TW202033141A - Automatic brewing method and structure using robot arm employing robot to make hand-brewing coffee and maintain flavor like hand-brewing coffee - Google Patents

Automatic brewing method and structure using robot arm employing robot to make hand-brewing coffee and maintain flavor like hand-brewing coffee Download PDF

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TW202033141A
TW202033141A TW108106956A TW108106956A TW202033141A TW 202033141 A TW202033141 A TW 202033141A TW 108106956 A TW108106956 A TW 108106956A TW 108106956 A TW108106956 A TW 108106956A TW 202033141 A TW202033141 A TW 202033141A
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brewing
fluid
control module
rod body
coffee
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TWI727272B (en
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蕭志偉
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宏得利貿易有限公司
欣榮貿易股份有限公司
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Abstract

The invention relates to an automatic brewing method and structure using robot arm, which employs a control module for controlling a robot arm to pick a brewing object and place into a filtering device and controlling a first fluid to evenly flow into and through the filtering device along a first track with a first predetermined flow rate within a first predetermined time period. Next, mixing the fluid with the brewing object to form a brewing liquid dropping into a cup and moving the cup; then, enabling the robot arm making actions with multiple degrees of freedom through the connection relationship among a rotary base, a plurality of connectors, a pivoting member, and a clamping device; and, allowing the clamping device to smoothly carry out the brewing process like hand-brewing coffee.

Description

機械手臂自動沖泡之方法及結構Method and structure of automatic brewing by mechanical arm

本發明係關於一種使用機械手臂進行手沖咖啡,使其能夠維持手沖咖啡之風味。The present invention relates to a hand-made coffee using a mechanical arm so that it can maintain the flavor of hand-made coffee.

隨著世界不同飲食文化的融合,現代人對於咖啡的需求越來越高,且咖啡的沖泡方式也更加多元化,依據沖泡咖啡的方式分為即溶咖啡、滴濾式咖啡、冰滴咖啡、膠囊咖啡、虹吸式咖啡、濃縮咖啡以及手沖咖啡等沖泡方式,即溶咖啡係使用熱的蒸汽使咖啡豆中的水分蒸發,接著炒磨咖啡豆中提取有效成分後經乾燥而生產的,此過程中會有一部分芳香物質散失導致成品的風味、口感不如直接炒磨的咖啡濃郁純正,而廠商為了彌補這項缺失,會於乾燥的過程中加入香精來維持其風味,最後再加入砂糖以及奶精粉做調味;滴濾式咖啡又稱為美式咖啡機,只需要再上層鋪好濾紙再放上咖啡粉,並將冷水倒入指定水位,按下按鈕後機器就會自動煮水並開始沖泡,將咖啡過濾至下層咖啡壺中,其用原理是將水加熱之後,使熱水由上而下注入咖啡粉中,以達到類似用手沖式細口壺的沖泡效果;冰滴咖啡是利用冰塊自然融化成冰水,一滴一滴滴入咖啡粉中來萃取咖啡,這個過程十分緩慢,往往要進行數小時之久,因此冰滴式咖啡的價格較為昂貴,但口感極佳;膠囊咖啡係將咖啡膠囊放入專用的咖啡機器內,膠囊一端上有一進水端,另一端萃取咖啡出來之出水端,當膠囊咖啡放入機器後,底部會被刺破複數個洞,此時瞬間加熱的水,經由高壓沖入該進水端,並進入膠囊內,由於膠囊杯口封住,在壓力增加之下,將衝破鋁箔片,同時萃取出濃郁咖啡;虹吸式咖啡又稱為賽風式咖啡,最大的特徵就是構造幾乎完全透明,可以看見製作咖啡的過程,分為上下兩個玻璃壺身的造型也非常時髦,經常被拿來做為室內布置的配件;虹吸式咖啡的沖泡原理是利用下方熱源加熱,藉由熱漲冷縮產生的氣壓讓下壺的水往上壺流動,等到上壺水位足夠再關火加入咖啡粉,讓咖啡粉在水中浸泡一段時間後經過濾紙重新回到下壺;濃縮咖啡又稱為義大利咖啡,Espresso,其是一種通過迫使接近沸騰的高壓水流通過磨成細粉的咖啡製作而成的飲料,濃縮咖啡一般比其他方法製作出來的咖啡更加濃厚,含有更高濃度的懸浮物和已溶解固體,如表層的咖啡脂。With the integration of different food cultures in the world, modern people’s demand for coffee is increasing, and coffee brewing methods are more diversified. According to the method of brewing coffee, it is divided into instant coffee, drip coffee, and ice drip. Coffee, capsule coffee, siphon coffee, espresso coffee and hand brewed coffee are brewing methods. Instant coffee is produced by using hot steam to evaporate the water in the coffee beans, then roasting and grinding the coffee beans to extract the effective ingredients and then drying them. Yes, during this process, a part of the aromatic substances will be lost and the flavor and taste of the finished product will not be as strong and pure as the directly roasted coffee. To make up for this lack, the manufacturer will add flavors during the drying process to maintain its flavor, and finally add it Sugar and creamer powder are used for flavoring; drip coffee is also called American coffee machine. You only need to put filter paper on the top layer and then put coffee powder, and pour cold water into the specified water level. After pressing the button, the machine will automatically boil water And start brewing, and filter the coffee into the lower coffee pot. The principle is to heat the water and inject the hot water into the coffee powder from top to bottom to achieve a brewing effect similar to a hand-made narrow-necked pot; Drip coffee uses ice cubes to naturally melt into ice water, drop by drop into coffee powder to extract coffee. This process is very slow and often takes several hours. Therefore, the price of ice drip coffee is more expensive, but the taste is excellent. ; Capsule coffee is to put the coffee capsule into a special coffee machine. One end of the capsule has a water inlet, and the other end of the coffee is extracted from the water. When the capsule coffee is put into the machine, multiple holes will be pierced at the bottom. The instantaneously heated water rushes into the water inlet through high pressure and enters the capsule. Because the cup of the capsule is sealed, under the pressure increase, it will break through the aluminum foil and extract the strong coffee at the same time; siphon coffee is also called The biggest feature of Psiphon coffee is that the structure is almost completely transparent. You can see the process of making coffee. The shape of the two glass pots is also very fashionable. It is often used as an accessory for indoor decoration; siphon coffee The principle of brewing is to use the lower heat source to heat, and the air pressure generated by thermal expansion and contraction allows the water in the lower pot to flow to the upper pot. When the water level in the upper pot is enough, turn off the fire and add coffee powder, so that the coffee powder will pass through after soaking in water for a period of time. The filter paper returns to the lower pot; espresso, also known as Italian coffee, Espresso, is a beverage made by forcing a high-pressure water stream close to boiling through ground coffee. Espresso is generally made better than other methods Coffee is thicker and contains a higher concentration of suspended solids and dissolved solids, such as coffee fat on the surface.

接著手沖咖啡其需要的基本器具有手沖壺、濾紙、濾杯、溫度計、計時器、電子秤和磨豆機等,且咖啡豆本身的味道、水的溫度及流速、濾紙的選擇以及咖啡碎粒的大小均會影響沖泡出來的味道,當要進行手沖咖啡時,首先需要克服穩定的倒出水柱流入咖啡粒上,尤其控制水量與流速非常的困難,如果水流入咖啡粒中的速度不同,將會大幅的影響咖啡的風味,且每一種手沖壺的大小都不同,流出的水流速度也不相同,以及濾紙的品質好壞也很重要,若選擇太差的濾紙,有可能濾紙的紙漿味會一併融入咖啡內,或濾紙孔隙過大,造成部分咖啡粒隨著咖啡一併落下至咖啡壺中,再者,濾杯的形狀也會影像萃取咖啡的流速,導致咖啡口感的不同,而手沖咖啡與上述幾種咖啡相比,其特點在於1.萃取速度快,有效率:手沖咖啡萃取咖啡的過程中持續都有新鮮的熱水經過咖啡粉,萃取速度較快,也能從咖啡表層萃取出較多物質,但也因為速度快,控制不好的話可能會萃取過度而影響咖啡味道,2.影響因素多:雖然只是短短幾分鐘的過程,但包括水的流速、水溫、咖啡粉顆粒、濾杯形狀等,都會影響咖啡最後的味道,3.咖啡風味多元:不同條件下沖出來的咖啡風味都不一樣,且不同種類的豆子適合的條件也不相同。Then the basic devices needed for hand-made coffee include hand-flush pot, filter paper, filter cup, thermometer, timer, electronic scale and grinder, etc., and the taste of coffee beans, the temperature and flow rate of water, the choice of filter paper and coffee The size of the crumbs will affect the taste of the brewed coffee. When you want to brew coffee by hand, you must first overcome the stable pouring water column and flow into the coffee grains. It is especially difficult to control the water volume and flow rate. If the water flows into the coffee grains, Different speeds will greatly affect the flavor of coffee, and the size of each hand-punch pot is different, the flow rate of the water flowing out is also different, and the quality of the filter paper is also very important. If you choose too bad filter paper, it may The pulp flavor of the filter paper will be integrated into the coffee, or the pores of the filter paper will be too large, causing some coffee grains to fall into the coffee pot along with the coffee. In addition, the shape of the filter cup will also reflect the flow rate of the coffee extraction, resulting in a taste of coffee. Compared with the above-mentioned types of coffee, hand-made coffee has the following characteristics: 1. Fast extraction speed and efficiency: During the process of hand-made coffee extraction, fresh hot water continues to pass through the coffee powder, and the extraction speed is faster. It can also extract more substances from the surface of the coffee, but because of the high speed, if the control is not good, it may be over-extracted and affect the coffee taste. 2. There are many influencing factors: although it is only a process of a few minutes, it includes the flow rate of water , Water temperature, coffee powder particles, filter cup shape, etc., will all affect the final taste of coffee. 3. Multiple coffee flavors: The flavors of coffee brewed under different conditions are different, and different types of beans are suitable for different conditions.

經由上述對於手沖咖啡的說明,因為水流速以及水溫的不同,每一杯手沖咖啡的味道都會有差異,且手沖咖啡的技術含量高,對於要做出一杯好喝的手沖咖啡來說,需要反覆不斷的練習,才有可能做出一杯好喝的咖啡,但在水溫、水流速度以及熱水落至咖啡粒上之位置,並無法每次都控制的非常精準,且沖泡的人隨著沖泡次數的增加,其疲勞程度也相對提高,造成手沖咖啡的風味將會有些許不同。Through the above description of hand brewed coffee, because of the difference in water flow rate and water temperature, the taste of each cup of hand brewed coffee will be different, and the technical content of hand brewed coffee is high. It is necessary to make a good cup of hand brewed coffee. It is said that it takes repeated practice to make a good cup of coffee, but the water temperature, water flow rate and the position where the hot water falls on the coffee grains cannot be controlled very accurately every time, and the brewing With the increase of brewing times, their fatigue level also increases, causing the flavor of hand-made coffee to be slightly different.

綜上所述,針對手沖咖啡技術的缺點,本發明人經過長時間的研究及發展,發明出一種機械手臂自動沖泡之方法及結構,其能夠藉由機械手臂來精準控制手沖咖啡時,由沖泡壺倒入過濾裝置上之位置、水流溫度以及水流之速度,使得每一杯之手沖咖啡之風味均相同,不會造成落差,如此,進而減少人員的疲累,並維持手沖咖啡的品質。To sum up, in view of the shortcomings of hand brewing technology, the inventors have invented a method and structure for automatic brewing of a mechanical arm after a long period of research and development, which can precisely control the time of hand brewing by the mechanical arm. , From the position of the brewing pot poured into the filter device, the temperature of the water flow and the speed of the water flow, the flavor of each cup of hand brewed coffee is the same without causing a drop, thus reducing the fatigue of the staff and maintaining the hand brewed coffee Quality.

本發明之主要目的,係提供一種機械手臂自動沖泡之方法,其係利用一控制模組控制一沖泡模組以及一機械手臂,並控制一第一流體於一第一預設時間內以一第一預設流動速率將一流體以一第一軌跡均勻流入流經一過濾裝置內,讓該流體能夠均勻地流經該過濾裝置,使沖泡出之一沖泡液如同手工沖泡一樣美味。The main purpose of the present invention is to provide a method for automatic brewing of a robotic arm, which uses a control module to control a brewing module and a robotic arm, and controls a first fluid to be used within a first preset time A first preset flow rate uniformly flows a fluid into a filter device with a first trajectory, so that the fluid can flow evenly through the filter device, so that brewing a brewing liquid is like manual brewing delicious.

本發明之另一目的,係提供一種機械手臂自動沖泡之結構,其係利用利用一控制模組分別控制一沖泡模組、一流體模組以及一機械手臂,來達到利用機械手臂沖泡沖泡物,為了能夠流暢地進行沖泡,該機械手臂係上具有多個桿體以及多個驅動裝置,該些桿體相互樞接處再連接驅動裝置即可使該桿體做旋轉或往復運動,而使該機械手臂能夠更靈活地運用。Another object of the present invention is to provide a structure for automatic brewing of a robotic arm, which utilizes a control module to control a brewing module, a fluid module, and a robotic arm, respectively, to achieve brewing by the robotic arm In order to make the brewing smoothly, the robotic arm is equipped with multiple rods and multiple driving devices. The rods are pivotally connected to each other and then connected to the driving device to make the rod rotate or reciprocate. Movement, so that the robotic arm can be used more flexibly.

為了達到上述之目的,本發明揭示了一種機械手臂自動沖泡之方法,其步驟包含經由一控制模組控制一機械手臂取一沖泡物並倒入至一過濾裝置內,以及經由該控制模組控制一流體於一第一預設時間依據一第一預設流動速率以一第一軌跡之方式通過該過濾裝置內之該沖泡物以形成一沖泡液流至一杯體。讓該流體能夠均勻地流經該過濾裝置,使沖泡出之一沖泡液如同手工沖泡一樣美味In order to achieve the above objective, the present invention discloses a method for automatic brewing by a robot arm. The steps include controlling a robot arm through a control module to take a brewing substance and pour it into a filter device, and through the control module The group controls a fluid to pass through the brewing substance in the filter device in a first trajectory in a first preset time according to a first preset flow rate to form a brewing liquid to flow into a cup. Allow the fluid to flow evenly through the filter device, making a brewing liquid as delicious as manual brewing

本發明之一實施例中,其亦揭露該控置模組係控制該機械手臂取一沖泡壺,並持續以一傾斜角度傾斜該沖泡壺,使該沖泡壺內之該流體於該第一預設時間依據該第一預設流動速率以該第一軌跡之方式通過該過濾裝置內。In an embodiment of the present invention, it also discloses that the control module controls the mechanical arm to take a brewing pot, and continuously tilt the brewing pot at an inclination angle, so that the fluid in the brewing pot is in the The first preset time passes through the filtering device in the first trajectory according to the first preset flow rate.

本發明之一實施例中,其亦揭露該第一軌跡係圓形軌跡或非圓形軌跡。In an embodiment of the present invention, it also discloses that the first track is a circular track or a non-circular track.

本發明之一實施例中,其亦揭露經由該控制模組控制一流體於一第一預設時間依據一第一預設流動速率以一第一軌跡之方式通過該過濾裝置內之該沖泡物以形成一沖泡液落入一杯體之步驟後,更進一步包含步驟: 移動該杯體。In an embodiment of the present invention, it also discloses that a fluid is controlled by the control module to pass the brewing in the filter device in a first trajectory at a first preset time according to a first preset flow rate After the step of forming a brewing liquid into the cup, the step further includes the step of: moving the cup.

本發明之一實施例中,其亦揭露移動該杯體之步驟後,更進一步包含步驟: 經由該控制模組控制該機械手臂取該過濾裝置至一回收槽上方,並翻轉該過濾裝置。In an embodiment of the present invention, after the step of moving the cup body is also disclosed, it further includes the step of: controlling the robot arm to take the filter device to a recovery tank through the control module, and turn the filter device over.

本發明之一實施例中,其亦揭露經由該控制模組控制該機械手臂取該過濾裝置至一回收槽上方,並翻轉該過濾裝置之步驟後,更進一步包含步驟: 控制該機械手臂將該過濾裝置移動至一清洗裝置前,該清洗裝置流出一清洗流體至該過濾裝置,且該機械手臂取該過濾裝置於該清洗裝置前以一第二軌跡方式移動,其中該清洗裝置係以一第一感測器進行感測。In an embodiment of the present invention, it also discloses that after the step of controlling the robot arm to take the filter device above a recovery tank through the control module and turning the filter device, it further includes the step of: controlling the robot arm to remove Before the filter device moves to a cleaning device, the cleaning device flows out a cleaning fluid to the filter device, and the robotic arm takes the filter device to move in a second track before the cleaning device, wherein the cleaning device is a first A sensor performs sensing.

本發明之一實施例中,其亦揭露更進一步包含步驟: 經由該控制模組控制該機械手臂取該過濾裝置至一消耗品放置架下,使一濾紙落至該過濾裝置上。In an embodiment of the present invention, it also discloses that it further includes the step of: controlling the robotic arm through the control module to take the filter device under a consumables placing rack, and drop a filter paper onto the filter device.

為了達到上述之目的,本發明另外揭示了一種機械手臂自動沖泡之結構,其包含一控制模組,其係設置於一平台上,一機械手臂,其係設置於該平台上並電性連接該控制模組,一沖泡裝置,其係設置於該平台上,並電性連接該控制模組,且該沖泡裝置包含: 一供應裝置,其係設置於該平台上,且一側放置一第一容器,一固定座,其係設置於該平台上,並位於該供應裝置之一側,以及一過濾裝置,其係放置於該固定座一側,一流體供應裝置,其係設置於該平台上並電性連接該控制模組。讓該流體能夠均勻地流經該過濾裝置,使沖泡出之一沖泡液如同手工沖泡一樣美味In order to achieve the above-mentioned purpose, the present invention additionally discloses a structure for automatic brewing of a robotic arm, which includes a control module set on a platform, and a robotic arm set on the platform and electrically connected The control module, a brewing device, which is arranged on the platform and electrically connected to the control module, and the brewing device includes: a supply device, which is arranged on the platform and placed on one side A first container, a fixing seat, which is arranged on the platform and located on one side of the supply device, and a filter device, which is placed on one side of the fixing seat, and a fluid supply device which is arranged on The platform is electrically connected to the control module. Allow the fluid to flow evenly through the filter device, making a brewing liquid as delicious as manual brewing

本發明之一實施例中,其亦揭露該流體供應裝置內更進一步設置一加熱裝置以及一沖泡壺,該加熱裝置係設置於該平台上,該沖泡壺係放置於該加熱裝置上。In an embodiment of the present invention, it is also disclosed that a heating device and a brewing pot are further provided in the fluid supply device, the heating device is arranged on the platform, and the brewing pot is placed on the heating device.

本發明之一實施例中,其亦揭露該固定座之側壁上更進一步設置一第一滑軌、一第二滑軌以及一固定環,該固定環一側係設置於該第一滑軌上,且該第一滑軌係相對於該第二滑軌,使該過濾裝置放置於該固定環上。In an embodiment of the present invention, it is also disclosed that a first slide rail, a second slide rail and a fixing ring are further provided on the side wall of the fixing seat, and one side of the fixing ring is arranged on the first slide rail And the first slide rail is relative to the second slide rail, so that the filter device is placed on the fixed ring.

本發明之一實施例中,其亦揭露更進一步設置一移動件,該移動件係設置於該第二滑軌上。In an embodiment of the present invention, it also discloses that a moving element is further provided, and the moving element is arranged on the second sliding rail.

本發明之一實施例中,其亦揭露供應裝置內包含一沖泡物。In an embodiment of the present invention, it also discloses that the supply device includes a brewing substance.

本發明之一實施例中,其亦揭露該機械手臂包含一轉動基座,其係樞接於該平台上,且該轉動基座連接一第一驅動裝置,其係帶動該轉動基座旋轉,一第一桿體,其一端係樞接該轉動基座,且於該第一桿體連接一第二驅動裝置,使該第一桿體相對於該轉動基座轉動,一第二桿體,其一端係樞接該第一桿體之另一端,且該第二桿體連接一第三驅動裝置,使該第二桿體相對於該第一桿體做往復運動,一第三桿體,其一端係樞接該第二桿體之另一端,且該第三桿體連接一第四驅動裝置,使該第三桿體相對於該第二桿體旋轉,一樞接件,其二側係樞接該第三桿體之另一端,且該樞接件內連接一第五驅動裝置,使該樞接件相對於該第三桿體做往復運動,以及一夾持裝置,其一側係樞接該樞接件一端,且於該夾持裝置內連接一第六驅動裝置,使該夾持裝置相對於該樞接件旋轉,且該夾持裝置相對於該樞接件之另一側上設置二夾持件,該二夾持件連接一第七驅動裝置,使該二夾持件相對於該第七驅動裝置做往復運動。In an embodiment of the present invention, it is also disclosed that the robotic arm includes a rotating base, which is pivotally connected to the platform, and the rotating base is connected to a first driving device, which drives the rotating base to rotate, A first rod body, one end of which is pivotally connected to the rotating base, and a second driving device is connected to the first rod body to rotate the first rod body relative to the rotating base, a second rod body, One end is pivotally connected to the other end of the first rod, and the second rod is connected to a third driving device, so that the second rod reciprocates relative to the first rod, a third rod, One end of the second rod is pivotally connected to the other end of the second rod, and the third rod is connected to a fourth driving device to make the third rod rotate relative to the second rod. Is pivotally connected to the other end of the third rod body, and a fifth driving device is connected in the pivot member, so that the pivot member reciprocates relative to the third rod body, and a clamping device, one side of which One end of the pivotal member is pivotally connected, and a sixth driving device is connected to the clamping device, so that the clamping device rotates relative to the pivotal member, and the clamping device is relative to the other of the pivotal member Two clamping members are arranged on the side, and the two clamping members are connected with a seventh driving device, so that the two clamping members reciprocate relative to the seventh driving device.

本發明之一實施例中,其亦揭露更進一步設置一清洗裝置,該清洗裝置係設置於該平台上並位於該流體供應裝置之一側,且該清洗裝置包含一流體輸出裝置以及一第一感測器,該第一感測器係設置於該流體輸出裝置上,並電性連接該流體輸出裝置,該流體輸出裝置一端設置一出水孔,該第一感測器依據感測訊號控制該流體輸出裝置由該出水孔流出一清洗流體。In an embodiment of the present invention, it also discloses that a cleaning device is further provided. The cleaning device is installed on the platform and located on one side of the fluid supply device, and the cleaning device includes a fluid output device and a first A sensor, the first sensor is arranged on the fluid output device and is electrically connected to the fluid output device, one end of the fluid output device is provided with a water outlet, the first sensor controls the fluid output device according to the sensing signal The fluid output device flows out a cleaning fluid from the water outlet hole.

本發明之一實施例中,其亦揭露更進一步設置一消耗品放置架以及一氣體輸出裝置,該消耗品放置架係設置於該平台上,且該消耗品放置架上放置至少一濾紙以及至少一杯體,該氣體輸出裝置係連通該消耗品放置架,且該氣體輸出裝置電性連接該控制模組,其中當該機械手臂移動至該消耗品放置架下方時,該氣體輸出裝置對該濾紙或該杯體噴出氣體,使該濾紙或該杯體掉落。In an embodiment of the present invention, it also discloses that a consumables placing rack and a gas output device are further provided. The consumables placing rack is installed on the platform, and at least one filter paper and at least A cup, the gas output device is connected to the consumables placing rack, and the gas output device is electrically connected to the control module, wherein when the robotic arm moves to the bottom of the consumables placing rack, the gas output device to the filter paper Or the cup body ejects gas, causing the filter paper or the cup body to fall.

本發明之一實施例中,其亦揭露更進一步設置一第二感測器,其係設置於該消耗品放置架上,並電性連接該氣體輸出裝置,該第二感測器感測該機械手臂靠近,而發送訊號給該氣體輸出裝置,使該氣體輸出裝置對該濾紙或該杯體噴出氣體,讓該濾紙或該杯體掉落。In an embodiment of the present invention, it also discloses that a second sensor is further provided, which is arranged on the consumables placing rack and is electrically connected to the gas output device. The second sensor senses the The mechanical arm approaches, and sends a signal to the gas output device to make the gas output device spray gas to the filter paper or the cup body, and the filter paper or the cup body falls.

本發明之一實施例中,其亦揭露更進一步設置一回收槽,其係設置該平台上並位於該沖泡裝置之一側。In an embodiment of the present invention, it also discloses that a recovery tank is further provided, which is provided on the platform and located on one side of the brewing device.

為使 貴審查委員對本發明之特徵及所達成之功效有更進一步之瞭解與認識,謹佐以較佳之實施例及配合詳細之說明,說明如後:In order to enable your reviewer to have a better understanding and understanding of the features of the present invention and the effects achieved, a preferred embodiment and detailed description are provided. The description is as follows:

本發明係針對習知手沖咖啡之方法進行發明,一般習知技術都是利用因為水流速以及水溫的不同,每一杯手沖咖啡的味道都會有差異,且手沖咖啡的技術含量高,對於要做出一杯好喝的手沖咖啡來說,需要反覆不斷的練習,才有可能做出一杯好喝的咖啡,但在水溫、水流速度以及熱水落至咖啡粒上之位置,並無法每次都控制的非常精準,且沖泡的人隨著沖泡次數的增加,其疲勞程度也相對提高,造成手沖咖啡的風味將會有些許不同,故本發明為了能夠穩定地製作出相同比例之手沖咖啡,並針對手沖咖啡技術的缺點進行發明,本發明人經過長時間的研究及發展,發明出一種機械手臂自動沖泡之方法及結構,其能夠藉由機械手臂來精準控制手沖咖啡時,由熱水壺倒入咖啡粒上之位置、水流溫度以及水流之速度,使得每一杯之手沖咖啡之風味均相同,不會造成落差,如此,進而減少人員的疲累,並維持手沖咖啡的品質。The present invention is an invention based on the conventional method of hand-brewed coffee. Generally, the conventional technology utilizes that because of the difference in water flow rate and water temperature, the taste of each cup of hand-brewed coffee will be different, and the technical content of hand-brewed coffee is high. To make a good cup of hand brewed coffee, it takes repeated practice to make a good cup of coffee, but in the water temperature, water flow rate and the position where the hot water falls on the coffee grains, and It cannot be controlled every time with great precision, and as the number of brewing increases, the fatigue of the brewer increases relatively, resulting in slightly different flavors of hand brewed coffee. Therefore, the present invention is to be able to produce stably The same proportion of hand brewed coffee, and invented the shortcomings of hand brewing technology. After a long period of research and development, the inventor invented a method and structure for automatic brewing of a mechanical arm, which can be accurately made by a mechanical arm When controlling the hand-made coffee, the position of the coffee pouring from the kettle, the temperature of the water flow and the speed of the water flow, make the flavor of each cup of hand-made coffee are the same without causing a gap, thus reducing staff fatigue, and Maintain the quality of hand brewed coffee.

首先,請參閱第一圖,其係為本發明之第一實施例之步驟流程示意圖,如圖所式,本發明之機械手臂自動沖泡之方法,其步驟包含:First of all, please refer to the first figure, which is a schematic diagram of the step flow of the first embodiment of the present invention. As shown in the figure, the method of automatic brewing by the robot arm of the present invention includes:

步驟S1: 經由一控制模組控制一機械手臂取一沖泡物並倒入至一過濾裝置內;以及Step S1: Control a robotic arm through a control module to take a brewing substance and pour it into a filtering device; and

步驟S3: 經由該控制模組控制一流體於一第一預設時間依據一第一預設流動速率以一第一軌跡之方式通過該過濾裝置內之該沖泡物以形成一沖泡液落入一杯體。Step S3: Control a fluid through the control module to pass the brewing substance in the filter device in a first trajectory for a first preset time according to a first preset flow rate to form a brewing liquid drop Into a cup of body.

接著,請參閱第二圖,其係為本發明之第一實施例之俯視示意圖,如圖所示,本實施方式之該沖泡物係以咖啡粉進行說明,當進行沖泡咖啡之流程時,該控制模組10將發出訊號控制該機械手臂2取該沖泡物324,並倒入至該過濾裝置36內,其中該沖泡物324係填裝於一第一容器322內,該機械手臂2能夠應用前端之一夾持裝置26夾取該第一容器322,並將該第一容器322內之該沖泡物324倒入該過濾裝置36內。Next, please refer to the second figure, which is a schematic top view of the first embodiment of the present invention. As shown in the figure, the brewing substance of this embodiment is illustrated with coffee powder. When the coffee brewing process is performed , The control module 10 will send a signal to control the robotic arm 2 to take the brewed substance 324 and pour it into the filter device 36, wherein the brewed substance 324 is filled in a first container 322, and the machine The arm 2 can use a clamping device 26 at the front end to clamp the first container 322 and pour the brewed substance 324 in the first container 322 into the filter device 36.

接續上述,該控制模組10再控制該流體42於該第一預設時間T1 依據該第一預設流動速率S1 以該第一軌跡L1 之方式通過該過濾裝置36內之該沖泡物324以形成一沖泡液362至一杯體62,而本實施方式係以該流體儲存於一沖泡壺內進行說明,該控制模組10係控制該機械手臂2取該沖泡壺46,藉由該沖泡壺46對該過濾裝置內36之該沖泡物324進行沖泡,該機械手臂2取該沖泡壺46後,並移動至該過濾裝置36上方,且該沖泡壺46之一出水口462係相對於該過濾裝置36,該過濾裝置36係為上大下小之漏斗形狀,該沖泡壺46之該出水口462可以設置於該沖泡壺46之底部或一側。The above connection, the control module 10 further controls the fluid 42 to the first predetermined time T 1 according to the first predetermined flow rate of the red S L 1 to the first embodiment of a track 36 by means of the filter The foam 324 forms a brewing liquid 362 to the cup 62, and this embodiment is described with the fluid being stored in a brewing pot. The control module 10 controls the mechanical arm 2 to take the brewing pot 46. , By using the brewing pot 46 to brew the brewing substance 324 in the filtering device 36, the robot arm 2 takes the brewing pot 46 and moves to the top of the filtering device 36, and the brewing pot A water outlet 462 of 46 is opposite to the filter device 36. The filter device 36 is in the shape of a funnel with a large upper and a smaller one. The water outlet 462 of the brewing pot 46 can be set at the bottom of the brewing pot 46 or a side.

本實施方式係將該出水口設置於一側進行說明,該控制模組10控制該機械手臂2取該沖泡壺46後,並持續以一傾斜角度R傾斜該沖泡壺46,使該沖泡壺46內之該流體42於該第一預設時間T1 依據該第一預設流動速率S1 以該第一軌跡L1 之方式通過該過濾裝置36內,且該傾斜角度R係以通過該沖泡壺46之一中心線C與一水平線L成該傾斜角度R,該第一軌跡L1 係該沖泡壺46之該出水口462相對於該過濾裝置36所移動之軌跡,且該第一軌跡L1 可為圓形軌跡或非圓形軌跡,更進一步說明本實施方式係以下表1進行說明於相同水量之該流體42之該沖泡壺46內之一第一預設時間T1 與該第一預設流動速率S1 以及該傾斜角R之關係,該第一預設時間T1 係為該流體流入該過濾裝置36之時間,該第一預設流動速率S1 係為該流體42流入該過濾裝置36之速率。In this embodiment, the water outlet is set on one side for description. After the control module 10 controls the robotic arm 2 to take the brewing pot 46, it continues to tilt the brewing pot 46 at an inclination angle R to make the brewing pot 46 The fluid 42 in the bubble pot 46 passes through the filter device 36 in the first trajectory L 1 at the first preset time T 1 according to the first preset flow rate S 1 , and the inclination angle R is The inclination angle R is formed by a center line C of the brewing pot 46 and a horizontal line L, the first trajectory L 1 is the trajectory of the movement of the water outlet 462 of the brewing pot 46 relative to the filter device 36, and The first trajectory L 1 can be a circular trajectory or a non-circular trajectory. It is further explained that the present embodiment is described in Table 1 below in a first preset time in the brewing pot 46 of the fluid 42 with the same amount of water. The relationship between T 1 and the first predetermined flow rate S 1 and the inclination angle R. The first predetermined time T 1 is the time for the fluid to flow into the filter device 36, and the first predetermined flow rate S 1 is Is the flow rate of the fluid 42 into the filter device 36.

例如:該第一預設流動速率S1 介於5至30毫升/秒(ml/s),該第一預設時間T1 則介於2至10秒,且該機械手臂2取該沖泡壺46,並將該沖泡壺46傾斜之該傾斜角度R係介於51至65度之間,其中該沖泡壺46之該傾斜角度R係依據該沖泡壺內之該流體42之重量決定,該沖泡壺46內之該流體42之重量越重,則該傾斜角度越大,反之則越小。 傾斜角度R 水量(ml) 第一預設時間T1 (s) 第一預設流動速率S1 (m/s) 65 0 0 0 60 50 25 2 55 50 10.4 5.3 53 50 9 5.56 51 50 8 6.25 表1For example: the first preset flow rate S 1 is between 5 and 30 milliliters per second (ml/s), the first preset time T 1 is between 2 and 10 seconds, and the robotic arm 2 takes the brewing Pot 46, the inclination angle R at which the brewing pot 46 is inclined is between 51 and 65 degrees, wherein the inclination angle R of the brewing pot 46 is based on the weight of the fluid 42 in the brewing pot It is determined that the heavier the weight of the fluid 42 in the brewing pot 46, the greater the inclination angle, and vice versa. Tilt angle R Water volume (ml) The first preset time T 1 (s) The first preset flow rate S 1 (m/s) 65 0 0 0 60 50 25 2 55 50 10.4 5.3 53 50 9 5.56 51 50 8 6.25 Table 1

接著,請繼續參閱第三圖,其係為本發明之第一實施例之步驟流程圖,如圖所式,於步驟S3後,更進一步包含步驟S5:移動該杯體;當該流體42流經該過濾裝置36後,其會與該過濾裝置36之該沖泡物362混合,而形成該沖泡液362,接著該沖泡液362會流入或滴入該杯體62內,而該控制模組10能夠控制該機械手臂2抓取裝有該沖泡液362之該杯體62進行移動,或該杯體62能夠放置於一移動件348上,當該沖泡液362流入或滴入該杯體62後,該控制模組10能夠控制該移動件348移動,使該杯體62於該移動件348上一起移動。Then, please continue to refer to the third figure, which is a flowchart of the steps of the first embodiment of the present invention. As shown in the figure, after step S3, it further includes step S5: moving the cup; when the fluid 42 flows After passing through the filtering device 36, it will mix with the brewing substance 362 of the filtering device 36 to form the brewing liquid 362, and then the brewing liquid 362 will flow or drip into the cup 62, and the control The module 10 can control the robot arm 2 to grab the cup 62 containing the brewing liquid 362 and move it, or the cup 62 can be placed on a moving part 348, when the brewing liquid 362 flows into or drips into After the cup 62, the control module 10 can control the moving part 348 to move, so that the cup 62 moves on the moving part 348 together.

如此,本發明藉由上述之步驟讓該流體能夠均勻地流經該過濾裝置,使沖泡出之一沖泡液如同手工沖泡一樣美味,且沖泡壺倒入過濾裝置上之位置、水流溫度以及水流之速度,使得每一杯之手沖咖啡之風味均相同,不會造成落差,如此,進而減少人員的疲累,並維持手沖咖啡的品質。In this way, the present invention allows the fluid to flow evenly through the filter device through the above-mentioned steps, so that a brewing liquid is as delicious as manual brewing, and the brewing pot is poured into the filter device where the water flows. The temperature and the speed of the water flow make the flavor of each cup of hand brewed coffee are the same without causing a gap, thus reducing staff fatigue and maintaining the quality of hand brewed coffee.

接著,請繼續參閱第四圖,其係為本發明之第一實施例之步驟流程圖,如圖所式,於步驟S5後,更進一步包含步驟S6-S7,步驟S6: 經由該控制模組控制該機械手臂取該過濾裝置至一回收槽上方,並翻轉該過濾裝置;步驟S7:控制該機械手臂將該過濾裝置移動至一清洗裝置前,該清洗裝置流出一清洗流體至該過濾裝置,且該機械手臂取該過濾裝置於該清洗裝置前以一第二軌跡方式移動,其中該清洗裝置係以一第一感測器進行感測;於本實施方式中,當該機械手臂2取該沖泡壺46將該流體42倒入該過濾裝置36後,其會將該沖泡壺46再放回原來之位置,也可將該沖泡壺放置於一加熱裝置44上進行加熱,接著該控制模組10控制該機械手臂2取該過濾裝置36至該回收槽7上方,並翻轉該過濾裝置36,其中該機械手臂2係將該過濾裝置翻轉180度,使該過濾裝置36內之該沖泡物324以及與該沖泡物324接觸之該濾紙64能夠落下,並落至該回收槽7內。Then, please continue to refer to the fourth figure, which is the step flow chart of the first embodiment of the present invention, as shown in the figure, after step S5, further includes steps S6-S7, step S6: through the control module Control the robotic arm to take the filtering device to the top of a recovery tank and turn the filtering device; Step S7: Control the robotic arm to move the filtering device to a cleaning device, the cleaning device flows out a cleaning fluid to the filtering device, And the robotic arm takes the filter device and moves in a second track before the cleaning device, wherein the cleaning device is sensed by a first sensor; in this embodiment, when the robotic arm 2 takes the After the brewing pot 46 pours the fluid 42 into the filtering device 36, it will put the brewing pot 46 back to its original position, or place the brewing pot on a heating device 44 for heating, and then The control module 10 controls the robot arm 2 to take the filter device 36 to the top of the recovery tank 7 and turn the filter device 36, wherein the robot arm 2 turns the filter device by 180 degrees to make the filter device 36 The brewed substance 324 and the filter paper 64 in contact with the brewed substance 324 can fall and fall into the recovery tank 7.

接續上述,該機械手臂2再將該過濾裝置36翻轉180度翻回正面,並且移動至該清洗裝置5前,該清洗裝置5能夠藉由該控制模組10來控制其流出該清洗流體524,或者於本實施方式係以該清洗裝置5上設置並電性連接該第一感測器54進行物體的感測,當該第一感測器54感測到物體進入其感測範圍後,其會發出訊號藉以控制該清洗裝置5之該清洗流體524之流出,當該機械手臂2取該過濾裝置至該清洗裝置5前,該第一感測器54感測到該過濾裝置36時,其會使該清洗裝置5流出該清洗流體524,而該機械手臂2則會取該過濾裝置36以該第二軌跡L2 之方式進行移動,例如取該過濾裝置36於該清洗裝置前以圓形之軌跡繞圈移動,使該清洗流體524能夠充分地沖洗該過濾裝置36。Following the above, the robotic arm 2 then turns the filter device 36 180 degrees back to the front, and moves to the front of the cleaning device 5. The cleaning device 5 can be controlled by the control module 10 to flow out of the cleaning fluid 524, Or in this embodiment, the cleaning device 5 is provided on the cleaning device 5 and is electrically connected to the first sensor 54 for sensing objects. When the first sensor 54 senses that the object enters its sensing range, it A signal is issued to control the outflow of the cleaning fluid 524 of the cleaning device 5. When the robot arm 2 takes the filter device to the front of the cleaning device 5 and the first sensor 54 senses the filter device 36, it the cleaning apparatus 5 will flow out of the wash fluid 524, and the robot 2 will take the filter means 36 in this second embodiment 2 of the locus L moves, for example, taking the filter device 36 before the cleaning apparatus in a circular The trajectory moves in a circle, so that the cleaning fluid 524 can sufficiently flush the filter device 36.

接著,請繼續參閱第五圖,其係為本發明之第一實施例之步驟流程圖,其更進一步包含一步驟S9: 經由該控制模組控制該機械手臂取該過濾裝置至一消耗品放置架下,使一濾紙落至該過濾裝置上;該步驟S9能夠於該步驟S7後進行或者於步驟S1前進行,該控制模組係控制該機械手臂2取該過濾裝置至一消耗品放置架6下,使該濾紙64落至該過濾裝置36上。Next, please continue to refer to Figure 5, which is a flowchart of the steps of the first embodiment of the present invention, which further includes a step S9: controlling the robotic arm through the control module to take the filter device to a consumable placement Under the shelf, make a filter paper fall on the filter device; the step S9 can be performed after the step S7 or before the step S1, the control module controls the robotic arm 2 to take the filter device to a consumables placing rack 6 times to drop the filter paper 64 onto the filter device 36.

其中,該消耗品放置6架上連通一氣體輸出裝置66能夠連接該控制模組10,當該機械手臂2取該過濾裝置36至該消耗品放置架下6時,該控制模組10控制該氣體輸出裝置66對該消耗品放置架6內之至少一濾紙64噴出氣體,使該濾紙64落下至該過濾裝置36上,此外,控制該氣體輸出裝置66之方法中,能夠於該消耗品放置架6上設置一第二感測器68,當該第二感測器68偵測到移動物體進入其感測範圍後,其會發出訊號給該氣體輸出裝置66,使其對該濾紙64噴出氣體,使該濾紙64落入該過濾裝置36上,接著該控制模組10再控制該機械手臂10將該過濾裝置放回進行沖泡之位置。Wherein, a gas output device 66 connected to the consumable storage rack 6 can be connected to the control module 10. When the robot arm 2 takes the filter device 36 to the consumable storage rack 6, the control module 10 controls the The gas output device 66 sprays gas to at least one filter paper 64 in the consumables placing rack 6, so that the filter paper 64 falls on the filter device 36. In addition, in the method of controlling the gas output device 66, the consumables can be placed A second sensor 68 is provided on the frame 6. When the second sensor 68 detects that a moving object enters its sensing range, it will send a signal to the gas output device 66 to make it spray the filter paper 64 The air causes the filter paper 64 to fall on the filter device 36, and then the control module 10 controls the robot arm 10 to return the filter device to the brewing position.

接著,請參閱第六圖,其係為本發明之第二實施例之俯視示意圖,第七圖,其係為本發明之第二實施例之前視示意圖,如圖所示,本發明係為一種機械手臂自動沖泡之結構1,其包含一控制模組10、一機械手臂2、一沖泡裝置3以及一流體供應裝置4。Next, please refer to the sixth figure, which is a schematic top view of the second embodiment of the present invention, and the seventh figure, which is a schematic front view of the second embodiment of the present invention. As shown in the figure, the present invention is a kind of The structure 1 for automatic brewing by a robotic arm includes a control module 10, a robotic arm 2, a brewing device 3, and a fluid supply device 4.

該機械手臂2係設置於一平台G上,該沖泡裝置3係設置於該平台G上並電性連接該控制模組10,且該沖泡裝置3內包含一供應裝置32、一固定座34以及一過濾裝置36,該供應裝置32係設置於該平台G上,且其一側放置一第一容器322,該供應裝置32內係包含一沖泡物324,該沖泡物324係為咖啡粉或磨碎之咖啡豆,該供應裝置32內具有感應器,當該供應裝置32內之感應器感應到該第一容器322放置於其下方時,該供應裝置32之感應器將會發出訊號給該供應裝置32,使該供應裝置32供應定量之該沖泡物324至該第一容器322,該固定座34係設置於該平台G上,並位於該供應裝置32之一側,且該固定座34係電性連接該控制模組10,該過濾裝置36係放置於該固定座34一側,其中該過濾裝置36係一側放置於該固定座34之一側,使該過濾裝置36過濾之位置能夠露出,該流體供應裝置4係設置於該平台G上並電性連接該控制模組10。The mechanical arm 2 is set on a platform G, the brewing device 3 is set on the platform G and electrically connected to the control module 10, and the brewing device 3 includes a supply device 32 and a fixing seat 34 and a filtering device 36. The supply device 32 is arranged on the platform G, and a first container 322 is placed on one side of the supply device 32. The supply device 32 contains a brewing substance 324, and the brewing substance 324 is Coffee powder or ground coffee beans, the supply device 32 has a sensor, when the sensor in the supply device 32 senses that the first container 322 is placed below it, the sensor of the supply device 32 will emit A signal is given to the supply device 32 so that the supply device 32 supplies a quantitative amount of the brewed substance 324 to the first container 322, the fixing seat 34 is arranged on the platform G and is located on one side of the supply device 32, and The fixing base 34 is electrically connected to the control module 10, the filtering device 36 is placed on one side of the fixing base 34, and one side of the filtering device 36 is placed on one side of the fixing base 34, so that the filtering device 36 The filtering position can be exposed. The fluid supply device 4 is arranged on the platform G and electrically connected to the control module 10.

當進行沖泡物沖泡時,該控制模組10將控制該機械手臂2取該供應裝置32之該第一容器322,並將該第一容器322移動之該過濾裝置36上,接著該機械手臂2翻轉該第一容器322,使該第一容器322內之該沖泡物324能夠落入該過濾裝置36內,接著該機械手臂2再將該第一容器322放回至該供應裝置32一側,該供應裝置32內之感應器感測到物體進入其感測範圍後,其會通知該供應裝置32輸出定量之該沖泡物324,而該沖泡物324剛好會落入該第一容器322內。When brewing the brewed substance, the control module 10 will control the robotic arm 2 to take the first container 322 of the supply device 32, and move the first container 322 onto the filter device 36, and then the machine The arm 2 turns over the first container 322 so that the brew 324 in the first container 322 can fall into the filter device 36, and then the robotic arm 2 puts the first container 322 back to the supply device 32 On one side, after the sensor in the supply device 32 detects that the object enters its sensing range, it will notify the supply device 32 to output a quantitative amount of the brewed substance 324, and the brewed substance 324 will just fall into the first A container 322.

接續上述,該控制模組10會控制該流體供應裝置4對該過濾裝置36輸出一流體42,使該流體42流經至該過濾裝置36內,更進一步說明,該控制模組10能夠準確地控制該流體42於一第一預設時間T1 內依據一第一預設流動速率S1 以一第一軌跡L1 之方式通過該過濾裝置36,當該流體42流經該過濾裝置36與該過濾裝置36內之該沖泡物324混合後,其會產生一沖泡液362,該沖泡液362會滴落或落入至一杯體62內,且該杯體62係相對放置於該過濾裝置36之下。Following the above, the control module 10 will control the fluid supply device 4 to output a fluid 42 to the filter device 36 so that the fluid 42 flows into the filter device 36. Furthermore, the control module 10 can accurately controlling the fluid 42 within a first predetermined time T according to a predetermined flow rate of a first S L 1 to a first embodiment of a track through the filter means 36, when the fluid 42 flows through the filter means 36 After the brewing substance 324 in the filtering device 36 is mixed, it will produce a brewing liquid 362, the brewing liquid 362 will drip or fall into the cup 62, and the cup 62 is placed opposite to the Below the filtering device 36.

於本實施方式中,該流體供應裝置4更進一步設置一加熱裝置44以及一沖泡壺46,該加熱裝置44係設置於該平台G上,該沖泡壺46係放置於該加熱裝置44上,且該加熱裝置44係電性連接該控制模組10,該控制模組10能夠控制該加熱裝置44對該沖泡壺46之加熱溫度。In this embodiment, the fluid supply device 4 is further provided with a heating device 44 and a brewing pot 46, the heating device 44 is arranged on the platform G, and the brewing pot 46 is placed on the heating device 44 And the heating device 44 is electrically connected to the control module 10, and the control module 10 can control the heating temperature of the brewing pot 46 by the heating device 44.

再者,該固定座34之側壁上更進一步設置一第一滑軌342以及一第二滑軌344,該第一滑軌342係設置於該固定座34之側壁上,該第二滑軌344係設置於與該第一滑軌342同一側之該固定座34之側壁上,且該第一滑軌342與該第二滑軌344係相對設置,該第二滑軌344係設置於該第一滑軌342之下,且該第一滑軌342上更設置一固定環346,該固定環346係用來放置該過濾裝置36,於該第二滑軌344上係設置一移動件348,因為該固定座34係電性連接該控制模組10,該控制模組10能夠進一步控制該固定環346以及該移動件348分別於該第一滑軌342以及該第二滑軌344上移動,當該過濾裝置36進行沖泡之過程中,該移動件348上係放置該杯體62,當該流體42流經該過濾裝置36完畢後,該移動件348將朝該第二滑軌344一側移動。Furthermore, a first sliding rail 342 and a second sliding rail 344 are further provided on the side wall of the fixing base 34, the first sliding rail 342 is disposed on the side wall of the fixing base 34, and the second sliding rail 344 Is arranged on the side wall of the fixing seat 34 on the same side as the first sliding rail 342, and the first sliding rail 342 is arranged opposite to the second sliding rail 344, and the second sliding rail 344 is arranged on the Below a slide rail 342, and the first slide rail 342 is further provided with a fixed ring 346, the fixed ring 346 is used to place the filter device 36, and a moving member 348 is provided on the second slide rail 344, Because the fixing base 34 is electrically connected to the control module 10, the control module 10 can further control the fixed ring 346 and the moving part 348 to move on the first slide rail 342 and the second slide rail 344, respectively. When the filter device 36 is in the brewing process, the cup 62 is placed on the moving part 348. After the fluid 42 has passed through the filter device 36, the moving part 348 will face the second slide rail 344. Move sideways.

此外,於該機械手臂自動沖泡之結構1中,更進一步設置一清洗裝置5,該清洗裝置5係設置於該平台G上,並位於該流體供應裝置4之一側,且該清洗裝置5包含一流體輸出裝置52以及一第一感測器54,該第一感測器54係設置於該流體輸出裝置52上,且電性連接該流體輸出裝置52,該流體輸出裝置52一端設置一出水孔522,該第一感測器54依據感測訊號控制該流體輸出裝置52由該出水孔522輸出一清洗流體524。In addition, in the automatic brewing structure 1 of the robot arm, a cleaning device 5 is further provided. The cleaning device 5 is arranged on the platform G and located on one side of the fluid supply device 4, and the cleaning device 5 It includes a fluid output device 52 and a first sensor 54. The first sensor 54 is disposed on the fluid output device 52 and is electrically connected to the fluid output device 52. One end of the fluid output device 52 is provided with a The water outlet 522, the first sensor 54 controls the fluid output device 52 according to the sensing signal to output a cleaning fluid 524 from the water outlet 522.

再者,本實施方式更進一步設置一消耗品放置架6,該消耗品放置架6係設置於該平台G上,該消耗品放置架6上分別放置至少一杯體62以及至少一濾紙64,該控制模組10能夠控制該機械手臂2取該杯體62或該濾紙64至該移動件348上或該過濾裝置36上。Furthermore, this embodiment is further provided with a consumables placing rack 6 which is set on the platform G, and at least a cup 62 and at least one filter paper 64 are respectively placed on the consumables placing rack 6 The control module 10 can control the robotic arm 2 to take the cup 62 or the filter paper 64 onto the moving part 348 or the filter device 36.

又,為了更方便將該杯體62以及該濾紙64放入,其能夠於該消耗品放置架6上設置一氣體輸出裝置66,該氣體輸出裝置66係連通該消耗品放置架6,且該消耗品放置架6上更設置一第二感測器68,該第二感測器68更電性連接該消耗品放置架6,該第二感測器68係感測物體靠近時,而發出訊號給該氣體輸出裝置66,使該氣體輸出裝置66對該濾紙64或該杯體68噴出氣體,讓該杯體62或該濾紙64掉落,以及更進一步設置一回收槽7,其係設置於該平台G上並位於該沖泡裝置3之一側,該回收槽7係用來回收該濾紙64以及沖泡過後之該沖泡物324。In addition, in order to more conveniently place the cup 62 and the filter paper 64, a gas output device 66 can be installed on the consumables placing rack 6, and the gas output device 66 is connected to the consumables placing rack 6, and The consumables placing frame 6 is further provided with a second sensor 68, the second sensor 68 is further electrically connected to the consumables placing frame 6, the second sensor 68 is to sense when an object approaches, and emit A signal is given to the gas output device 66 so that the gas output device 66 sprays gas to the filter paper 64 or the cup 68, so that the cup 62 or the filter paper 64 is dropped, and a recovery tank 7 is further provided, which is provided On the platform G and located on one side of the brewing device 3, the recovery tank 7 is used to recover the filter paper 64 and the brewed substance 324 after brewing.

接著請再參閱第八圖,其係為本發明之第二實施例之機械手臂示意圖,本實施方式之該機械手臂2之結構係包含:一轉動基座21,其係樞接於該平台G上,且該轉動基座21係連接一第一驅動裝置8,其係帶動該轉動基座21旋轉,其中該第一驅動裝置8係設置於該轉動基座21與該平台G之樞接處,且該控制模組10係電性連接該第一驅動裝置8,一第一桿體22,其一端係樞接於該轉動基座21上。Next, please refer to the eighth figure, which is a schematic diagram of the robotic arm of the second embodiment of the present invention. The structure of the robotic arm 2 of this embodiment includes: a rotating base 21 pivotally connected to the platform G , And the rotating base 21 is connected to a first driving device 8 which drives the rotating base 21 to rotate, wherein the first driving device 8 is arranged at the pivotal joint between the rotating base 21 and the platform G And the control module 10 is electrically connected to the first driving device 8 and a first rod 22, one end of which is pivotally connected to the rotating base 21.

接續上述,於該第一桿體22係連接一第二驅動裝置81,使該第一桿體22相對於該轉動基座21做往復運動或往復搖擺運動,也就是說,該第一桿體22係以該轉動基座21與其樞接處為圓心做往復運動,且該第二驅動裝置81係電性連接該控制模組10,一第二桿體23一端係樞接於該第一桿體22之另一端,且該第二桿體23連接一第三驅動裝置82,該第三驅動裝置82更電性連接該控制模組10,使該第二桿體23相對於該第一桿體22做往復運動,也就是說,該第二桿體23係以該第一桿體22與其樞接處為圓心做往復運動,一第三桿體24一端係樞接該第二桿體23之另一端。Following the above, a second driving device 81 is connected to the first rod 22 to make the first rod 22 reciprocate or reciprocate relative to the rotating base 21, that is, the first rod 22 22 is to reciprocate with the rotating base 21 and its pivotal joint as the center of the circle, and the second driving device 81 is electrically connected to the control module 10, and one end of a second rod body 23 is pivotally connected to the first rod The other end of the body 22, and the second rod body 23 is connected to a third driving device 82, and the third driving device 82 is further electrically connected to the control module 10 so that the second rod body 23 is relative to the first rod The body 22 reciprocates, that is, the second rod body 23 reciprocates with the first rod body 22 and its pivoted position as the center of the circle, and one end of a third rod body 24 is pivotally connected to the second rod body 23 The other end.

接續上述,該第三桿體24連接該第四驅動裝置83,使該第三桿體24相對於該第二桿體23旋轉,也就是說,該第四驅動裝置83啟動會帶動該第三桿體24以其一端樞接於該第二桿體23一端為圓心進行旋轉,且該第四驅動裝置83係電性連接該控制模組10,一樞接件25之二側係樞接該第三桿體24之另一端,且該樞接件25內連接一第五驅動裝置84,使該樞接件25相對於該第三桿體24做往復運動,以及一夾持裝置26,其一側係樞接於該樞接件25一端,且於該夾持裝置26內連接一第六驅動裝置85,使該夾持裝置26相對於該樞接件14旋轉,且該夾持裝置26相對於該樞接件25之另一側上設置二夾持件262,該二夾持件262連接一第七驅動裝置86,使該二夾持件262相對於該第七驅動裝置86做往復運動。Continuing the above, the third rod 24 is connected to the fourth driving device 83, so that the third rod 24 rotates relative to the second rod 23, that is, the activation of the fourth driving device 83 will drive the third The rod body 24 rotates with one end pivotally connected to the second rod body 23 as the center of the circle, and the fourth driving device 83 is electrically connected to the control module 10, and the two sides of a pivoting member 25 are pivotally connected to the The other end of the third rod body 24, and a fifth driving device 84 is connected in the pivot member 25, so that the pivot member 25 reciprocates relative to the third rod body 24, and a clamping device 26, which One side is pivotally connected to one end of the pivot member 25, and a sixth driving device 85 is connected in the clamping device 26, so that the clamping device 26 rotates relative to the pivot member 14, and the clamping device 26 Two clamping members 262 are provided on the other side of the pivotal member 25, and the two clamping members 262 are connected to a seventh driving device 86, so that the two clamping members 262 reciprocate relative to the seventh driving device 86 movement.

因此,本發明之該機械手臂2為了能夠流暢地進行沖泡,而具有多個桿體以及多個驅動裝置,該些桿體相互樞接處再連接驅動裝置即可使該桿體做旋轉或往復運動,而使該機械手臂能夠更靈活地運用,使沖泡出之一沖泡液如同手工沖泡一樣美味,且沖泡壺倒入過濾裝置上之位置、水流溫度以及水流之速度,使得每一杯之手沖咖啡之風味均相同,不會造成落差。Therefore, in order to be able to brew smoothly, the robot arm 2 of the present invention has a plurality of rods and a plurality of driving devices. The rods are pivotally connected to each other and then connected to the driving device to make the rod rotate or The reciprocating motion makes the robot arm more flexible to use, making a brewing liquid as delicious as manual brewing, and the position where the brewing pot is poured into the filter device, the water flow temperature and the water flow speed make Each cup of hand brewed coffee has the same flavor and will not cause a gap.

綜上所述,本發明之機械手臂自動沖泡之方法及結構,其利用一控制模組控制一沖泡模組以及一機械手臂,並控制一第一流體於一第一預設時間內以一第一預設流動速率將一流體以一第一軌跡均勻流入流經一過濾裝置內,讓該流體能夠均勻地流經該過濾裝置,使沖泡出之一沖泡液如同手工沖泡一樣美味,且沖泡壺倒入過濾裝置上之位置、水流溫度以及水流之速度,使得每一杯之手沖咖啡之風味均相同,不會造成落差,如此,進而減少人員的疲累,並維持手沖咖啡的品質。In summary, the automatic brewing method and structure of the robot arm of the present invention uses a control module to control a brewing module and a robot arm, and controls a first fluid to be used for a first preset time A first preset flow rate uniformly flows a fluid into a filter device with a first trajectory, so that the fluid can flow evenly through the filter device, so that brewing a brewing liquid is like manual brewing It is delicious, and the position of the brewing pot on the filter device, the temperature of the water flow and the speed of the water flow make the flavor of each cup of hand brewed coffee the same without causing a drop, thus reducing the fatigue of the staff and maintaining the hand brewing The quality of coffee.

惟以上所述者,僅為本發明之較佳實施例而已,並非用來限定本發明實施之範圍,舉凡依本發明申請專利範圍所述之形狀、構造、特徵及精神所為之均等變化與修飾,均應包括於本發明之申請專利範圍內。However, the above are only the preferred embodiments of the present invention, and are not used to limit the scope of implementation of the present invention. For example, the shapes, structures, features and spirits described in the scope of the patent application of the present invention are equally changed and modified. , Should be included in the scope of patent application of the present invention.

S1-S9:步驟 1:機械手臂自動沖泡之結構 10:控制模組 2:機械手臂 21:轉動基座 22:第一桿體 23:第二桿體 24:第三桿體 25:樞接件 26:夾持裝置 3:沖泡裝置 32:供應裝置 322:第一容器 324:沖泡物 34:固定座 342:第一滑軌 344:第二滑軌 346:固定環 348:移動件 36:過濾裝置 362:沖泡液 4:流體供應裝置 42:流體 44:加熱裝置 46:沖泡壺 5:清洗裝置 52:流體輸出裝置 522:出水孔 524:清洗流體 54:第一感測器 6:消耗品放置架 62:杯體 64:濾紙 66:氣體輸出裝置 68:第二感測器 7:回收槽 8:第一驅動裝置 81:第二驅動裝置 82:第三驅動裝置 83:第四驅動裝置 84:第五驅動裝置 85:第六驅動裝置 86:第七驅動裝置 G:平台 T1:第一預設時間 S1:第一預設流動速率 L1:第一軌跡S1-S9: Step 1: The structure of automatic brewing of the robot arm 10: Control module 2: Robot arm 21: Rotating base 22: First lever body 23: Second lever body 24: Third lever body 25: Pivot Item 26: Clamping device 3: Brewing device 32: Supply device 322: First container 324: Brewing substance 34: Fixed seat 342: First slide 344: Second slide 346: Fixed ring 348: Moving part 36 : Filter device 362: brewing liquid 4: fluid supply device 42: fluid 44: heating device 46: brewing pot 5: cleaning device 52: fluid output device 522: water outlet 524: cleaning fluid 54: first sensor 6 : Consumables rack 62: Cup body 64: Filter paper 66: Gas output device 68: Second sensor 7: Recovery tank 8: First drive device 81: Second drive device 82: Third drive device 83: Fourth Driving device 84: fifth driving device 85: sixth driving device 86: seventh driving device G: platform T 1 : first preset time S 1 : first preset flow rate L 1 : first trajectory

第一圖:其係為本發明之第一實施例之步驟流程示意圖; 第二圖:其係為本發明之第一實施例之俯視示意圖; 第三圖:其係為本發明之第一實施例之步驟流程示意圖; 第四圖:其係為本發明之第一實施例之步驟流程示意圖; 第五圖:其係為本發明之第一實施例之步驟流程示意圖; 第六圖:其係為本發明之一較佳實施例之俯視示意圖; 第七圖:其係為本發明之一較佳實施例之前視示意圖;以及 第八圖:其係為本發明之一較佳實施例之機械手臂示意圖。Figure 1: It is a schematic diagram of the step flow of the first embodiment of the present invention; Figure 2: It is a schematic top view of the first embodiment of the present invention; Figure 3: It is a schematic diagram of the step flow of the first embodiment of the present invention; Figure 4: It is a schematic diagram of the step flow of the first embodiment of the present invention; Figure 5: It is a schematic diagram of the step flow of the first embodiment of the present invention; Figure 6: It is a schematic top view of a preferred embodiment of the present invention; Figure 7: It is a schematic front view of a preferred embodiment of the present invention; and Figure 8: It is a schematic diagram of a mechanical arm of a preferred embodiment of the present invention.

S1-S3:步驟 S1-S3: steps

Claims (10)

一種機械手臂自動沖泡之方法,其步驟包含: 經由一控制模組控制一機械手臂取一沖泡物並倒入至一過濾裝置內;以及 經由該控制模組控制一流體於一第一預設時間依據一第一預設流動速率以一第一軌跡之方式通過該過濾裝置內之該沖泡物以形成一沖泡液流至一杯體。A method for automatic brewing by a mechanical arm, the steps include: Control a robotic arm via a control module to take a brewed substance and pour it into a filtering device; and Through the control module, a fluid is controlled to pass the brewing substance in the filter device in a first trajectory for a first preset time according to a first preset flow rate to form a brewing liquid to flow into a cup . 如申請專利範圍第1項所述之機械手臂自動沖泡之方法,其中該控置模組係控制該機械手臂取一沖泡壺,並持續以一傾斜角度傾斜該沖泡壺,使該沖泡壺內之該流體於該第一預設時間依據該第一預設流動速率以該第一軌跡之方式通過該過濾裝置內。For example, the automatic brewing method of a robot arm described in the scope of patent application, wherein the control module controls the robot arm to take a brewing pot, and continuously tilt the brewing pot at an inclination angle to make the brewing pot The fluid in the bubble pot passes through the filtering device in the first trajectory according to the first preset flow rate at the first preset time. 如申請專利範圍第1項所述之機械手臂自動沖泡之方法,其中該第一軌跡係圓形軌跡或非圓形軌跡。According to the method for automatic brewing of a robot arm as described in the first item of the patent application, the first track is a circular track or a non-circular track. 如申請專利範圍第1項所述之機械手臂自動沖泡之方法,其中經由該控制模組控制一流體於一第一預設時間依據一第一預設流動速率以一第一軌跡之方式通過該過濾裝置內之該沖泡物以形成一沖泡液落入一杯體之步驟後,更進一步包含步驟: 移動該杯體; 經由該控制模組控制該機械手臂取該過濾裝置至一回收槽上方,並翻轉該過濾裝置;以及 控制該機械手臂將該過濾裝置移動至一清洗裝置前,該清洗裝置流出一清洗流體至該過濾裝置,且該機械手臂取該過濾裝置於該清洗裝置前以一第二軌跡方式移動,其中該清洗裝置係以一第一感測器進行感測。The method for automatic brewing by a robotic arm as described in the scope of patent application, wherein a fluid is controlled by the control module to pass in a first trajectory at a first preset time according to a first preset flow rate After the step in which the brewing substance in the filtering device forms a brewing liquid and falls into a cup, it further comprises the steps: Move the cup body; Controlling the mechanical arm through the control module to take the filter device above a recovery tank and turn the filter device over; and Control the robotic arm to move the filtering device to a cleaning device, the cleaning device flows out a cleaning fluid to the filtering device, and the robotic arm takes the filtering device and moves in a second track before the cleaning device, wherein the The cleaning device is sensed by a first sensor. 如申請專利範圍第1項所述之機械手臂自動沖泡之方法,更進一步包含步驟: 經由該控制模組控制該機械手臂取該過濾裝置至一消耗品放置架下,使一濾紙落至該過濾裝置上。The automatic brewing method described in the first item of the scope of patent application further includes the following steps: Through the control module, the robot arm is controlled to take the filter device under a consumables placing rack, so that a filter paper falls on the filter device. 一種機械手臂自動沖泡之結構,其包含: 一控制模組,其係設置於一平台上; 一機械手臂,其係設置於該平台上並電性連接該控制模組; 一沖泡裝置,其係設置於該平台上,並電性連接該控制模組,且該沖泡裝置包含:以及 一供應裝置,其係設置於該平台上,且一側放置一第一容器; 一固定座,其係設置於該平台上,並位於該供應裝置之一側;以及 一過濾裝置,其係放置於該固定座一側; 一流體供應裝置,其係設置於該平台上並電性連接該控制模組。A structure for automatic brewing by a mechanical arm, which includes: A control module, which is set on a platform; A mechanical arm, which is set on the platform and electrically connected to the control module; A brewing device, which is set on the platform and electrically connected to the control module, and the brewing device includes: and A supply device, which is arranged on the platform and a first container is placed on one side; A fixing seat, which is arranged on the platform and located on one side of the supply device; and A filter device, which is placed on one side of the fixed seat; A fluid supply device is arranged on the platform and electrically connected to the control module. 如申請專利範圍第6項所述之機械手臂自動沖泡之結構,該流體供應裝置內更進一步設置一加熱裝置以及一沖泡壺,該加熱裝置係設置於該平台上,該沖泡壺係放置於該加熱裝置上;該供應裝置內進一步包含一沖泡物。For example, the automatic brewing structure of the mechanical arm described in the scope of patent application, the fluid supply device is further provided with a heating device and a brewing pot, the heating device is arranged on the platform, and the brewing pot is Placed on the heating device; the supply device further contains a brewing substance. 如申請專利範圍第6項所述之機械手臂自動沖泡之結構,該固定座之側壁上更進一步設置一第一滑軌、一第二滑軌以及一固定環,該固定環一側係設置於該第一滑軌上,且該第一滑軌係相對於該第二滑軌,使該過濾裝置放置於該固定環上,該固定座更進一步設置一移動件,該移動件係設置於該第二滑軌上。For example, in the structure of automatic brewing of the robot arm described in item 6 of the scope of patent application, a first slide rail, a second slide rail and a fixed ring are further arranged on the side wall of the fixed seat, and one side of the fixed ring is arranged On the first slide rail, and the first slide rail is relative to the second slide rail, so that the filter device is placed on the fixed ring, the fixed seat is further provided with a moving part, the moving part is arranged on The second slide rail. 如申請專利範圍第6項所述之機械手臂自動沖泡之結構,其中該機械手臂包含: 一轉動基座,其係樞接於該平台上,且該轉動基座連接一第一驅動裝置,其係帶動該轉動基座旋轉; 一第一桿體,其一端係樞接該轉動基座,且於該第一桿體連接一第二驅動裝置,使該第一桿體相對於該轉動基座轉動; 一第二桿體,其一端係樞接該第一桿體之另一端,且該第二桿體連接一第三驅動裝置,使該第二桿體相對於該第一桿體做往復運動; 一第三桿體,其一端係樞接該第二桿體之另一端,且該第三桿體連接一第四驅動裝置,使該第三桿體相對於該第二桿體旋轉; 一樞接件,其二側係樞接該第三桿體之另一端,且該樞接件內連接一第五驅動裝置,使該樞接件相對於該第三桿體做往復運動;以及 一夾持裝置,其一側係樞接該樞接件一端,且於該夾持裝置內連接一第六驅動裝置,使該夾持裝置相對於該樞接件旋轉,且該夾持裝置相對於該樞接件之另一側上設置二夾持件,該二夾持件連接一第七驅動裝置,使該二夾持件相對於該第七驅動裝置做往復運動。The automatic brewing structure of a robotic arm as described in item 6 of the scope of patent application, wherein the robotic arm includes: A rotating base, which is pivotally connected to the platform, and the rotating base is connected with a first driving device, which drives the rotating base to rotate; A first rod body, one end of which is pivotally connected to the rotating base, and a second driving device is connected to the first rod body to rotate the first rod body relative to the rotating base; A second rod body, one end of which is pivotally connected to the other end of the first rod body, and the second rod body is connected with a third driving device to make the second rod body reciprocate relative to the first rod body; A third rod body, one end of which is pivotally connected to the other end of the second rod body, and the third rod body is connected with a fourth driving device to rotate the third rod body relative to the second rod body; A pivotal member whose two sides are pivotally connected to the other end of the third rod body, and a fifth driving device is connected in the pivotal member, so that the pivotal member reciprocates relative to the third rod body; and A clamping device, one side of which is pivotally connected to one end of the pivotal member, and a sixth driving device is connected in the clamping device, so that the clamping device rotates relative to the pivotal member, and the clamping device is relatively Two clamping members are arranged on the other side of the pivoting member, and the two clamping members are connected with a seventh driving device, so that the two clamping members reciprocate relative to the seventh driving device. 如申請專利範圍第6項所述之機械手臂自動沖泡之結構,更進一步設置一清洗裝置、一消耗品放置架以及一氣體輸出裝置;該清洗裝置係設置於該平台上並位於該流體供應裝置之一側,且該清洗裝置包含一流體輸出裝置以及一第一感測器,該第一感測器係設置於該流體輸出裝置上,並電性連接該流體輸出裝置,該流體輸出裝置一端設置一出水孔,該第一感測器依據感測訊號控制該流體輸出裝置由該出水孔流出一清洗流體;該消耗品放置架係設置於該平台上,且該消耗品放置架上放置至少一濾紙以及至少一杯體,該氣體輸出裝置係連通該消耗品放置架,且該氣體輸出裝置電性連接該控制模組,其中當該機械手臂移動至該消耗品放置架下方時,該氣體輸出裝置對該濾紙或該杯體噴出氣體,使該濾紙或該杯體掉落;該消耗品放置架上更進一步設置一第二感測器,其係設置於,並電性連接該氣體輸出裝置,該第二感測器感測該機械手臂靠近,而發送訊號給該氣體輸出裝置,使該氣體輸出裝置對該濾紙或該杯體噴出氣體,讓該濾紙或該杯體掉落;一回收槽進一步設置該平台上並位於該沖泡裝置之一側。For example, the automatic brewing structure of the robotic arm described in the scope of the patent application is further provided with a cleaning device, a consumable storage rack and a gas output device; the cleaning device is installed on the platform and located on the fluid supply One side of the device, and the cleaning device includes a fluid output device and a first sensor. The first sensor is arranged on the fluid output device and is electrically connected to the fluid output device. The fluid output device One end is provided with a water outlet, and the first sensor controls the fluid output device to flow a cleaning fluid from the water outlet according to the sensing signal; the consumable shelf is arranged on the platform, and the consumable shelf is placed At least one filter paper and at least one cup body, the gas output device is connected to the consumables placing rack, and the gas output device is electrically connected to the control module, wherein when the robotic arm moves below the consumables placing rack, the gas The output device sprays gas to the filter paper or the cup body to make the filter paper or the cup body fall; the consumables placing rack is further provided with a second sensor, which is arranged on and electrically connected to the gas output Device, the second sensor senses the approach of the robotic arm, and sends a signal to the gas output device, so that the gas output device sprays gas to the filter paper or the cup body, causing the filter paper or the cup body to fall; The recovery tank is further arranged on the platform and located on one side of the brewing device.
TW108106956A 2019-03-03 2019-03-03 Method and structure of automatic brewing by mechanical arm TWI727272B (en)

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CN205386080U (en) * 2016-03-08 2016-07-20 王泽都 Automated manufacturing device of beverage is sold promptly to system promptly
CN105768884B (en) * 2016-03-28 2018-05-08 北京古点科技有限公司 A kind of coffee brewing automatic realizing system and method
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