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

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

Method and structure of automatic brewing by mechanical arm

The present invention relates to a hand-made coffee using a mechanical arm so that it can maintain the flavor of hand-made coffee.

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.

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.

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.

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.

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.

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.

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

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.

In an embodiment of the present invention, it also discloses that the first track is a circular track or a non-circular track.

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.

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.

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.

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.

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

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.

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.

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.

In an embodiment of the present invention, it also discloses that the supply device includes a brewing substance.

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.

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.

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.

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.

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.

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:

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.

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:

Step S1: Control a robotic arm through a control module to take a brewing substance and pour it into a filtering device; and

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.

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.

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.

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.

For 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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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: 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

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: steps

Claims (10)

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 . 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. 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. 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. 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. 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. 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. 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. 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. 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.

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