station, and the phase difference between the initial station and the water injection station on the track circle of the water injection head 31 horizontally rotating around the base 1 is 90 degrees; and a third driving device for driving the main brewing unit 41 to turn between a horizontal state and an inclined state (i.e. rotate with a horizontal line parallel to the horizontal plane as a rotation axis, so that the top opening 411 of the main brewing unit is parallel or inclined with respect to the horizontal plane), so that the fluid (i.e. water) contained in the main brewing unit 41 flows out from the gap between the top opening 411 of the main brewing unit and the cover body 42 and is poured into the power channel cup 91 placed on the tea tray 9 below the tea brewing device 4.

Referring to fig. 1, 7-8 and 11, as a preferred embodiment, the water injection head 31 is vertically disposed in a cylindrical shape, the water injection port 311 is disposed eccentrically with respect to a central axis of the water injection head 31, and the second driving device 6 includes: and the first rotating unit 61 is arranged on the base 1 and is used for driving the fourth driving device to drive the water injection head 31 to horizontally rotate around the base 1, and the fourth driving device is used for driving the water injection head 31 to horizontally rotate around the vertical central axis of the water injection head 31, so that the water injection port 311 is rotated along an eccentric circular track formed by rotating around the central axis of the water injection head 31, and the outflow direction of the fluid relative to the position right above the top opening 411 of the main bubble device is changed.

Referring to fig. 1-4 and 6-9, in the present embodiment, the tea making device 4 further includes: a main bubble holder 43 for mounting the main bubble 41; the first driving device 5 includes: a first drive mechanism (not shown) provided on the main bulb holder 43; a second driving mechanism 52 fixedly connected to the cover 42 and the first driving mechanism, respectively; the first driving mechanism is used for driving the second driving mechanism 52 to drive the cover body 42 to move up and down relative to the household body 42, so that the cover body 42 rises to be separated from or fall to cover the top opening 411 of the main bubble device; the second driving mechanism 52 is used for driving the cover body 42 to horizontally rotate relative to the first driving mechanism so as to enable the cover body 42 to swing back and forth between the state of reaching or departing from the position right above the top opening 411 of the main bubbler; as an embodiment, the first drive mechanism includes: the mounting table 51 is arranged on the main bubble seat 43, and the first lifting unit (not shown in the figure) is arranged on the mounting table 51 and is used for driving the vertical rod 521 to drive the second driving mechanism 52 and the cover 42 to move up and down; the first lifting unit can adopt an electromagnetic valve as a driving piece, and can also adopt mechanisms such as a cylinder piston rod, a lead screw nut and the like to drive the second driving mechanism 52 to move up and down; the second drive mechanism 52 includes: a second rotating unit (not shown in the figure) installed on the first lifting unit, a vertical rod 521 installed on the second rotating unit, a cross rod 522 installed at the end (i.e. top end) of the vertical rod 521 far away from the installation table 51, fixedly connected with the vertical rod 521 and horizontally extending to be connected with the cover 42, wherein the cross rod 522 is preferably a convex column fixedly connected to the middle part of the top end of the cover 42; the second rotating unit is used for driving the upright rod 521 to drive the cross rods 522 and 522 of the cover body 42 to rotate horizontally; the second rotating unit preferably uses a motor as a driving member, and may also use a motor to drive a gear set or a gear synchronous belt transmission mechanism to drive the horizontal rotation of the cross bar 522.

Referring to fig. 1, 4 and 6, in the present embodiment, the third driving device includes: the overturning unit is arranged in the base 1 and comprises a first cross arm 7 which can vertically rotate around the horizontal axis of the overturning unit, extends out of the base 1 and is fixedly connected with the main bubble device 41, and is used for driving the first cross arm 7 to drive the main bubble device 41 to overturn around the horizontal axis of the first cross arm 7; the overturning unit preferably adopts a motor as a driving piece, and can also adopt a motor to drive a gear set or a gear synchronous belt transmission mechanism to drive the first cross arm 7 to vertically rotate; the first rotating unit 61 includes: the driving motor, the gear set driven by the output shaft of the driving motor, and the second cross arm 611 driven by the gear set to horizontally rotate around the central axis of the base 1; the first rotary unit 61 may also drive the second crossbar 611 using a gear timing belt transmission mechanism.

Referring to fig. 11, in the present embodiment, the fourth driving device includes: a hanger 8 fixedly connected to the end of the second cross arm 611 remote from the machine base 1, the hanger 8 preferably having a circular ring shape matching the cylindrical water injection head 31; a third rotating unit (not shown in the figure) arranged on the hanging rack 8 and used for driving the water injection head 31 to rotate horizontally around the vertical central axis of the water injection head 31; the third rotating unit preferably uses a motor as a driving member, and may also use a motor to drive a gear set or a gear synchronous belt transmission mechanism to drive the water injection head 31 to rotate horizontally. The water inlet end of the water channel is communicated with the water tank, and the water outlet end of the water channel is communicated with the water injection port 311 after passing through the base 1, the first rotating unit 61, the second cross arm 611, the hanging rack 8, the third rotating unit and the water injection head 31 from the water inlet end.

In this embodiment, the temperature control device includes: a first temperature control unit provided in the water injection head 31 for heating the water flowing through the water injection head 31 to a temperature suitable for making tea; a second temperature control unit provided on the main bubble maker base 43, preferably, on the top of the main bubble maker base 43 in contact with the main bubble maker 41, and heated by resistance heat effect or electromagnetic induction, for contacting the main bubble maker 41 and heating the fluid in the main bubble maker 41 to keep the fluid contained in the main bubble maker 41 warm; and the third temperature control unit is arranged on the tea tray 9 and is used for heating and insulating the fluid flowing out of the main tea maker and poured into the channel cup 91 placed below the tea tray 9, so that the fluid contained in the channel cup 91 can still keep the temperature suitable for drinking tea.

In this embodiment, the method further includes: sensor system (not shown in the figures) comprising: the weighing sensing device is arranged in the main tea making device 41 and is used for sensing whether the tea adding amount in the main tea making device 41 is more than or less than the preset weight; in one embodiment, the weight sensing device employs an electronic scale disposed within the main bubble vessel 41; in another embodiment, the base 1 is provided with a display screen for displaying the current tea-adding amount in the main tea maker 41, and reminds the user to take out a part of tea leaves from the main tea maker 41 by playing sound information when the tea-adding amount is larger than the preset weight; the first position sensing device is arranged between the cup body and the tea tray 9 and is used for sensing whether the cup body is placed in place on the tea tray 9 or not; in one embodiment, the first position sensing means employs a pair of positioning sensors respectively provided on the tea tray 9 below both sides of the main brewer 41, each for positioning one of the power channel cups 91; in another embodiment, the first position sensing means employs a gravity sensor provided on the tea tray 9; in a preferred embodiment, when the first position sensing device senses that a pair of channel cups 91 are both placed in place on the tea tray 9, the third driving device starts to drive the main brewing device 41 to turn over, otherwise, the third driving device does not work, and reminds a user that the channel cups 91 are not placed in place by playing sound information; a second position sensing means provided on the main bubble maker seat 43 for sensing whether the main bubble maker 41 is mounted in place on the main bubble maker seat; in one embodiment, the second position sensing device employs a pair of alignment sensors respectively disposed on the bottom of the main bubbler 41 and the main bubbler base 43; in another embodiment, the water filling device 3 may start the water filling operation only when the alignment sensor senses whether the main bubble maker 41 is properly installed on the main bubble maker base, or the water filling device 3 does not operate when the user sends a control command, and the user is reminded of a fault that the main bubble maker 41 is not properly installed on the main bubble maker base by playing a sound message.

In this embodiment, the method further includes: the water level sensing device is arranged in the water tank and used for sensing whether the water level of the fluid in the water tank reaches the working water level or not; in this embodiment, when the first water level sensing device senses that the fluid level in the water tank reaches the working water level, the water injection device 3 can start water injection operation, otherwise, the water injection device 3 does not work when a user sends a control instruction, and reminds the user that the fluid level in the water tank does not reach the working water level and needs to be added with water in time by playing sound information; a water injection timing device provided in the main bubble maker 41, for sensing whether a water injection time for injecting a fluid from the water tank into the water injection head 31 at a constant flow rate reaches a preset water injection time; in this embodiment, when the water filling timing means senses that the filling time for filling the fluid from the tank into the filling head 31 at a constant flow rate reaches the preset filling time, the operation of the water filling means 3 is stopped.

In this embodiment, the method further includes: and the central control unit is respectively and correspondingly and electrically connected with the water storage device 2, the water injection device 3, the water pumping device, the tea making device 4, the temperature control device, the weighing device, the first driving device 5, the second driving device 6, the third driving device, the fourth driving device and the sensor system. As a preferred embodiment, the device also comprises a display screen and an input device which are arranged on the machine base 1 and electrically connected with the central control unit, and are used for inputting and outputting various control parameters of the kungfu tea robot; the display screen is preferably a liquid crystal display screen and is used for displaying the information such as the current tea casting amount, the temperature of fluid in each device and the like; the input device preferably adopts a touch screen input or a key input, and a user can input control parameters such as preset tea throwing amount for specific tea varieties, heating time and temperature range of fluid in each device and the like through the input device. The invention also provides an automatic kungfu tea making method, which applies the kungfu tea robot and comprises the following steps:

s1 (power on): starting the system, judging whether the tea tray is linked successfully or not, and if so, entering S2; if not, entering S2 until the tea tray is successfully linked;

s2 (input command): detecting whether a tea making starting instruction is input, and if so, entering S3; if not, the system is in standby state until the tea making starting instruction is detected to be input, and the step S3 is entered;

s3 (automatic water filling) judging whether the fluid level in the water tank reaches the working level threshold (the threshold mentioned here is a range value, namely a numerical value interval including the lowest value and the highest value), if yes, entering S4; if not, controlling to fill water into the water tank until the fluid level reaches the working water level threshold, and entering S4;

s4 (main bubbler alignment): judging whether the main bubble device is installed in place, if so, entering S5; if not, prompting that the main bubble device is not installed in place until the main bubble device is installed in place, and entering S5;

s5 (cup body alignment), judging whether the cup body is in place on the tea tray, if so, entering S6; if not, prompting that the cup body is not installed in place until the cup body is placed in place, and entering S6;

s6 (tea selection): inputting a tea variety selecting instruction;

s7 (thermo jug): judging whether the temperature of the main bubbler reaches a first preset temperature threshold value, and if so, entering S8; if not, controlling to heat the main bubbler until the temperature of the main bubbler reaches a first preset temperature threshold, and entering S8;

s8 (uncapping): controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler;

specifically, the first driving mechanism drives the second driving mechanism 52 to drive the cover 42 to ascend and separate from the top opening 411 of the main bubbler, and the second driving mechanism 52 drives the cover 42 to horizontally rotate relative to the first driving mechanism, so that the cover 42 swings from the position right above the top opening 411 of the main bubbler to the position completely separated from the top opening 411 of the main bubbler; in a preferred embodiment, the swinging (rotating) angle of the cover 42 with respect to the first driving mechanism is plus or minus (i.e., positive or negative rotation) 90 degrees.

S9 (tea throw): adding tea into the main tea making device, judging the tea adding amount in the main tea making device, and if the tea adding amount enters a preset tea adding threshold value, entering S10; if the tea adding amount is smaller than the lowest value of the preset tea adding threshold value, prompting to continue to add tea until the tea adding amount enters the preset tea adding threshold value, and entering S10; if the tea adding amount is larger than the highest value of the preset tea adding threshold value, prompting that the tea leaves are taken out from the main tea making device until the tea adding amount enters the preset tea adding threshold value, and entering S10;

s10 (closing lid): controlling the driving cover body to be close to the main bubble device and cover the top opening of the main bubble device;

specifically, the second driving mechanism 52 drives the cover 42 to rotate horizontally relative to the first driving mechanism, so that the cover 42 swings from the position right above the top opening 411 completely separated from the main bubbler to the position right above the top opening 411 of the main bubbler, and the first driving mechanism drives the second driving mechanism 52 to drive the cover 42 to descend and cover the top opening 411 of the main bubbler;

s11 (jolt): controlling and driving the main bubble device to overturn forwards, overturning reversely after horizontal resetting, and resetting horizontally again; as a preferred embodiment, the main bubble device is controlled and driven to turn over by 60 degrees in the forward direction and the reverse direction in the fragrance shaking process;

s12 (uncapping): controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler; referring to S8 action execution;

s13 (water injection head alignment): controlling and driving a water injection head to swing from an initial station to a water injection station;

specifically, the first rotating unit drives the fourth driving device and the water injection head to horizontally rotate around the base, so that the water injection port swings to an initial station which is separated from the top opening of the main bubble device from a water injection station right above the top opening of the main bubble device;

s14 (water injection): starting a water injection device, controlling to lead fluid from a water tank to a water injection head through a water channel at a constant flow rate and preset water injection time, and controlling the water injection head to heat the fluid flowing through the water channel;

as a preferred embodiment, S14 further includes, after the pneumatic water injection device:

the fluid is pressurized and flows out from the water injection port through the pressurizing device to adjust the flow rate of the fluid (namely, a high-speed brewing process) so as to control the fluid to flow out of the water injection head 31 after being pressurized, so that the high-speed fluid is injected into the main bubble device 41, and the high-speed brewing process of the kungfu tea ceremony is realized;

s15 (automatic water boiling): judging whether the temperature of the fluid contained in the water channel in the water injection head reaches a second preset temperature threshold value or not, and if so, entering S16; if not, continuing to control the water injection head to heat the fluid until the temperature of the fluid reaches a second preset temperature threshold value, and entering S16;

s16 (brewing): controlling the opening of a water injection port, enabling fluid to flow into the main bubble device from the water injection head through the water injection port at a constant flow rate for a preset water injection time, and controlling the closing of the water injection port;

as a preferred embodiment, S16 further includes, after controlling the water filling port to be opened: the water injection head is driven to horizontally rotate around the central axis of the water injection head, and the outflow direction of fluid from an eccentric water injection port of the water injection head to the position right above the kettle opening is changed (namely the rotary flushing flow); more specifically, the fourth driving device drives the water injection head 31 to horizontally rotate along the vertical central axis of the water injection head 31, so that the water injection port 311 changes the outflow direction of the fluid relative to the top opening 411 of the main bubble device along the eccentric circular track rotating around the central axis of the water injection head 31, and the 'spinning' process of the kungfu tea ceremony is realized.

As another example, in S16, after controlling the water injection port to be opened, the water injection port 311 may stop at a point above the top opening 411 of the main brewing unit to inject water into the main brewing unit 41, thereby realizing the "brewing" step of pouring kungfu tea.

S17 (closing lid): controlling the driving cover to approach the main bubbler and cover the top opening thereof, and performing the reverse operation with reference to S10;

s18 (water injection head reset): controlling and driving the water injection head to swing from the water injection station to the initial station;

specifically, the first rotating unit drives the fourth driving device and the water injection head to horizontally rotate around the base, so that the water injection port swings to the water injection station right above the top opening of the main bubble device from the initial station right above the top opening of the main bubble device;

s19 (first pass wash): the driving cover body is controlled to be separated from the main tea making device and open the top opening of the main tea making device, the main tea making device is controlled to be driven to reversely turn over, so that fluid contained in the main tea making device together with tea leaves flows out from a gap between the top opening of the main tea making device and the cover body at a certain inclination angle and pouring time, the fluid is poured into the cup body on one side below the tea making device, and the driving main tea making device is controlled to horizontally reset;

s20 (second brew): repeating the steps S13-S18, and carrying out a second tea making process;

s21 (first pour): the main brewing device is controlled and driven to turn over in the positive direction, so that fluid (without tea) contained in the main brewing device flows out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and is poured into the cup body on the other side below the tea making device, and the main brewing device is controlled and driven to reset horizontally. At the moment, the user can take the justice cup containing the second tea water away, and pour the tea water into a plurality of small cups through the justice cup for a plurality of people to enjoy tea.

As a preferred embodiment, after S21, the method further includes:

s22: (cup warming) controlling the tea tray to heat the cup body, judging whether the cup body reaches a third preset temperature threshold value, if so, prompting to take away the cup body, and entering S23; if not, controlling the tea tray to continue heating the cup body until the cup body reaches a third preset temperature threshold value, prompting to take away the cup body, and entering S23;

s23 (tea: taking away the cup body containing the fluid, pouring the tea water into a plurality of small cups through the cup body, and placing the empty cup body on the tea tray;

s24 (cup alignment): judging whether the cup body is placed in place on the tea tray or not, if so, entering S25; if not, the step is carried out until the cup body is placed in place, and S25 is carried out;

s25 (automatic water tank filling): judging whether the fluid level in the water tank reaches a working water level threshold, if so, entering S26; if not, controlling to fill water into the water tank until the fluid water level reaches the working water level threshold, and entering S26;

s26 (thermo jug): judging whether the temperature of the main bubbler reaches a first preset temperature threshold value, and if so, entering S27; if not, controlling to heat the main bubbler until the temperature of the main bubbler reaches a first preset temperature threshold, and entering S27;

s27 (third brew): repeating the above S12-S18;

s28 (second pass pouring): the main brewing device is controlled and driven to turn over in the positive direction, so that the fluid contained in the main brewing device flows out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and is poured into the cup body on one side below the tea making device, and the main brewing device is controlled and driven to reset horizontally.

S29 (fourth brew): repeating the above S12-S18;

s30 (third pour): the main tea making device is controlled and driven to turn over in the positive direction, so that fluid and tea leaves contained in the main tea making device flow out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and are poured into the cup body on the other side below the tea making device, and the main tea making device is controlled and driven to reset horizontally.

S31 (cup warming, tea taking): repeating S22-S23;

as an embodiment, after S31, the method further includes: repeating S24-S30 (fifth tea making, fourth tea pouring, sixth tea making and fifth tea pouring);

s32 (open lid, unpick and wash main bubble device, refill main bubble device, close lid): controlling the driving cover body to be close to the main bubble device and cover the top opening of the main bubble device; taking down the main bubbler, cleaning the main bubbler, reinstalling the main bubbler, and controlling the driving cover body to be close to the main bubbler and cover the top opening of the main bubbler;

specifically, after the main bubble device is reinstalled, whether the main bubble device is installed in place or not is judged, and if yes, the driving cover body is controlled to be close to the main bubble device and cover the top opening of the main bubble device; if not, lifting the main bubble device until the main bubble device is mounted in place, and controlling the driving cover body to be close to the main bubble device and cover the top opening of the main bubble device;

s33 (standby): the system stands by and returns to S2.

The kungfu tea robot and the kungfu tea automatic tea making method provided by the invention can be suitable for six tea systems such as green tea, oolong tea, black tea, yellow tea and white tea, and the fixed control parameter setting aiming at different tea varieties is realized through the central control unit of the kungfu tea robot, so that the change of corresponding parameters can be defined according to the different tea varieties, and the optimal tea making effect is achieved. For example, aiming at the brewing parameters of the oolong, firstly, a user starts an oolong brewing program at an input device interface of a base 1 of a kungfu tea robot, wherein the oolong brewing program comprises a cup-warming program (the temperature is 85 ℃ and the time is 5 seconds); a tea adding program (the tea adding amount is 5-6 g); a tea drying and waking procedure (temperature 95 ℃ for 10 seconds); tea washing program (720 degree rotary brewing, water temperature 100 degree); the tea changing is finished after the tea is taken out for 6-8 times in the brewing procedure (the water temperature is 100 ℃, the fixed-point water injection is carried out for fixed brewing, and the soup taking time is 3 seconds).

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A kungfu tea robot, comprising:

a machine base;

the water storage device is arranged on the base and comprises a water tank for storing fluid;

the water injection device is arranged on the base and comprises a water injection head, and a water injection port of the water injection head is communicated with the water tank through a water channel;

a pumping device for directing fluid from the tank to the fill port;

the tea making device is arranged on the base and comprises a main tea making device and a cover body covering the top opening of the main tea making device, and the cover body is used for receiving the fluid flowing out of the water injection port;

the temperature control device is used for controlling heating or heat preservation of the fluid;

the tea tray is arranged on the base and used for placing the cup body;

a first driving means for driving the lid body to be detached from the main bubbler and opening the top opening;

the second driving device is used for driving the water injection head to horizontally rotate around the machine base so as to enable the water injection head to swing back and forth between a water injection station reaching the position right above the top opening or an initial station separating from the position right above the top opening;

and the third driving device is used for driving the tea making device to turn over between a horizontal state and an inclined state so that the fluid contained in the main tea maker flows out from a gap between the top opening and the cover body and is poured into the cup body below the tea making device.

2. The kungfu tea robot as claimed in claim 1, wherein the water injection head is cylindrical, the water injection port is eccentrically arranged relative to a central axis of the water injection head,

the second driving device includes:

locate the first rotary unit of frame for drive fourth drive arrangement reaches the flood peak winds the frame horizontal rotation, fourth drive arrangement is used for the drive the flood peak winds the axis horizontal rotation of flood peak to drive the relative axis eccentric rotation of flood peak of water filling port, in order to change the fluid is relative open-top's outflow position.

3. The kungfu tea robot of claim 1 or 2, wherein the tea making device further comprises:

the main bubble device seat is used for installing the main bubble device;

the first driving device includes:

the first driving mechanism is arranged on the main bulb holder;

the second driving mechanism is correspondingly and fixedly connected with the cover body and the first driving mechanism respectively;

the first driving mechanism is used for driving the second driving mechanism to drive the cover body to move up and down so as to enable the cover body to be separated from or cover the top opening;

the second driving mechanism is used for driving the cover body to horizontally rotate relative to the first driving mechanism so as to enable the cover body to swing back and forth between the states of reaching or separating from the position right above the top opening.

4. The kungfu tea robot of claim 3, wherein the first drive mechanism comprises:

the first lifting unit is arranged on the mounting table and is used for driving the second driving mechanism to move up and down;

the second drive mechanism includes:

the second rotating unit is arranged on the first lifting unit, the vertical rod is arranged on the second rotating unit, one end of the transverse rod is fixedly connected to the top end of the vertical rod, the other end of the transverse rod is fixedly connected to the cover body, and the second rotating unit drives the vertical rod to drive the transverse rod and the cover body to rotate horizontally relative to the first lifting unit.

5. The kungfu tea robot of claim 2, wherein the third driving means comprises:

the overturning unit is arranged in the base and comprises a first cross arm which can vertically rotate and is fixedly connected with the main bubbler, and the overturning unit is used for driving the first cross arm to drive the main bubbler to overturn;

the first rotation unit includes:

the driving motor, the gear set driven by an output shaft of the driving motor and the second cross arm which horizontally rotates around the central axis of the base are driven by the gear set;

the fourth driving device includes:

the third rotating unit is arranged on the hanging rack and is used for driving the water injection head to horizontally rotate along the central axis of the water injection head;

the water inlet end of the water channel is communicated with the water tank, the water channel passes through the base, the first rotating unit, the second cross arm, the hanging rack, the third rotating unit and the water injection head in sequence from the water inlet end, and the water outlet end of the water channel is communicated with the water injection port.

6. The kungfu tea robot of claim 4, wherein:

the first lifting unit is driven by an electromagnetic valve, and the second rotating unit is driven by a motor;

the water injection device further comprises:

the opening and closing mechanism can open or close the water injection port; and the pressurizing device is arranged in the water injection head and is used for pressurizing the fluid so as to adjust the flow of the fluid flowing out of the water injection head.

7. The kungfu tea robot of claim 3, wherein the temperature control device comprises:

the first temperature control unit is arranged in the water injection head and is used for controlling and heating the fluid; the tea tray is provided with a first temperature control unit and a second temperature control unit, wherein the first temperature control unit is arranged on the main brewer base and used for controlling the heating of the main brewer to preserve heat of the fluid, and the second temperature control unit is arranged on the tea tray and used for controlling the heating of the tea tray to preserve heat of the cup body and the fluid contained in the cup body.

8. The kungfu tea robot of any one of claims 3 to 7, further comprising:

a sensor system, comprising:

the weighing sensing device is arranged in the main tea making device and is used for sensing whether the tea adding amount in the main tea making device is more than or less than the preset weight or not;

the first position sensing device is arranged on the tea tray and used for sensing whether the cup body is placed in place on the tea tray or not;

the second position sensing device is arranged on the main bubble device seat and is used for sensing whether the main bubble device is installed in place on the main bubble device seat or not;

the water level sensing device is arranged in the water tank and used for sensing whether the water level of the fluid in the water tank reaches the working water level or not;

the water injection timing device is arranged in the main bubble device and used for sensing whether the water injection time for injecting the fluid from the water tank into the water injection head at a constant flow reaches the preset water injection time or not;

the central control unit is respectively and correspondingly and electrically connected with the water storage device, the water injection device, the tea making device, the temperature control device, the weighing device, the first driving device, the second driving device, the third driving device, the fourth driving device and the sensor system;

and the input device is arranged on the base and electrically connected with the central control unit and is used for inputting various control parameters of the kungfu tea robot.

9. An automatic tea making method for kungfu tea, which is characterized in that the kungfu tea robot as claimed in any one of claims 1-8 is applied, and comprises the following steps:

s1: starting the system, judging whether the tea tray is successfully linked, and if so, entering S2; if not, entering S2 until the tea tray is successfully linked;

s2: detecting whether a tea making starting instruction is input, and if so, entering S3; if not, the system is in standby state until the tea making starting instruction is detected to be input, and the step S3 is entered;

s3, judging whether the fluid level in the water tank reaches the working water level threshold, if so, entering S4; if not, controlling to fill water into the water tank until the fluid water level reaches the working water level threshold, and entering S4;

s4: judging whether the main bubble device is installed in place, if so, entering S5; if not, entering S5 until the main bubble device is installed in place;

s5, judging whether the cup body is placed on the tea tray in place or not, if so, entering S6; if not, the step is carried out until the cup body is placed in place, and S6 is carried out;

s6: inputting a tea variety selecting instruction;

s7: judging whether the temperature of the main bubbler reaches a first preset temperature threshold value, and if so, entering S8; if not, controlling to heat the main bubbler until the temperature of the main bubbler reaches a first preset temperature threshold, and entering S8;

s8: controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler;

s9: adding tea into the main tea making device, judging the tea adding amount in the main tea making device, and if the tea adding amount enters a preset tea adding threshold value, entering S10; if the tea adding amount is smaller than the lowest value of the preset tea adding threshold value, prompting to continue tea adding until the tea adding amount enters the preset tea adding threshold value, and entering S10; if the tea adding amount is larger than the highest value of the preset tea adding threshold value, prompting that the tea leaves are taken out from the main tea making device until the tea adding amount enters the preset tea adding threshold value, and entering S10;

s10: controlling the driving cover body to be close to the main bubble device and cover the top opening of the main bubble device;

s11: controlling and driving the main bubble device to overturn forwards, overturning reversely after horizontal resetting, and resetting horizontally again;

s12: controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler;

s13: controlling and driving the water injection head to swing from an initial station to a water injection station;

s14: starting a water injection device, controlling to lead fluid from a water tank to a water injection head through a water channel at a constant flow rate and preset water injection time, and controlling the water injection head to heat the fluid flowing through the water channel;

s15: judging whether the temperature of the fluid contained in the water channel in the water injection head reaches a second preset temperature threshold value or not, and if so, entering S16; if not, continuing to control the water injection head to heat the fluid until the temperature of the fluid reaches a second preset temperature threshold value, and entering S16;

s16: controlling the opening of a water injection port, enabling fluid to flow into the main bubble device from the water injection head through the water injection port at a constant flow rate for a preset water injection time, and controlling the closing of the water injection port;

s17: controlling the driving cover body to be close to the main bubble device and cover the top opening of the main bubble device;

s18: controlling and driving the water injection head to swing from the water injection station to the initial station;

s19: controlling the driving cover body to be separated from the main bubbler and opening the top opening of the main bubbler; controlling and driving the main tea making device to reversely turn over, so that the fluid and the tea leaves contained in the main tea making device flow out from the top opening of the main tea making device at a certain inclination angle and pouring time, and are poured into the cup body on one side below the tea making device, and controlling and driving the main tea making device to horizontally reset;

s20 repeating the above steps S13-S18;

s21: the main brewing device is controlled and driven to turn over in the positive direction, so that the fluid contained in the main brewing device flows out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and is poured into the cup body on the other side below the tea making device, and the main brewing device is controlled and driven to reset horizontally.

10. The method for automatically making kungfu tea according to claim 9, wherein the S16, after the controlling the water filling port is opened, further comprises:

driving the water injection head to horizontally rotate around the central axis of the water injection head, and changing the outflow direction of fluid from an eccentric water injection port of the water injection head to the position right above the top opening of the main bubble device;

in the step S11, the main bubble device is controlled and driven to be forwards turned by 60 degrees, and after horizontal reset, the main bubble device is reversely turned by 60 degrees;

the S14 further includes, after the pneumatic water injection device:

pressurizing the fluid out of the water injection port to regulate the flow rate of the fluid;

after S21, further comprising:

s22: controlling the tea tray to heat the cup body, judging whether the cup body reaches a third preset temperature threshold value, if so, prompting to take away the cup body, and entering S23; if not, controlling the tea tray to continue heating the cup body until the cup body reaches a third preset temperature threshold value, prompting to take away the cup body, and entering S23;

s23: taking away the cup body containing the fluid, and placing the empty cup body in the tea tray;

s24: judging whether the cup body is placed in place on the tea tray or not, if so, entering S25; if not, the step is carried out until the cup body is placed in place, and S25 is carried out;

s25: judging whether the fluid level in the water tank reaches a working water level threshold value, if so, entering S26; if not, controlling to fill water into the water tank until the fluid level reaches the working water level threshold, and entering S26;

s26: judging whether the temperature of the main bubbler reaches a first preset temperature threshold value, and if so, entering S27; if not, controlling to heat the main bubbler until the temperature of the main bubbler reaches a first preset temperature threshold, and entering S27;

s27: repeating the above S12-S18;

s28: controlling and driving the main brewing device to turn over in the positive direction, so that the fluid contained in the main brewing device flows out from a gap between the top opening and the cover body at a certain inclination angle and pouring time, and is poured into the cup body on one side below the tea making device, and controlling and driving the main brewing device to reset horizontally;

s29: repeating the above S12-S18;

s30: controlling and driving the main tea making device to turn over in the positive direction, so that fluid and tea leaves contained in the main tea making device flow out from a gap between the top opening and the cover body of the main tea making device at a certain inclination angle and pouring time, and are poured into the cup body on the other side below the tea making device, and controlling and driving the main tea making device to reset horizontally;

s31: repeating S22-S23;

s32: controlling the driving cover body to be separated from the main bubbler and open the top opening of the main bubbler, taking down the main bubbler, cleaning the main bubbler, reinstalling the main bubbler, and controlling the driving cover body to be close to the main bubbler and cover the top opening of the main bubbler;

s33: the system stands by and returns to S2.

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