A human-computer interactive intelligent tea-making robot based on the Internet of Things

Abstract

The present invention relates to a human-machine interactive intelligent tea-making robot based on the Internet of Things, including a robot frame consisting of four columns and a square top and a control center, the robot also includes a lateral movement device, a mechanical arm, a tea-making device, a multi-degree-of-freedom tea clip and a rotating tea table, the multi-degree-of-freedom tea clip is arranged on the lateral movement device, the lateral movement device is arranged at the lower part of the robot frame, the mechanical arm is installed on the square top, the tea-making device is fixed on the column, the rotating tea table is arranged in front and opposite to the multi-degree-of-freedom tea clip. Compared with the prior art, the present invention has the advantages of wide application range, comprehensive functions, intelligent and convenient operation, small size, and full automation.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a human-machine interactive intelligent tea-making robot based on the Internet of Things. Background Art

[0002] China is the hometown of tea and the birthplace of tea culture. Among the existing tea makers, there are electronic tea makers that use ceramic teapots to ensure the fragrance of tea, automatic tea makers that can control the tea brewing time and automatically pour tea, and multifunctional automatic tea makers that can solve the problem of different tea brewing processes for various teas. Some tea makers can also solve the tea-water ratio, water temperature control, time control and other functions, but these tea makers basically rely on specially designed tea brewing heating containers and connecting pipes to achieve functions such as boiling water, brewing tea, and serving tea, so they cannot imitate the manual tea brewing craftsmanship in terms of tea set selection and brewing technology. At the same time, the existing tea makers only complete the simple brewing of tea leaves, without considering the exquisite brewing method, and are not ornamental, nor can they fully retain the fragrance and taste of various tea leaves.

[0003] The existing automatic tea making machine cannot automatically handle the residual tea leaves after making tea, and still needs manual cleaning. In terms of control, it lacks the function of personalized setting and control using mobile clients such as mobile phones, and does not have voice wake-up and human-computer interaction functions. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a human-computer interaction intelligent tea-making robot based on the Internet of Things.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A human-machine interactive intelligent tea-making robot based on the Internet of Things, including a robot frame consisting of four columns and a square top and a control center, the robot also includes a lateral movement device, a mechanical arm, a tea-making device, a multi-degree-of-freedom tea clip and a rotating tea table, the multi-degree-of-freedom tea clip is arranged on the lateral movement device, the lateral movement device is arranged at the lower part of the robot frame, the mechanical arm is installed on the square top, the tea-making device is fixed on the column, and the rotating tea table is arranged in the front and opposite to the multi-degree-of-freedom tea clip.

[0007] The tea-making device comprises a water heating mechanism and a teapot mechanism and a fairness cup mechanism respectively arranged on adjacent columns. The teapot mechanism comprises a teapot supporting plate fixed on the left rear column and a teapot and a tea box arranged on the teapot supporting plate in front and behind. The fairness cup mechanism comprises a fairness cup supporting plate fixed on the left front column and a fairness cup placed on the fairness cup supporting plate. The teapot supporting plate is provided with a flap unit for realizing the side flipping of the teapot. The teapot is provided with a lid opening and closing unit for realizing the opening and closing of the lid.

[0008] The flap unit comprises a flap servo, a flap crank, a flap connecting rod and a teapot flap which are driven in sequence. One end of the teapot flap is connected to the surface of the teapot support plate through a rotating shaft. The flap servo is installed on the side of the teapot support plate, and the bottom of the teapot is fixed on the teapot flap.

[0009] The pot cover opening and closing unit comprises a pot cover seat sleeved on the teapot body, a pot cover steering gear fixed on the pot cover seat, and a pot cover crank and a pot cover flap which are sequentially driven by the pot cover steering gear, and the pot cover flap is connected with the pot cover.

[0010] The water heating mechanism includes an electric heating kettle, a water pump and a nozzle which are connected in sequence through a water pipe. The electric heating kettle is provided with a water temperature detector which communicates with a control center. The nozzle is installed on the upper part of the left front column. The water spraying angle is adjusted by a reversing servo and is aimed at the teapot.

[0011] The transverse movement device includes a stepper motor, a coupling, a first synchronous pulley, a shaft and a second synchronous pulley that are driven in sequence. The first synchronous pulley and the second synchronous pulley are arranged in parallel and are both covered with synchronous belts. The multi-degree-of-freedom tea clip is fixed on the two synchronous belts and the front and rear positions are adjusted as the synchronous belts rotate.

[0012] The multi-degree-of-freedom tea clip comprises a flip crossbar mechanism and a tea clip mechanism, wherein the tea clip mechanism is transmission-connected to the transverse movement device via the flip crossbar mechanism, wherein the flip crossbar mechanism comprises a flip servo motor, a flip crossbar and a slider arranged coaxially, wherein the flip servo motor and the slider are respectively fixedly connected to two synchronous belts, and the flip servo motor is limited to slide in the guide rail.

[0013] The tea clip mechanism includes a rotary servo motor arranged on a flip cross bar, a T-shaped frame transmission-connected to the rotary servo motor, a plurality of right-angle clamps arranged side by side on the cross bar of the T-shaped frame, and a fork-shaped cup holder arranged on the vertical bar of the T-shaped frame. Each right-angle clamp is rotated and fastened by a tea clip servo, and the fork-shaped cup holder is lifted by a cup holder servo motor.

[0014] The robotic arm has five degrees of freedom, including a servo motor, an axle seat, a connecting plate, a U-shaped frame and a clamp connected in sequence. The upper end of the servo motor is fixed on the square top. The clamp realizes the clamping action through a servo engine, a clamp crank and a flexible connecting rod that are driven in sequence. The inner surfaces on both sides of the clamp mouth are also provided with bumps.

[0015] The rotating tea table includes a tea table servo motor, a driving synchronous pulley and a horizontal tea table plate. There are two horizontal tea table plates, each of which has a U-shaped groove for placing tea cups. The left and right ends of the two horizontal tea table plates are connected by rounded rectangular plates respectively. A driving shaft is provided at the center of the left rounded rectangular plate. A double-ring synchronous pulley and a driving synchronous pulley are sequentially mounted on the driving shaft. Horizontal shafts are respectively arranged at both ends of the left rounded rectangular plate. The double-ring synchronous pulleys are respectively transmitted to the horizontal shaft through annular synchronous belts, and the driving synchronous pulleys are transmitted to the tea table servo motor through synchronous belts. A driven shaft is provided at the center of the right rounded rectangular plate. The driven shaft is connected to a tea table support. The tea table support is fixed on the right front column and is fixed by a fixed corner block.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. Wide range of applications: The robot imitates the manual tea-making technique, can flexibly adjust parameters and processes, and chooses different brewing methods when brewing different types of tea to meet various needs. At the same time, the tea-making process is smooth and ornamental.

[0018] 2. Preserve the aroma of tea: Use the most suitable traditional tea sets for brewing tea to better preserve the taste and aroma of tea. At the same time, tea clips, mechanical arms, tea tables and other mechanisms are not completely fixed to the tea sets. The tea sets can be removed and installed for easy storage. You can also replace tea sets of different materials within a certain size range for easy use.

[0019] 3. Comprehensive functions: The robot can realize the entire tea-making process from picking tea, brewing tea to final cleaning, basically without the need for manual assistance, with a high degree of intelligence and easy to use.

[0020] 4. Small size: The robot has a compact structure, and all devices are basically concentrated inside the body. It has a suitable size and occupies little indoor space when in use.

[0021] 5. Safe and convenient to use: The tea cups can be transported from the inside of the machine to the outside through the rotating tea table mechanism to realize the tea serving process. It is not only convenient for users to take tea, but also can isolate the clean cups from the dirty cups to avoid contamination. At the same time, it can also prevent users from direct contact with internal tea clips and other mechanisms for safety protection.

[0022] 6. Intelligent and convenient operation: Using the Internet of Things technology, the robot can be personalized and all functions can be controlled through the mobile client. At the same time, the human-computer interaction offline wake-up can also control the main functions. The networked voice interaction technology can realize the function of human-computer interaction. The robot can not only serve as a life assistant, but also has the role of promoting tea culture. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural stereogram of the present invention.

[0024] Figure 2 It is a structural diagram of the tea brewing device of the present invention.

[0025] Figure 3 It is a structural schematic diagram of the kettle lid opening and closing device of the present invention.

[0026] Figure 4 It is a three-dimensional structural diagram of the mechanical arm of the present invention.

[0027] Figure 5 It is a three-dimensional structural diagram of the multi-degree-of-freedom tea clip of the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the rotating tea table of the present invention, wherein Figure (6a) is a three-dimensional structural diagram and Figure (6b) is a top view.

[0029] Figure 7 The figure is a schematic block diagram of the circuit structure of the present invention.

[0030] Description of the markings in the figure:

[0031] 1. Frame, 2. Lower rail, 3. Stepper motor, 4. Upper rail, 5. Coupling, 6. Fixed tea table support, 7. Multi-degree-of-freedom tea clip, 8. Fixed corner block, 9. Shaft, 10. Second synchronous pulley, 11. Synchronous belt, 12. Robotic arm, 13. Tea box, 14. Pot cover, 15. Teapot, 16. Nozzle, 17. Water pipe, 18. Teapot flap, 19. Teapot support plate, 20. Fair cup, 21. Fair cup support plate, 22. Tea cup, 23. Horizontal tea table plate, 24. Water pump, 25. Reversing servo, 26. Flap connecting rod, 27. Flap crank, 28. Flap servo, 29. Pot cover flap, 30. Pot cover crank, 31. Pot cover servo, 32. Pot cover seat, 33. U Frame, 34. Servo motor, 35. Shaft seat, 36. Connecting plate, 37. Servo, 38. Clip crank, 39. Flexible connecting rod, 40. Clip, 41. Bump, 42. Wedge block, 43. Flip servo motor, 44. Flip cross bar, 45. Cup holder servo motor, 46. Tea clip servo, 47. Right-angle splint, 48. T-frame, 49. Fork-shaped cup holder, 50. Slider, 51. Rotary servo motor, 52. Active shaft, 53. Active synchronous pulley, 54. Double-ring synchronous pulley, 55. Ring synchronous belt, 56. Tea table servo motor, 57. Horizontal shaft, 58. Horizontal synchronous pulley, 59. Driven shaft, 60. Rounded rectangular plate, 61. Sink, 62. Electric heating kettle. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example

[0034] like Figure 1 As shown, the present invention provides a human-machine interactive intelligent tea-making robot based on the Internet of Things, which is mainly composed of seven parts: a robot frame, a lateral movement device, a mechanical arm 12, a tea-making device, a multi-degree-of-freedom tea clip 7, a rotating tea table, and a control center.

[0035] The robot frame is composed of a frame 1, a lower rail 2, an upper rail 4, a teapot support plate 19, a fairness cup support plate 21, a fixed corner block 8, and a water tank 61. The frame 1 is composed of four columns connected by a square top. The upper rail 4 is above the lower rail 2. Two sets of upper and lower rails are fixed in parallel on both sides of the frame 1. The gap formed in the middle is used to limit the movement range of the flip servo motor 43 in the multi-degree-of-freedom tea clip 7. The teapot support plate 19 and the fairness cup support plate 21 are respectively located on the left column of the frame. The fixed corner block 8 is fixed on the two front columns of the frame 1 to fix the tea table support 6. The water tank 61 is located between the front and rear surfaces of the bottom of the frame 1 to hold waste tea.

[0036] like Figure 5As shown, the traverse device is composed of a stepper motor 3, a coupling 5, a first synchronous pulley, a shaft 9, a second synchronous pulley 10, and a synchronous belt 11. The stepper motor 3 is fixed above the rear end of the lower guide rail 2 on one side, the output shaft is connected to the coupling 5, the coupling 5 is connected to the shaft 9, the first synchronous pulley and the second synchronous pulley 10 are respectively fixed to the two sections of the shaft 9, and the synchronous belt 11 is respectively tensioned on the first synchronous pulley and the second synchronous pulley 10 and the matching slave wheel.

[0037] like Figure 4 As shown, the mechanical arm 12 is composed of a U-shaped frame 33, a servo motor 34, a shaft seat 35, a connecting plate 36, a steering gear 37, a clamp crank 38, a flexible connecting rod 39, a clamp 40, and a protrusion 41. The four servo motors 34 and the steering gear 37 are sequentially connected through the U-shaped frame 33, the shaft seat 35, and the connecting plate 36 to form the main body of the five-degree-of-freedom mechanical arm. One side of the clamp 40 is vertically fixed to the connecting plate 36 at the end of the mechanical arm. One end of the flexible connecting rod 39 is connected to the opposite side of the clamp 40, and one end is connected to the rotating shaft of the steering gear 37 through the clamp crank 38. Four protrusions 41 are fixed on both sides of the mouth of the clamp 40 to achieve a matching connection with the wedge block 42, and the wedge block 42 is fixed to the side wall of the fairness cup 20.

[0038] like Figure 2 As shown, the tea brewing device is composed of an electric heating kettle 62, a water pump 24, a water pipe 17, a nozzle 16, a reversing steering gear 25, a teapot 15, a tea box 13, a fair cup 20, a wedge block 42, a teapot flap 18, a flap steering gear 28, a flap crank 27, a flap connecting rod 26, a pot cover 14, a pot cover seat 32, a pot cover steering gear 31, a pot cover crank 30, and a pot cover flap 29. A water temperature detector is installed on the inner wall of the electric heating kettle 62, and the heating is turned on and off by a relay. The water pipe 17 connects the electric heating kettle 62, the water pump 24, and the nozzle 16 in sequence, and the reversing steering gear 25 output shaft is fixed to the corner side of the nozzle 16. The pot cover 14 is fixed to the teapot 15 through the pot cover flap 29, the pot cover crank 30, the pot cover steering gear 31, and the pot cover seat 32 in sequence. The teapot 15 is fixed on the teapot flap 18, and the teapot flap 18 is connected to the teapot supporting plate 19 through a hinge. At the same time, the flap servo 28, the flap crank 27, the flap connecting rod 26 and the teapot flap 18 form a crank rocker mechanism.

[0039] like Figure 5As shown, the multi-degree-of-freedom tea clip 7 is composed of a flip servo motor 43, a flip crossbar 44, a slider 50, a rotating servo motor 51, a T-shaped frame 48, a tea clip steering gear 46, a right-angle clamp 47, a fork-shaped cup holder 49, and a cup holder servo motor 45. The central axes of the flip servo motor 43, the flip crossbar 44, and the slider 50 are in a straight line, and are connected in sequence to form a lateral support rod. The flip servo motor 43 and the slider 50 are respectively fixed on the synchronous belts 11 on both sides. The rotating servo motor 51 is fixed in the middle of the flip crossbar 44, and the T-shaped frame 48 is installed on the output shaft of the rotating servo motor 51. Three sets of tightening devices composed of the tea clip steering gear 46 and the right-angle clamp 47 are installed on the T-shaped frame 48. The right-angle clamp 47 is used to clamp the wall of the tea cup when in the closed position to prevent splashing. The root of the fork-shaped cup holder 49 is fixed on the output shaft of the cup holder servo motor 45. The cup holder servo motor 45 is installed behind the T-shaped frame 48 to lift the tea cup 22 upward.

[0040] like Figure 6 As shown, the rotating tea table is composed of a tea table servo motor 56, a driving synchronous pulley 53, a driving shaft 52, a tea table support 6, a double-ring synchronous pulley 54, a ring synchronous belt 55, a horizontal synchronous pulley 58, a horizontal shaft 57, a horizontal tea table plate 23, a rounded rectangular plate 60, a driven shaft 59, and a tea cup 22. The tea table servo motor 56 and the tea table support 6 are fixed to the frame 1. Figure 6 The visible circular surface of the double-ring synchronous pulley 54 in a is fixed to the tea table support 6 and cannot rotate. The driving shaft 52 is fixed to the center of the rounded rectangular plate 60, and the double-ring synchronous pulley 54 forms a planetary gear combination structure with the horizontal synchronous pulley 58 through the annular synchronous belt 55. The horizontal tea table plate 23 is fixed on the horizontal shaft 57, and the tea cup 22 is placed in the U-shaped groove of the horizontal tea table plate 23.

[0041] like Figure 7 As shown in the figure, the control center consists of a central processor, an IoT module, voice interaction hardware, and a lower computer. The central processor is used to receive, process, and send signals from various parts. The IoT module communicates with the server in real time to receive and send instructions. The voice interaction hardware consists of a four-array microphone and a speaker to receive voice and make announcements. The lower computer receives instructions from the central processor to control the operation of relays, motors, and servo motors.

[0042] The working principle of the present invention is as follows:

[0043] This robot can be controlled through the Internet of Things. When the robot control center, cloud server, and mobile terminal are matched, the user clicks the start button through the application software in the mobile terminal to pass the start command to the robot control center through the server. The control center executes the corresponding program and the robot starts.

[0044] 1. Take tea leaves: After starting, the robot arm 12 moves the clamp 40 to the tea box 13, clamps a unit amount of tea leaves downward, moves the tea leaves to the top of the teapot 15 (when the robot arm 12 takes tea leaves, the pot cover servo 31 drives the pot cover 14 to flip open), releases the tea leaves, repeats the action until a standard amount of tea leaves is clamped (the amount of tea leaves can be changed by adjusting the number of clamping times), and the robot arm 12 quickly returns to the initial position.

[0045] 2. Washing tea (brewing tea): the reversing servo 25 rotates to align the nozzle of the nozzle 16 with the position of the teapot, and the control center turns on the power relay of the water pump 24, and the hot water in the electric heating kettle 62 (the water temperature is set to the default value according to the tea type selected by the mobile application software, and the heating is completed during the initialization before startup) is pumped into the teapot 15 through the water pipe 17. The amount of water is determined by the capacity of the teapot 15 and meets the corresponding proportion of the standard amount of tea leaves. The pumping time is calculated according to the flow rate of the water pump 24. The pot lid 14 is turned over and closed, and the flap servo 28 turns the teapot 15 over through the crank rocker mechanism to guide the first brewed tea into the fairness cup 20.

[0046] 3. Take the teacup: After washing the tea, the multi-freedom tea clip 7 is driven by the transverse movement device to the horizontal tea table board 23 at the bottom of the rotating tea table (the two horizontal tea table boards 23 are set in the upper and lower positions during initialization), so that the fork-shaped cup holder 49 extends into the gap between the three teacups 22 below and the horizontal tea table board 23, and at the same time drives the tea clip servo 46 and the cup holder servo motor 45, so that the right-angle clamp 47 clamps the edge of the teacup 22, and the fork-shaped cup holder 49 holds the lower cup side of the teacup 22, and lifts the three teacups 22 to the position just off the horizontal tea table board 23, so that the cups are fixed on the T-shaped frame 48. Driven by the transverse movement device, the multi-freedom tea clip 7 moves the teacup 22 to the inside of the robot, and the rotating servo motor 51 drives the T-shaped frame 48 to rotate 180°, so that the cup 22 is placed inward, and the transverse movement device is fine-tuned to stop the cup 22 at the appropriate position.

[0047] 4. Pouring tea: The robot arm 12 moves to the justice cup 20, and slowly moves the clamp 40 to a position horizontal to the wedge block 42, and makes the protrusion 41 and the through hole on the wedge block 42 in a matching state. The steering gear 37 rotates to tighten the clamp 40, and the protrusion 41 extends into the through hole to achieve limited matching. The robot arm 12 moves to continuously pour the first brewed tea in the justice cup 20 into the three tea cups 22 on the T-shaped frame 48. After pouring the tea, the robot arm 12 puts the justice cup 20 back to its original position.

[0048] 5. Washing teacups: The lateral movement device fine-tunes the position of the multi-degree-of-freedom tea clip 7 so that the teacup 22 is located slightly behind the robot. The flip servo motor 43 slowly rotates in the direction of pouring the tea in the teacup 22, and the rotating servo motor 51 shakes back and forth at a faster frequency, so that the tea in the teacup 22 can fully wash the inner wall, and the tea hanging on the outer wall when pouring water will also fully wash the outer wall due to shaking. The poured water flows into the water tank 61, and after the cup washing is completed, the multi-degree-of-freedom tea clip 7 returns to the position before pouring the tea.

[0049] 6. Serving tea: Repeat the above-mentioned "washing tea (brewing tea)" action, but after hot water is poured in, the teapot 15 should be turned over after the brewing time is reserved according to the tea leaves, and the above-mentioned "pouring tea water" action is repeated to introduce the second brewing tea water into the teacup 22. Through the movement of the lateral movement device and the rotation servo motor 51, the teacup 22 moves back to the position where the teacup 22 just leaves the horizontal tea table 23 during the "taking teacup" action, and the right-angle clamp 47 and the fork-shaped cup holder 49 are released, and the teacup 22 is placed in the U-shaped groove of the horizontal tea table 23. The tea table servo motor 56 rotates 180°, and the planetary gear structure composed of the double-ring synchronous pulley 54, the annular synchronous belt 55, and the horizontal synchronous pulley 58 ensures that the horizontal tea table 23 can revolve horizontally around the driving shaft 52, and the positions of the upper and lower groups of teacups 22 are exchanged, and the unwashed teacup 22 moves to the bottom, and the teacup 22 that has just brewed tea moves to the top. The user can pick up the teacup to drink, and the tea brewing is completed.

[0050] 7. Refill: After brewing tea, you can select the refill function through the mobile client. The action sequence is similar to the above, but the "take tea leaves" and "wash tea" actions are not performed. When refilling, adjust the nozzle 16 toward the fair cup 20 through the reversing servo 25, and directly inject hot water. The amount of water is the same as the amount of water in the "wash tea (brew tea)" action. Then perform the "take tea cup", "pour tea water", "wash tea cup", and "serve tea" actions again, and the refill is completed.

[0051] 8. Cleaning: When the tea is colorless tea and the user needs to clean the tea leaves or finish brewing tea, the user selects the cleaning function through the mobile client, and the flap servo 28 drives the teapot 15 to flip to an appropriate inclination angle, and the pot cover servo 31 drives the pot cover 14 to flip and open, and the reversing servo 25 continuously adjusts the nozzle position of the nozzle 16 to change periodically within the range that the water flow can be injected into the teapot 15. At the same time, the water pump 24 pumps water to flush the tea residue in the teapot 15 into the fairness cup 20. The water injection amount is consistent with the water amount of the "tea washing (tea brewing)" action. The robotic arm 12 clamps the fairness cup 20 and pours water into the water tank 61. The operation is repeated 2 to 3 times, and the operation is restored after completion, and the cleaning is completed.

[0052] The robot can also be controlled through the offline wake-up function of human-computer interaction, and perform the above-mentioned tea brewing, refilling and cleaning functions through voice recognition. By connecting to the cloud database, human-computer intelligent voice interaction can be carried out to realize functions such as music playback, weather forecast, and tea culture introduction.

Claims

1. A human-machine interactive intelligent tea-making robot based on the Internet of Things, comprising a robot frame consisting of four columns and a square top and a control center, characterized in that: The robot also includes a transverse movement device, a mechanical arm (12), a tea brewing device, a multi-degree-of-freedom tea clip (7) and a rotating tea table, wherein the multi-degree-of-freedom tea clip (7) is arranged on the transverse movement device, the transverse movement device is arranged at the lower part of the robot frame, the mechanical arm (12) is installed on the square top, the tea brewing device is fixed on the column, and the rotating tea table is arranged in the front and opposite to the multi-degree-of-freedom tea clip (7); The transverse shifting device comprises a stepping motor (3), a coupling (5), a first synchronous pulley, a shaft (9) and a second synchronous pulley (10) which are sequentially driven, the first synchronous pulley and the second synchronous pulley (10) are arranged in parallel and are both sleeved with a synchronous belt (11), and the multi-degree-of-freedom tea clip (7) is fixed on the two synchronous belts (11) and rotates with the synchronous belts (11) to adjust the front and rear positions; The multi-degree-of-freedom tea clip (7) comprises a flip crossbar mechanism and a tea clip mechanism, wherein the tea clip mechanism is transmission-connected to the transverse movement device via the flip crossbar mechanism, wherein the flip crossbar mechanism comprises a flip servo motor (43), a flip crossbar (44) and a slider (50) arranged coaxially, wherein the flip servo motor (43) and the slider (50) are respectively fixedly connected to two synchronous belts (11), and the flip servo motor (43) is limited to slide in the guide rail; The tea clip mechanism comprises a rotary servo motor (51) arranged on a flip crossbar (44), a T-shaped frame (48) drivingly connected to the rotary servo motor (51), a plurality of right-angle clamps (47) arranged side by side on the crossbar of the T-shaped frame (48), and a fork-shaped cup holder (49) arranged on the vertical rod of the T-shaped frame (48), each right-angle clamp (47) is rotated and fastened by a tea clip steering gear (46), and the fork-shaped cup holder (49) is lifted by a cup holder servo motor (45); The rotary tea table comprises a tea table servo motor (56), an active synchronous pulley (53) and a horizontal tea table plate (23). The horizontal tea table plates (23) are provided with two U-shaped grooves for placing tea cups (22) respectively. The left and right ends of the two horizontal tea table plates (23) are connected by rounded rectangular plates (60) respectively. A driving shaft (52) is provided at the center of the left rounded rectangular plate. A double-ring synchronous pulley (54) and an active synchronous pulley (53) are sequentially sleeved on the driving shaft (52). Horizontal shafts (57) are respectively arranged at both ends of the rounded rectangular plate (60); the double-ring synchronous pulleys (54) are respectively driven by the horizontal shaft (57) through the annular synchronous belts (55); the active synchronous pulleys (53) are driven by the tea table servo motor (56) through the synchronous belts; a driven shaft (59) is arranged at the center of the right rounded rectangular plate; the driven shaft (59) is connected to the tea table support (6); the tea table support (6) is fixed on the right front column and is fixed by a fixed corner block (8).

2. The human-machine interactive intelligent tea-making robot based on the Internet of Things according to claim 1, characterized in that: The tea brewing device comprises a water heating mechanism and a teapot mechanism and a fairness cup mechanism respectively arranged on adjacent columns. The teapot mechanism comprises a teapot support plate (19) fixed on the left rear column and a teapot (15) and a tea box (13) arranged on the teapot support plate (19) in front and behind. The fairness cup mechanism comprises a fairness cup support plate (21) fixed on the left front column and a fairness cup (20) placed on the fairness cup support plate (21). The teapot support plate (19) is provided with a flap unit for realizing the side flipping of the teapot (15). The teapot (15) is provided with a lid opening and closing unit for realizing the opening and closing of the lid.

3. The human-machine interactive intelligent tea-making robot based on the Internet of Things according to claim 2, characterized in that: The flap unit comprises a flap servo (28), a flap crank (27), a flap connecting rod (26) and a teapot flap (18) which are driven in sequence. One end of the teapot flap (18) is connected to the surface of a teapot supporting plate (19) via a rotating shaft. The flap servo (28) is installed on the side of the teapot supporting plate (19). The bottom of the teapot (15) is fixed on the teapot flap (18).

4. The human-machine interactive intelligent tea-making robot based on the Internet of Things according to claim 2, characterized in that: The pot lid opening and closing unit comprises a pot lid seat (32) sleeved on the body of the teapot (15), a pot lid servo (31) fixed on the pot lid seat (32), and a pot lid crank (30) and a pot lid flap (29) which are sequentially driven by the pot lid servo (31), wherein the pot lid flap (29) is connected to the pot lid.

5. The human-machine interactive intelligent tea-making robot based on the Internet of Things according to claim 2, characterized in that: The water heating mechanism comprises an electric heating kettle (62), a water pump (24) and a nozzle (16) which are connected in sequence through a water pipe (17). A water temperature detector communicating with a control center is arranged in the electric heating kettle (62). The nozzle (16) is installed on the upper part of the left front column, and the water spraying angle is adjusted by a reversing steering gear (25) and is aimed at the teapot (15).

6. The human-machine interactive intelligent tea-making robot based on the Internet of Things according to claim 1, characterized in that: The mechanical arm (12) has five degrees of freedom, and comprises a servo motor (34), an axle seat (35), a connecting plate (36), a U-shaped frame (33) and a clamp (40) which are connected in sequence. The upper end of the servo motor (34) is fixed on the square top. The clamp (40) realizes the clamping action through the steering gear (37), the clamp crank (38) and the flexible connecting rod (39) which are driven in sequence. The inner surfaces of both sides of the mouth of the clamp (40) are also provided with protrusions (41).

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