CN210989707U - Human-computer interaction intelligence robot of making tea based on thing networking - Google Patents

Abstract

The utility model relates to a human-computer interaction intelligence machine people of making tea based on thing networking, include robot frame and the control center that constitutes by four stands and square tops, this robot still includes sideslip device, arm, the device of making tea, multi freedom tea clamp and rotatory tea table, multi freedom tea clamp set up on the sideslip device, the sideslip device set up in the robot frame lower part, the arm install on square top, the device of making tea fix on the stand, rotatory tea table set up in the dead ahead, and press from both sides relative setting with multi freedom tea. Compared with the prior art, the utility model has the advantages of application scope is wide, the function is comprehensive, the operation intelligence is convenient, small in size, full-automatic.

Description

Human-computer interaction intelligence robot of making tea based on thing networking

Technical Field

The utility model belongs to the technical field of the robot and specifically relates to a human-computer interaction intelligence robot of making tea based on thing networking is related to.

Background

China is the hometown of tea and also the origin of tea culture. In current machine of making tea, there is the electron machine of making tea that uses ceramic teapot to guarantee tea water fragrant smell, there is the automatic machine of making tea that can control the time of making tea and fall tea automatically, the multi-functional automatic machine of making tea of the problem of the different process of making tea of various tealeaves in addition can be solved, some machines of making tea also can realize solving tea proportion, water temperature control, functions such as time control, but these machines of making tea all rely on the heating vessel and the intercommunication pipeline of making tea of special design to realize boiling water basically, make tea, play functions such as tea, so can not realize the emulation to artifical tea making hand skill in tea set selection and the technique of making tea. Meanwhile, the existing tea making machine only completes simple tea making, does not consider the elaboration of a tea making method, is not ornamental, and can not completely reserve the fragrance and the taste of various tea.

The existing automatic tea making machine cannot automatically process residual tea after tea making and still needs manual cleaning. In the aspect of control, the functions of personalized setting and control by using mobile clients such as mobile phones and the like are lacked, and meanwhile, the functions of voice awakening and man-machine interaction are not provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a human-computer interaction intelligence machine people of making tea based on thing networking in order to overcome the defect that above-mentioned prior art exists.

The purpose of the utility model can be realized through the following technical scheme:

the utility model provides a human-computer interaction intelligence machine people of making tea based on thing networking, includes robot frame and the control center that constitutes by four stands and square tops, this robot still includes sideslip device, arm, the device of making tea, multi freedom tea clamp and rotatory tea table, multi freedom tea clamp set up on the sideslip device, the sideslip device set up in the robot frame lower part, the arm install on square top, the device of making tea fix on the stand, rotatory tea table set up in the dead ahead, and press from both sides relative setting with multi freedom tea.

The tea making device comprises a water heating mechanism, a teapot mechanism and a justice cup mechanism, wherein the teapot mechanism and the justice cup mechanism are respectively arranged on adjacent stand columns, the teapot mechanism comprises a teapot supporting plate fixed on a left rear stand column, a teapot and a tea box which are arranged on the teapot supporting plate in the front and at the back, the justice cup mechanism comprises a justice cup supporting plate fixed on the left front stand column and a justice cup placed on the justice cup supporting plate, a turning plate unit used for realizing the rollover of the teapot is arranged on the teapot supporting plate, and a pot cover opening and closing unit used for realizing the opening.

The teapot turning plate unit comprises a turning plate steering engine, a turning plate crank, a turning plate connecting rod and a teapot turning plate which are sequentially driven, one end of the teapot turning plate is connected with the surface of the teapot supporting plate through a rotating shaft, the turning plate steering engine is installed on the side surface of the teapot supporting plate, and the bottom of the teapot is fixed on the teapot turning plate.

The pot lid opening and closing unit comprises a pot lid seat, a pot lid steering engine, a pot lid crank and a pot lid turning plate, wherein the pot lid seat is sleeved on the pot body of the teapot, the pot lid steering engine is fixed on the pot lid seat, the pot lid crank and the pot lid turning plate are sequentially driven by the pot lid steering engine, and the pot lid turning plate is connected with the pot lid.

The water heating mechanism comprises an electric heating kettle, a water pump and a spray head which are sequentially connected through a water pipe, a water temperature detector communicated with a control center is arranged in the electric heating kettle, the spray head is arranged on the upper portion of the left front upright post, the water spraying angle is adjusted through a reversing steering engine, and the spray head is aligned to the teapot.

The transverse moving device comprises a stepping motor, a coupler, a first synchronous belt wheel, a shaft and a second synchronous belt wheel which are sequentially driven, wherein the first synchronous belt wheel and the second synchronous belt wheel are arranged in parallel and are all sleeved with a synchronous belt, and the multi-degree-of-freedom tea clamp is fixed on the two synchronous belts to adjust the front position and the rear position along with the rotation of the synchronous belt.

The multi-degree-of-freedom tea clamp comprises a turnover transverse rod mechanism and a tea clamp mechanism, the tea clamp mechanism is in transmission connection with a transverse moving device through the turnover transverse rod mechanism, the turnover transverse rod mechanism comprises a turnover servo motor, a turnover transverse rod and a sliding block, the turnover servo motor and the sliding block are coaxially arranged, the turnover servo motor and the sliding block are fixedly connected with two synchronous belts respectively, and the turnover servo motor is limited to slide in a guide rail.

Tea press from both sides mechanism including setting up the rotatory servo motor on the upset horizontal pole, with the T shape frame that rotatory servo motor transmission is connected, set up a plurality of right angle splint on T shape frame horizontal pole side by side and set up the Y-shaped saucer on T shape frame montant, every right angle splint carry out rotatory lock through the tea clamp steering wheel, Y-shaped saucer carry out the lifting action through saucer servo motor.

The arm have 5 degrees of freedom, including servo motor, axle bed, connecting plate, U-shaped frame and the clip that connects gradually, servo motor upper end fix at square top, the clip realize the centre gripping action through driven steering wheel, clip crank and flexible connecting rod in proper order, the internal surface of clip oral area both sides still be equipped with the lug.

The rotary tea table comprises a tea table servo motor, a driving synchronous belt pulley and a horizontal tea table plate, wherein two horizontal tea table plates are arranged, a U-shaped groove for placing a tea cup is formed in each horizontal tea table plate, the left end and the right end of each horizontal tea table plate are connected through a circular-bead rectangular plate respectively, a driving shaft is arranged at the center of the circular-bead rectangular plate at the left side, double-ring synchronous belt pulleys and the driving synchronous belt pulley are sequentially sleeved on the driving shaft, horizontal shafts are arranged at the two ends of the circular-bead rectangular plate at the left side respectively, the double-ring synchronous belt pulleys are driven through annular synchronous belts and horizontal shafts respectively, the driving synchronous belt pulleys are driven through synchronous belts and the tea table servo motor, a driven shaft is arranged at the center of the circular-bead rectangular plate at the right side, the driven shaft is connected.

Compared with the prior art, the utility model has the advantages of it is following:

firstly, the application range is wide: the robot simulates the manual tea making craft, can flexibly adjust parameters and flow, selects different tea making methods when making different types of tea, adapts to various requirements, and has smooth tea making process and ornamental value.

Secondly, tea fragrance is kept: use the most suitable traditional tea set of making tea to make tea, taste and the fragrant smell of keeping tea that can be better, tea clamp, mechanism such as arm, tea table and tea set incomplete fixed connection simultaneously, the tea set all can be taken off and the installation, the storage of being convenient for also can change the tea set of different materials in certain size range, facilitates the use.

Thirdly, the functions are comprehensive: the robot can realize all processes of making tea from taking tea, making tea to final cleaning and the like, does not need manual auxiliary operation basically, and is high in intelligent degree and convenient to use.

Fourthly, the volume is small: the robot has compact structure, all devices are basically concentrated in the machine body, the size is proper, and the occupied indoor space is small when the robot is used.

Fifthly, the use is safe and convenient: through rotatory tea table mechanism, can carry the outside with the teacup from the organism is inside, realize holding the tea process, not only convenience of customers takes a tea, can also make clean cup and dirty cup regional isolation, avoid polluting, also can prevent simultaneously that user and inside tea from pressing from both sides mechanism direct contact such as, safety protection.

Sixthly, the operation is intelligent and convenient: by using the internet of things technology, personalized setting and all function control of the robot can be realized through the mobile client, main function control can also be performed by offline wake-up of man-machine interaction, the function of man-machine interaction can be realized by the internet of things voice interaction technology, and the robot not only can be used as a life assistant, but also has the function of tea culture propaganda.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a structural diagram of the tea making device of the present invention.

Fig. 3 is a schematic structural view of the pot lid opening and closing device of the present invention.

Fig. 4 is a three-dimensional structure diagram of the mechanical arm of the present invention.

Fig. 5 is a three-dimensional structure view of the multi-degree-of-freedom tea clamp of the utility model.

Fig. 6 is a schematic structural view of the rotary tea table of the present invention, wherein fig. 6a is a perspective structural view, and fig. 6b is a top view.

Fig. 7 is a schematic block diagram of the circuit structure of the present invention.

The notation in the figure is:

1. the tea pot comprises a machine frame, 2, a lower guide rail, 3, a stepping motor, 4, an upper guide rail, 5, a coupler, 6, a fixed tea table support, 7, a multi-degree-of-freedom tea clamp, 8, a fixed angle block, 9, a shaft, 10, a second synchronous belt wheel, 11, a synchronous belt, 12, a mechanical arm, 13, a tea box, 14, a pot cover, 15, a tea pot, 16, a spray head, 17, a water pipe, 18, a tea pot turning plate, 19, a tea pot supporting plate, 20, a justice cup, 21, a justice cup supporting plate, 22, a tea cup, 23, a horizontal tea table plate, 24, a water pump, 25, a reversing steering engine, 26, a turning plate connecting rod, 27, a turning plate crank, 28, a turning plate, 29, a pot cover turning plate, 30, a pot cover crank, 31, a pot cover steering engine, 32, a pot cover seat, 33, a U-shaped frame, 34, a servo motor, 35, a shaft seat, 36, The tea cup comprises a convex block, 42, a wedge-shaped block, 43, a turnover servo motor, 44, a turnover cross rod, 45, a cup holder servo motor, 46, a tea clamp steering engine, 47, a right-angle clamping plate, 48, a T-shaped frame, 49, a fork-shaped cup holder, 50, a sliding block, 51, a rotary servo motor, 52, a driving shaft, 53, a driving synchronous pulley, 54, a double-ring synchronous pulley, 55, an annular synchronous belt, 56, a tea table servo motor, 57, a horizontal shaft, 58, a horizontal synchronous pulley, 59, a driven shaft, 60, a round-corner rectangular plate, 61, a water tank, 62 and an electric heating kettle.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Examples

As shown in fig. 1, the utility model provides a human-computer interaction intelligence machine people of making tea based on thing networking mainly comprises seven parts of robot frame, sideslip device, arm 12, the device of making tea, multi freedom tea clamp 7, rotatory tea table, control center.

The robot frame is composed of a frame 1, a lower guide rail 2, an upper guide rail 4, a teapot supporting plate 19, a justice cup supporting plate 21, a fixed corner block 8 and a water tank 61, wherein the frame 1 is formed by connecting four upright posts with a square top. The upper guide rail 4 is arranged above the lower guide rail 2, two groups of upper and lower guide rails are respectively fixed on two sides of the machine frame 1 in parallel, and a gap formed in the middle is used for limiting the moving range of the turnover servo motor 43 in the multi-degree-of-freedom tea clamp 7. The teapot supporting plate 19 and the justice cup supporting plate 21 are respectively positioned on the left upright post of the frame, the fixed corner block 8 is fixed on the two front upright posts of the frame 1 and is used for fixing the tea table support 6, and the water tank 61 is positioned between the front side and the rear side of the bottom of the frame 1 and is used for containing waste tea water.

As shown in fig. 5, the traverse device is composed of a stepping motor 3, a coupling 5, a first synchronous pulley, a shaft 9, a second synchronous pulley 10, and a synchronous belt 11. The stepping motor 3 is fixed above the rear end of the lower guide rail 2 on one side, the output shaft is connected with the coupler 5, the coupler 5 is connected with the shaft 9, the first synchronous pulley and the second synchronous pulley 10 are respectively fixed on two sections of the shaft 9, and the synchronous belts 11 are respectively tensioned on the first synchronous pulley, the second synchronous pulley 10 and the matched driven wheels.

As shown in fig. 4, the mechanical arm 12 is composed of a U-shaped frame 33, a servo motor 34, a shaft seat 35, a connecting plate 36, a steering engine 37, a clamp crank 38, a flexible connecting rod 39, a clamp 40 and a projection 41. Four servo motors 34 are connected with a steering engine 37 in sequence through a U-shaped frame 33, a shaft seat 35 and a connecting plate 36 to form a main body part of the five-degree-of-freedom mechanical arm, one side of a clamp 40 is vertically fixed on the connecting plate 36 at the tail end of the mechanical arm, one end of a flexible connecting rod 39 is connected to the opposite side of the clamp 40, one end of the flexible connecting rod is connected with a rotating shaft of the steering engine 37 through a clamp crank 38, four convex blocks 41 are fixed on two sides of an opening of the clamp 40 and used for being connected with a wedge block 42 in a matched.

As shown in fig. 2, the tea making device is composed of an electric heating kettle 62, a water pump 24, a water pipe 17, a nozzle 16, a reversing steering engine 25, a teapot 15, a tea box 13, a justice cup 20, a wedge block 42, a teapot turning plate 18, a turning plate steering engine 28, a turning plate crank 27, a turning plate connecting rod 26, a pot cover 14, a pot cover seat 32, a pot cover steering engine 31, a pot cover crank 30 and a pot cover turning plate 29. The inner wall of the electric heating kettle 62 is provided with a water temperature detector, and the on-off of the heating is controlled by a relay. The electric heating kettle 62, the water pump 24 and the spray head 16 are sequentially connected through the water pipe 17, and an output shaft of the reversing steering engine 25 is fixed to the side edge of the corner of the spray head 16. The pot lid 14 is fixed on the teapot 15 sequentially through the pot lid turning plate 29, the pot lid crank 30, the pot lid steering gear 31 and the pot lid seat 32. The teapot 15 is fixed on the teapot turning plate 18, the teapot turning plate 18 is connected with the teapot supporting plate 19 through a hinge, and meanwhile, the turning plate steering gear 28, the turning plate crank 27, the turning plate connecting rod 26 and the teapot turning plate 18 form a crank rocker mechanism.

As shown in fig. 5, the multi-degree-of-freedom tea clamp 7 is composed of a turning servo motor 43, a turning cross bar 44, a slide block 50, a rotating servo motor 51, a T-shaped frame 48, a tea clamp steering gear 46, a right-angle clamping plate 47, a fork-shaped cup holder 49 and a cup holder servo motor 45. The central axes of the turning servo motor 43, the turning cross bar 44 and the slide block 50 are in a straight line and are connected in sequence to form a transverse moving support rod, and the turning servo motor 43 and the slide block 50 are respectively fixed on the synchronous belts 11 at two sides. Rotatory servo motor 51 is fixed in the middle of upset horizontal pole 44, and T shape frame 48 is installed on rotatory servo motor 51 output shaft, and three groups are installed on T shape frame 48 by the device that steps up that tea clamp steering wheel 46 and right angle splint 47 are constituteed, and right angle splint 47 are used for blocking the teacup wall when the closed position, prevent to spatter and spill. The root of the forked cup holder 49 is fixed on the output shaft of the cup holder servo motor 45, and the cup holder servo motor 45 is mounted behind the T-shaped frame 48 and used for lifting the teacup 22 upwards.

As shown in fig. 6, the rotary tea table is composed of a tea table servo motor 56, a driving synchronous pulley 53, a driving shaft 52, a tea table support 6, a double-ring synchronous pulley 54, an annular synchronous belt 55, a horizontal synchronous pulley 58, a horizontal shaft 57, a horizontal tea table plate 23, a round-corner rectangular plate 60, a driven shaft 59 and a tea cup 22. The tea table servo motor 56, the tea table support 6 are fixed to the frame 1 and the circular surface visible in figure 6a of the double ring timing pulley 54 is fixed to the tea table support 6, non-rotatably. The driving shaft 52 is fixed with the center of a round-corner rectangular plate 60, and the double-ring synchronous pulley 54 and the horizontal synchronous pulley 58 form a planetary wheel combined structure through an annular synchronous belt 55. The horizontal tea table plate 23 is fixed on a horizontal shaft 57 and the tea cup 22 is placed in the U-shaped groove of the horizontal tea table plate 23.

As shown in fig. 7, the control center is composed of a central processing unit, an internet of things module, voice interaction hardware and a lower computer. The central processing unit is used for receiving, processing and sending signals of all parts. The Internet of things module is in real-time communication with the server and receives and sends instructions. The voice interaction hardware consists of four array microphones and a loudspeaker, and receives voice and broadcasts. The lower computer receives the instruction sent by the central processing unit to control the operation of the relay, the motor and the servo motor.

The working principle of the utility model is as follows:

this robot accessible thing networking is controlled, and after robot control center, high in the clouds server, removal end three match accomplished, the user clicks the start button through removing the interior application software of end, can pass through the server with the start instruction and transmit for robot control center, and control center carries out corresponding procedure, and the robot starts.

1. Taking tea leaves: after the tea caddy is started, the mechanical arm 12 moves the clamp 40 to the tea caddy 13, tea leaves in unit amount are clamped downwards, the tea leaves are moved to the position above the teapot 15 (when the mechanical arm 12 is used for taking the tea leaves, the pot cover steering engine 31 drives the pot cover 14 to turn over and open), the tea leaves are released, the tea caddy is repeatedly moved to the clamping position to clamp standard tea leaves (the tea amount can be changed by adjusting the clamping times), and the mechanical arm 12 returns to the initial position quickly.

2. Tea washing (tea making): the reversing steering engine 25 rotates to enable the nozzle of the spray head 16 to be aligned with the position of the teapot, the control center is connected with a power supply relay of the water pump 24, hot water in the electric heating teapot 62 (the water temperature is set to be adjusted to be a default value according to the type of tea selected by the application software of the moving end, heating is completed before starting) is pumped into the teapot 15 through the water pipe 17, the water quantity is determined by the capacity of the teapot 15 and meets the corresponding proportion of standard tea quantity, the water pumping time is calculated according to the flow of the water pump 24, the teapot cover 14 is turned over and closed, the turnover steering engine 28 turns over the teapot 15 through the crank rocker mechanism, and the.

3. Taking a teacup: after the tea is washed, the multi-degree-of-freedom tea clamp 7 is driven to the lower horizontal tea table plate 23 in the rotary tea table by the transverse moving device (the two horizontal tea table plates 23 are arranged at the upper position and the lower position during initialization), so that the fork-shaped cup holder 49 extends into a gap between the three lower tea cups 22 and the horizontal tea table plate 23, meanwhile, the steering gear 46 of the tea clamp and the servo motor 45 of the cup holder are driven, the right-angle clamping plate 47 clamps the cup edges of the tea cups 22, the fork-shaped cup holder 49 supports the lower cup side of the tea cups 22, the three tea cups 22 are lifted to the position just separated from the horizontal tea table plate 23, and the tea cups are fixed on the T. Under the driving of the traversing device, the tea clamp 7 with multiple degrees of freedom moves the teacup 22 into the robot, the rotary servo motor 51 drives the T-shaped frame 48 to rotate 180 degrees, so that the cup 22 is placed inwards, and the traversing device is finely adjusted to stop the cup 22 at a proper position.

4. Pouring tea water: the mechanical arm 12 moves to the position of the highway cup 20, the clamp 40 moves to the position horizontal to the wedge block 42 in a slow advancing mode, the through hole in the lug 41 and the through hole in the wedge block 42 are in a matched state, the clamp 40 is tightened when the steering engine 37 rotates, and the lug 41 extends into the through hole to achieve limiting matching. The mechanical arm 12 moves to continuously pour the first brewed tea in the justice cup 20 into the three tea cups 22 on the T-shaped frame 48, and the mechanical arm 12 returns the justice cup 20 to the original position after the tea pouring is finished.

5. Washing the teacup: the traversing device finely adjusts the position of the multi-degree-of-freedom tea clamp 7, so that the tea cup 22 is positioned slightly behind the inner part of the robot. The turnover servo motor 43 slowly rotates towards the direction of pouring out the tea water in the teacup 22, and meanwhile, the rotary servo motor 51 performs reciprocating shaking left and right at a high frequency, so that the inner wall of the tea water in the teacup 22 can be fully cleaned, and meanwhile, the tea water hung on the outer wall can fully clean the outer wall due to shaking during pouring. The poured water flows into the water tank 61, and the freedom degree tea clamp 7 is restored to the position before the tea water is poured after the cup washing is finished.

6. Carrying out tea preparation: the above-mentioned "tea washing (tea making)" operation is repeatedly performed, but after the hot water is poured, the teapot 15 is turned over after the tea making time is reserved according to the tea leaves, and the above-mentioned "tea pouring" operation is repeated to introduce the two-time tea making water into the teacup 22. The tea cup 22 is lifted to a position just separated from the horizontal tea table plate 23 when the tea cup 22 moves back to the tea taking action through the movement of the transverse moving device and the rotary servo motor 51, the right-angle clamping plate 47 and the fork-shaped cup holder 49 are released, and the tea cup 22 is placed in the U-shaped groove of the horizontal tea table plate 23. The tea table servo motor 56 rotates 180 degrees, and a planetary wheel structure formed by the double-ring synchronous belt wheel 54, the annular synchronous belt 55 and the horizontal synchronous belt wheel 58 ensures that the horizontal tea table plate 23 can horizontally revolve around the driving shaft 52, the positions of the upper and lower groups of tea cups 22 are exchanged, the unwashed tea cup 22 moves to the lower part, the tea cup 22 which just has made tea moves to the upper part, a user can take up the tea cup to drink, and one-time tea making is finished.

7. Adding a cup: after tea making is finished, the cup continuing function can be selected through the mobile client, the action sequence is similar to that of the tea making, and the actions of tea taking and tea washing are not executed. When the cup is continued, the nozzle of the spray head 16 is adjusted to face the position of the justice cup 20 by the reversing steering engine 25, hot water is directly injected, and the water quantity is consistent with the water quantity of the action of washing (making) tea. Then, the actions of taking the tea cup, pouring tea water, washing the tea cup and holding the tea are executed again, and the cup continuation is finished.

8. Cleaning: when tea is colorless tea user needs to clear up tealeaves or finish making tea, select cleaning function through mobile client, turn over board steering wheel 28 drive teapot 15 upset and suitably incline the angle, pot lid steering wheel 31 drive pot lid 14 upset is opened, 16 spout positions of switching-over steering wheel 25 continuous adjustment shower nozzle change at rivers internal period of the scope that can inject teapot 15, simultaneously 24 pump water of water pump, pour into the tealeaves residue in the teapot 15 in the highway cup 20, the water injection volume is unanimous with "wash tea (make tea)" action water yield, the highway cup 20 is got to the basin 61 internal water of getting to the clamp of arm 12 clamp, repeated execution 2 ~ 3 times, recover after accomplishing, the washing finishes.

The robot can also be controlled by a man-machine interaction offline awakening function, and the functions of tea making, cup adding and cleaning are executed through voice recognition. By accessing the cloud database, man-machine intelligent voice interaction can be carried out, and functions such as music playing, weather forecast, tea culture introduction and the like are realized.

Claims (10)

1. The utility model provides a human-computer interaction intelligence machine people of making tea based on thing networking, includes robot frame and the control center that constitutes by four stands and square tops, its characterized in that, this robot still includes sideslip device, arm (12), the device of making tea, multi freedom tea clamp (7) and rotatory tea table, multi freedom tea clamp (7) set up on the sideslip device, the sideslip device set up in the robot frame lower part, arm (12) install on square top, the device of making tea fix on the stand, rotatory tea table set up in the dead ahead, and press from both sides (7) with multi freedom tea and set up relatively.

2. The Internet of things-based human-computer interaction intelligent tea making robot is characterized in that the tea making device comprises a water heating mechanism, a tea pot mechanism and a fairway cup mechanism, the tea pot mechanism and the fairway cup mechanism are respectively arranged on adjacent stand columns, the tea pot mechanism comprises a tea pot supporting plate (19) fixed on a left rear stand column, a tea pot (15) and a tea leaf box (13) which are arranged on the tea pot supporting plate (19) in a front-back mode, the fairway cup mechanism comprises a fairway cup supporting plate (21) fixed on the left front stand column and a fairway cup (20) placed on the fairway cup supporting plate (21), a turnover plate unit used for enabling the tea pot (15) to turn on the side is arranged on the tea pot supporting plate (19), and a pot cover opening and closing unit used for enabling a pot cover to be opened and closed is arranged on the tea pot.

3. The Internet of things-based human-computer interaction intelligent tea making robot is characterized in that the flap unit comprises a flap steering engine (28), a flap crank (27), a flap connecting rod (26) and a teapot flap (18) which are sequentially driven, one end of the teapot flap (18) is in continuous impact with the surface of a teapot supporting plate (19) through a rotating shaft, the flap steering engine (28) is installed on the side surface of the teapot supporting plate (19), and the bottom of the teapot (15) is fixed on the teapot flap (18).

4. The Internet of things-based human-computer interaction intelligent tea making robot is characterized in that the pot lid opening and closing unit comprises a pot lid seat (32) sleeved on the pot body of the teapot (15), a pot lid steering engine (31) fixed on the pot lid seat (32), a pot lid crank (30) and a pot lid turning plate (29) which are sequentially driven by the pot lid steering engine (31), and the pot lid turning plate (29) is connected with the pot lid.

5. The Internet of things-based human-computer interaction intelligent tea making robot is characterized in that the water heating mechanism comprises an electric heating kettle (62), a water pump (24) and a spray head (16) which are sequentially connected through a water pipe (17), a water temperature detector communicated with a control center is arranged in the electric heating kettle (62), the spray head (16) is installed on the upper portion of a left front upright post, the water spraying angle is adjusted through a reversing steering engine (25), and the spray head is aligned to a tea pot (15).

6. The human-computer interaction intelligent tea making robot based on the Internet of things as claimed in claim 1, wherein the transverse moving device comprises a stepping motor (3), a coupler (5), a first synchronous pulley, a shaft (9) and a second synchronous pulley (10) which are sequentially driven, the first synchronous pulley and the second synchronous pulley (10) are arranged in parallel and are respectively sleeved with a synchronous belt (11), and the multi-degree-of-freedom tea clamp (7) is fixed on the two synchronous belts (11) to adjust the front and back positions along with the rotation of the synchronous belts (11).

7. The human-computer interaction intelligent tea making robot based on the Internet of things is characterized in that the multi-degree-of-freedom tea clamp (7) comprises a turnover cross rod mechanism and a tea clamp mechanism, the tea clamp mechanism is in transmission connection with a transverse moving device through the turnover cross rod mechanism, the turnover cross rod mechanism comprises a turnover servo motor (43), a turnover cross rod (44) and a sliding block (50) which are coaxially arranged, the turnover servo motor (43) and the sliding block (50) are respectively and fixedly connected with two synchronous belts (11), and the turnover servo motor (43) is limited to slide in a guide rail.

8. The Internet of things-based human-computer interaction intelligent tea making robot is characterized in that the tea clamp mechanism comprises a rotary servo motor (51) arranged on a turnover cross rod (44), a T-shaped frame (48) in transmission connection with the rotary servo motor (51), a plurality of right-angle clamping plates (47) arranged on the cross rod of the T-shaped frame (48) side by side and a fork-shaped cup holder (49) arranged on a vertical rod of the T-shaped frame (48), each right-angle clamping plate (47) is rotationally buckled through a tea clamp steering engine (46), and the fork-shaped cup holder (49) is lifted through a cup holder servo motor (45).

9. The human-computer interaction intelligent tea making robot based on the Internet of things of claim 1, wherein the mechanical arm (12) has 5 degrees of freedom and comprises a servo motor (34), a shaft seat (35), a connecting plate (36), a U-shaped frame (33) and a clamp (40) which are connected in sequence, the upper end of the servo motor (34) is fixed on the square top, the clamp (40) realizes clamping action through a steering engine (37), a clamp crank (38) and a flexible connecting rod (39) which are sequentially driven, and convex blocks (41) are further arranged on the inner surfaces of two sides of the opening of the clamp (40).

10. The human-computer interaction intelligent tea making robot based on the Internet of things is characterized in that the rotary tea table comprises a tea table servo motor (56), a driving synchronous pulley (53) and horizontal tea table plates (23), two horizontal tea table plates (23) are provided, U-shaped grooves for placing tea cups (22) are formed in the two horizontal tea table plates respectively, the left ends and the right ends of the two horizontal tea table plates (23) are connected through a rounded rectangular plate (60), a driving shaft (52) is arranged in the center of the rounded rectangular plate on the left side, a double-ring synchronous pulley (54) and the driving synchronous pulley (53) are sequentially sleeved on the driving shaft (52), horizontal shafts (57) are arranged at the two ends of the rounded rectangular plate on the left side respectively, the double-ring synchronous pulley (54) is driven with the horizontal shafts (57) through an annular synchronous belt (55), the driving synchronous pulley (53) is driven with the tea table servo motor (56) through a synchronous belt, the right side fillet rectangular plate center is equipped with driven shaft (59), driven shaft (59) be connected with tea platform support (6), tea platform support (6) fix on right front column to it is spacing fixed through fixed hornblock (8).

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