Brewing device and control method thereof, intelligent food preparation system, controller and computer storage medium

Abstract

The present invention discloses a brewing device and a control method thereof, an intelligent catering preparation system, a controller and a computer storage medium. The brewing device comprises: a mechanical arm, the mechanical arm comprises a mechanical arm body and an actuator, the mechanical arm body is connected to the actuator and is suitable for driving the actuator to move, the actuator is suitable for grabbing beverage capsules and providing pressurized water for the beverage capsules; a water supply device, the water supply device has a water inlet end and a water outlet end, the water inlet end of the water supply device is connected to a water source, and the water outlet end of the water supply device is connected to the actuator. The brewing device according to the present invention can realize grabbing and brewing beverage capsules, and the brewing device has high efficiency and high integration.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment, and in particular to a brewing device and a control method thereof, an intelligent food preparation system, a controller and a computer storage medium. Background Art

[0002] In the related art, the brewing of beverage capsules is generally performed by grabbing the capsules with the end gripper of the robot arm, placing the capsules into the capsule receiving part, and then grabbing the capsule receiving part with the capsules and placing it into the capsule beverage machine to start making beverages. After making the beverages, the end gripper of the robot arm takes out the capsule receiving part, pours out the empty capsule shell, and then places the empty capsule receiving part on a tooling at a fixed position, waiting for the next capsule to be loaded. This results in cumbersome actions for brewing beverage capsules and low efficiency. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a brewing device for beverage capsules, the brewing device can realize grabbing and discarding beverage capsules, and an actuator for brewing beverage capsules is arranged on the brewing device, and the brewing device has high efficiency and high integration.

[0004] The present invention also provides an intelligent food preparation system having the brewing device.

[0005] The invention also provides a control method of the brewing device.

[0006] The invention also provides a controller of the brewing device.

[0007] The invention also provides a computer storage medium.

[0008] The brewing device for beverage capsules according to the present invention comprises: a mechanical arm, the mechanical arm comprising a mechanical arm body and an actuator, the mechanical arm body is connected to the actuator and is suitable for driving the actuator to move, the actuator is suitable for grabbing the beverage capsule and providing pressurized water for the beverage capsule; a water supply device, the water supply device having a water inlet end and a water outlet end, the water inlet end of the water supply device is connected to a water source, and the water outlet end of the water supply device is connected to the actuator.

[0009] According to the brewing device for beverage capsules of the present invention, the robotic arm drives the actuator to grab the beverage capsule, and the actuator can inject water into the beverage capsule, so that the beverage capsule is brewed in the actuator. The brewing device has high integration, few parts, and small operating space, which greatly improves the brewing efficiency of the brewing device.

[0010] According to one embodiment of the present invention, the actuator comprises: an actuator body, and a capsule accommodating portion and a brewing head arranged in the actuator body, wherein a accommodating space for accommodating the beverage capsule is arranged in the capsule accommodating portion, and the brewing head is suitable for providing pressurized water to the beverage capsule in the accommodating space.

[0011] According to an embodiment of the present invention, the actuator body has a beverage processing space, the capsule accommodating portion is mounted on the actuator body, and the capsule accommodating portion can selectively extend out of the beverage processing space to grab the beverage capsule and accommodate the beverage capsule.

[0012] According to an embodiment of the present invention, the capsule accommodating portion is slidably disposed on the actuator body, a slide rail is disposed on the capsule accommodating portion, and a slide groove cooperating with the slide rail is disposed on the actuator body.

[0013] According to an embodiment of the present invention, the brewing head comprises: a piercing needle, which is movably disposed in the beverage processing space to pierce the beverage capsule.

[0014] According to one embodiment of the present invention, the water supply device is constructed as a quick-plug connector, which includes: a male connector and a female connector, the male connector and the female connector can be selectively matched, and one of the male connector and the female connector serves as a water inlet end of the water supply device connected to a water source, and the other of the male connector and the female connector serves as a water outlet end of the water supply device connected to the actuator.

[0015] According to one embodiment of the present invention, the water supply device is constructed as a water supply pipeline arranged on the robotic arm body, one end of the water supply pipeline is connected to a water source as a water inlet end of the water supply device, and the other end of the water supply pipe is connected to the actuator as a water outlet end of the water supply device.

[0016] According to one embodiment of the present invention, it further comprises: a pressing mechanism suitable for pressing the male end of the connector and the female end of the connector.

[0017] According to one embodiment of the present invention, the clamping mechanism includes: a base, a main slide groove is arranged on the base, and the main slide groove includes: a vertical section and an inclined section arranged at the top of the vertical section and extending obliquely upward; a pressure rod, the pressure rod is constructed in an L shape and includes: a mating section and a pressing section connected to the mating section, the free end of the mating section can slide along the vertical section and / or the inclined section, and the fixed end of the mating section is connected to the pressing section and can slide along the vertical section and / or the inclined section.

[0018] According to an embodiment of the present invention, the base includes: a first limiting plate and a second limiting plate that are spaced apart, the pressure rod is disposed between the first limiting plate and the second limiting plate, and the first limiting plate is provided with the main sliding groove.

[0019] The following briefly describes the intelligent food preparation system according to the present invention.

[0020] The intelligent food preparation system according to the present invention includes the brewing device for beverage capsules described in the above embodiment. Since the intelligent food preparation system according to the present invention includes the brewing device for beverage capsules in the above embodiment, the beverage production efficiency of the intelligent food preparation system is high, the space occupied is small, and the cost is low.

[0021] According to one embodiment of the present invention, the intelligent food preparation system further comprises a beverage capsule storage device, on which a capsule slide for storing beverage capsules and a limiting member for retaining the beverage capsules in the capsule slide are provided.

[0022] The present invention also provides a control method for the brewing device of the brewing device.

[0023] The control method of the brewing device includes at least the following steps: S1: controlling the mechanical arm to drive the actuator to move to the beverage capsule position, and controlling the actuator to grab the beverage capsule; S2: controlling the mechanical arm to drive the actuator to move to the brewing position, and controlling the actuator to inject water into the beverage capsule to complete the brewing of the beverage capsule. The above method can quickly realize the brewing of the beverage capsule, greatly improve the brewing efficiency of the beverage capsule, reduce the waiting time of the user, and improve the user experience.

[0024] The present invention also proposes a controller for a brewing device, wherein the brewing device is the brewing device of the above embodiment, and the controller includes at least a memory, the memory is used to store a computer program, and the controller also includes at least one processor, which is used to execute the computer program stored in the memory to implement the control method of the brewing device in the above embodiment.

[0025] The present invention further provides a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed, the brewing device control method in the above embodiment is implemented.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 is a schematic diagram of the overall structure of a smart catering preparation system according to an embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of a robotic arm entering a beverage processing space in a capsule accommodating portion according to an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of a robotic arm extending out of a beverage processing space in a capsule receiving portion according to an embodiment of the present invention;

[0031] Figure 4 is a structural schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0032] Figure 5 is a structural schematic diagram of the other side of the clamping mechanism according to an embodiment of the present invention;

[0033] Figure 6 is a flow chart of a control method for a brewing device according to an embodiment of the present invention.

[0034] Reference numerals:

[0035] Brewing device 1,

[0036] Actuator 11, actuator body 11a, capsule accommodating portion 111, brewing head, beverage processing space 1121,

[0037] Robotic arm 12, robot body 121

[0038] Clamping mechanism 13

[0039] Base 131 First limit plate 132 Main slide 132a Vertical section 132b Inclined section 132c Second limit plate 133 Auxiliary slide 133a

[0040] The first follower roller 1341a of the pressure rod 134 cooperates with the first follower roller 1341a of the pressure rod 134 to press down the second follower roller 1342a of the pressure rod 1342.

[0041] The driving member 135 drives the connecting rod 136 and the intermediate connecting rod 137;

[0042] Connector male end 101, connector female end,

[0043] Beverage capsule storage device 2, intelligent food preparation system 3, beverage capsule 4. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] Reference below Figure 1-Figure 6 A brewing device 1 for a beverage capsule 4 according to an embodiment of the present invention is described.

[0046] The brewing device 1 for beverage capsule 4 according to the present invention comprises a mechanical arm 12 and a water supply device, wherein the mechanical arm 12 comprises a mechanical arm body 121 and an actuator 11, wherein the mechanical arm body 121 is connected to the actuator 11 and is suitable for driving the actuator 11 to move, and the actuator 11 is suitable for grabbing the beverage capsule 4 and providing pressurized water for the beverage capsule 4 to brew the beverage capsule 4; the water supply device comprises a water inlet end and a water outlet end, wherein the water inlet end of the water supply device is connected to a water source, and the water outlet end of the water supply device is connected to the actuator.

[0047] In the related art, the brewing of beverage capsules is generally performed by grabbing the capsules with the end gripper of the robot arm, placing the capsules into the capsule receiving part, and then grabbing the capsule receiving part with the capsules and placing it into the capsule beverage machine to start making beverages. After making the beverages, the end gripper of the robot arm takes out the capsule receiving part, pours out the empty capsule shell, and then places the empty capsule receiving part on a tooling at a fixed position, waiting for the next capsule to be loaded. This results in cumbersome actions for brewing beverage capsules and low efficiency.

[0048] According to the brewing device 1 for beverage capsules 4 of the present invention, the robot arm 12 drives the actuator 11 to grab the beverage capsule 4. After the beverage capsule 4 is grabbed, the actuator 11 can inject water into the beverage capsule 4, so that the beverage capsule 4 is brewed in the actuator 11. The brewing device 1 has a high degree of integration, fewer parts, and a small operating space, which greatly improves the brewing efficiency of the brewing device 1.

[0049] According to one embodiment of the present invention, the actuator 11 includes an actuator body 11a, a capsule accommodating portion 111 and a brewing head arranged in the actuator body 11a, the capsule accommodating portion 111 is provided with a accommodating space for accommodating the beverage capsule 4, the brewing head is suitable for providing pressurized water for the beverage capsule in the accommodating module, and injecting water into the accommodating space to complete the brewing of the beverage capsule 4, and the robot arm body 121 is connected to the actuator 11 and is suitable for driving the actuator 11 to move.

[0050] According to the brewing device 1 for beverage capsule 4 of the present invention, an actuator 11 is provided, and the actuator 11 includes a brewing head and a capsule accommodating portion 111. The capsule accommodating portion 111 is provided with an accommodating space for accommodating beverage capsule 4. The brewing head is suitable for injecting water into the beverage capsule 4 in the accommodating space, so that the beverage capsule 4 is brewed in the actuator 11. The actuator 11 is provided on the mechanical arm body 121, and the mechanical arm body 121 can drive the actuator 11 to move. In the process of the mechanical arm body 121 driving the actuator 11 to move, the structure of the actuator 11 itself can be used to grab the beverage capsule 4, so that the beverage capsule 4 enters the capsule accommodating portion 111. After the mechanical arm body 121 drives the actuator 11 to complete the grabbing work of the beverage capsule 4, water is injected into the actuator 11, so as to achieve the brewing of the beverage capsule 4. After the brewing of the beverage capsule 4 is completed, the remaining shell of the beverage capsule 4 is discarded.

[0051] According to an embodiment of the present invention, a beverage processing space 1121 is provided in the actuator body 11a, and the capsule accommodating portion 111 is mounted on the actuator body 11a. The capsule accommodating portion 111 can selectively extend out of the beverage processing space to grab and accommodate a beverage capsule.

[0052] The capsule accommodating portion 111 is movably disposed on the actuator body 11a to enter or extend out of the beverage processing space 1121. When the brewing device 1 needs to enter the brewing program, the capsule accommodating portion 111 extends out of the beverage processing space 1121, so that the accommodating space in the capsule accommodating portion 111 is opened, and the mechanical arm body 121 drives the actuator 11 to change the position of the actuator 11 so that the beverage capsule 4 is accommodated in the capsule accommodating space to complete the grabbing of the beverage capsule 4. After the grabbing of the beverage capsule 4 is completed, the capsule accommodating portion 111 enters the beverage processing space 1121, and the brewing head injects water into the beverage capsule 4 to complete the brewing process of the beverage capsule 4.

[0053] According to one embodiment of the present invention, the capsule accommodating portion 111 is slidably disposed on the actuator body 11a, a slide rail is disposed on the capsule accommodating portion 111, and a slide groove cooperating with the slide rail is disposed on the actuator body 11a. The slide rail cooperates with the slide groove to achieve relative movement between the capsule accommodating portion 111 and the actuator body 11a, so that the capsule accommodating portion 111 can enter or extend out of the beverage processing space 1121, thereby ensuring stable movement of the capsule accommodating portion 111.

[0054] According to one embodiment of the present invention, the brewing head includes a puncturing needle, which is movably arranged in the beverage processing space 1121 to puncture the beverage capsule 4. The beverage capsule 4 is generally provided with beverage powder for brewing. The beverage capsule 4 is generally constructed as a sealed structure. During the brewing process, the outer shell of the beverage capsule 4 is punctured by the puncturing needle to be suitable for injecting water into the beverage capsule 4, so as to achieve brewing of the beverage in the beverage capsule 4.

[0055] According to one embodiment of the present invention, the water supply device is constructed as a quick-plug connector, which includes a male connector 101 and a female connector. The male connector 101 and the female connector can be selectively matched and one of the male connector 101 and the female connector serves as a water inlet end of the water supply device connected to a water source, and the other of the male connector 101 and the female connector serves as a water outlet end of the water supply device connected to an actuator, which can specifically be connected to a puncture needle.

[0056] There is no pipeline on the robot arm 12. Instead, after the actuator 11 moves to the preset position, i.e., the brewing position, the water source is connected to the puncture needle, thereby eliminating the water supply pipe. A male connector end 101 connected to the puncture needle may be provided on the actuator 11, and the female connector end is connected to the water source. After the actuator 11 completes the grasping action, the robot arm 12 drives the actuator 11 to move to the preset position, and the male connector end 101 is connected to the female connector end. At this time, the water supply device is connected to the puncture needle, and water can be supplied to the puncture needle. After the puncture needle punctures the beverage capsule 4, the brewing process of the beverage capsule 4 is completed.

[0057] By using the joint male end 101 and the joint female end in cooperation, the water supply pipeline is omitted, thereby preventing the brewing water provided by the water source from staying in the pipeline for too long, thereby reducing the cooling of the brewing water.

[0058] According to one embodiment of the present invention, the water supply device is constructed as a water supply pipeline arranged on the robot arm body 121, one end of the water supply pipeline is connected to the water source as the water inlet end of the water supply device, and the other end of the water supply pipeline is connected to the actuator as the water outlet end of the water supply device, specifically, it can be connected to the puncture needle, the water supply pipeline is arranged inside the robot arm 12 or outside the robot arm, the water supply pipeline moves with the movement of the robot arm 12, so as to avoid interference between the water supply pipe and other components, and can also keep the passage between the puncture needle and the water source reliable and stable.

[0059] According to one embodiment of the present invention, the brewing device also includes a clamping mechanism 133 suitable for clamping the male end 101 of the connector and the female end of the connector. The clamping mechanism 133 is suitable for driving the male end 101 of the connector and the female end of the connector to be clamped after the robotic arm 12 drives the actuator 11 to move to a position where the male end 101 of the connector is directly opposite to the female end of the connector, so as to complete the sealed docking between the male end 101 of the connector and the female end of the connector, thereby ensuring the sealing of the water supply device during the water supply process and avoiding liquid leakage.

[0060] Reference below Figure 4-Figure 5 The clamping mechanism 13 according to the embodiment of the present application is described.

[0061] According to the utility model, the clamping mechanism 13 includes a base 131 and a pressure rod 134. A main slide groove 132a is arranged on the base 131. The main slide groove 132a includes a vertical section 132b and an inclined section 132c arranged at the top of the vertical section 132b and extending obliquely upward. The pressure rod 134 is constructed in an L shape and includes a matching section 1341 and a pressing section 1342 connected to the matching section 1341. The free end of the matching section 1341 can slide along the vertical section 132b and / or the inclined section 132c. The fixed end of the matching section 1341 is connected to the pressing section 1342 and can slide along the vertical section 132b and / or the inclined section 132c.

[0062] According to the clamping mechanism 13 of the utility model, the flipping and pressing action of the pressing section 1342 can be realized, so as to clamp the male and female ends of the quick-connect connector. A main slide groove 132a is provided on the base 131, and the main slide groove 132a can guide the pressing rod 134. The free end of the matching section 1341 can slide in the vertical section 132b. When the free end of the matching section 1341 slides in the vertical section 132b, the pressing rod 134 can be lifted up or lowered in the vertical direction, so as to realize the pressing action or lifting action of the pressing rod 134.

[0063] When the fixed end of the matching section 1341 slides along the inclined section 132c, the fixed end can move along the track of the inclined section 132c, so that the fixed end of the matching section 1341 moves in a direction away from the vertical section 132b, and the pressing section connected to the matching section 1341 performs a flipping action. By providing the main slide 132a, the vertical section 132b and the inclined section provided at the top of the vertical section 132b and extending obliquely upward are provided in the main slide 132a, and the fixed end and the movable end that can move in the free section and the pressing section 1342 are provided on the pressing rod 134, the flipping and pressing actions of the pressing section 1342 can be achieved.

[0064] According to the clamping mechanism 13 of the utility model, through the setting of the main slide groove 132a, the movement of the pressing rod 134 is stable and reliable, the flipping and pressing action of the pressing section 1342 can be realized, and the connection between the male end and the female end of the quick-plug connector can be effectively guaranteed to be stable and reliable, thereby realizing the automated clamping process of the quick-plug connector.

[0065] According to an embodiment of the utility model, the base 131 includes a first limiting plate 132 and a second limiting plate 133 arranged at intervals, the pressure rod 134 is arranged between the first limiting plate 132 and the second limiting plate 133, the first limiting plate 132 is provided with a main slide 132a, the first limiting plate 132 and the second limiting plate 133 are arranged at intervals to define a space suitable for the movement of the pressure rod 134, to ensure that the movement of the pressure rod 134 will not interfere with the limiting plates, thereby improving the reliability of the clamping mechanism 13. The main slide 132a is only provided on the first limiting plate 132, so that the number of processed parts of the clamping mechanism 13 can be reduced while ensuring the stability of the movement trajectory of the pressure rod 134.

[0066] According to an embodiment of the utility model, the free end of the matching section 1341 can slide along the vertical section 132b, and the fixed end of the matching section 1341 can slide along the vertical section 132b and the inclined section 132c. Two endpoints can be provided on the matching section 1341, and the two endpoints on the matching section 1341 can be spaced apart in the extension direction of the matching section 1341. The end of the matching section away from the pressing section 1342 is the fixed end, and the end close to the pressing section 1342 is the free end.

[0067] During the downward pressing process of the pressure rod 134, the fixed end and the free end follow different trajectories. When the pressure rod 134 moves in the up and down directions, both the fixed end and the free end move in the vertical section 132b, and the free end is arranged on the lower side of the fixed end. When the fixed end moves to the upper dead point of the vertical section 132b, it enters the inclined section 132c, and the free end still slides in the vertical section 132b. At this time, the pressure rod 134 enters a flipping process, and the free end still moves upward along the vertical section 132b, while the fixed end moves in the inclined section 132c. At this time, the downward pressing section 1342 of the pressure rod 134 is flipped until the fixed end moves to the upper dead point of the inclined section 132c, and the free end moves to the upper dead point of the vertical section 132b, so as to complete the flipping action of the pressure rod 134.

[0068] According to one embodiment of the utility model, the free end of the mating section 1341 is provided with a first follower roller 1341a slidably arranged on the vertical section 132b, and the fixed end of the mating section 1341 is provided with a second follower roller 1342a slidably arranged on the vertical section 132b and the inclined section 132c.

[0069] The first follower roller 1341a and the second follower roller 1342a can slide in the main slide groove 132a. The sizes of the first follower roller 1341a and the second follower roller 1342a are the same as the width of the main slide groove 132a, thereby limiting the moving trajectory of the fixed end and the free end. The first follower roller 1341a and the second follower roller 1342a can slide in the main slide groove 132a, which can effectively reduce friction and ensure the stability of the movement of the clamping mechanism.

[0070] According to an embodiment of the utility model, the second limit plate 133 is provided with an auxiliary slide groove 133a, and one of the free end and the fixed end of the matching section 1341 can slide along the auxiliary slide groove 133a, and the other of the free end and the fixed end of the matching section can slide along the main slide groove 132a. By respectively arranging the free end and the fixed end in the main slide groove 132a and the auxiliary slide groove 133a, so that the free end and the fixed end slide in two identical slide grooves, the stability of the movement of the pressure rod 134 can be improved, and the main slide groove 132a and the auxiliary slide groove 133a respectively limit the pressure rod 134 from both sides, which can reduce the impact on the base caused by the pressure rod 134 when performing an action.

[0071] According to an embodiment of the utility model, the main slide groove 132a and the auxiliary slide groove 133a have the same shape and face each other. The main slide groove 132a and the auxiliary slide groove 133a are respectively arranged on the first limit plate 132 and the second limit plate 133. The main slide groove 132a and the auxiliary slide groove 133a are arranged with the same shape structure, which can further improve the restriction of the movement track of the pressure rod 134 and improve the stability of the movement of the pressure rod 134. The main slide groove 132a and the auxiliary slide groove 133a are arranged on the first limit plate 132 and the second limit plate 133 to improve the versatility of the clamping mechanism 13, and the first limit plate 132 and the second limit plate 133 can be replaced at will.

[0072] According to one embodiment of the utility model, the auxiliary slide groove 133a extends in the vertical direction and is opposite to the vertical section 132b. The auxiliary slide groove 133a can be only provided with the vertical section 132b. The first follower roller 1341a slides in the auxiliary slide groove 133a, and the moving trajectory of the first follower roller 1341a is also only in the vertical section 132b. Setting the auxiliary slide groove 133a to have only the vertical section 132b can reduce the area of ​​the second limit plate 133 to be opened, thereby ensuring the structural strength of the second limit plate 133 and improving the processing efficiency.

[0073] According to an embodiment of the utility model, the free end of the matching section 1341 is provided with a first follower roller 1341a slidably arranged in the auxiliary slide groove 133a, and the fixed end of the matching section 1341 is provided with a second follower roller 1342a slidably arranged in the main slide groove 132a. The first follower roller 1341a and the second follower roller 1342a are respectively arranged in the auxiliary slide groove 133a and the main slide groove 132a. During the movement of the pressure rod 134 of the clamping mechanism 13, the limiting force for the matching section 1341 comes from different limiting plates, so that the impact force generated by the pressure rod 134 during the movement is dispersed to different limiting plates, so as to reduce the vibration generated by the clamping mechanism 13 and improve the reliability and accuracy of the action of the pressure rod 134.

[0074] According to one embodiment of the utility model, the clamping mechanism 13 also includes a driving member 135 and a transmission member, the transmission member includes a driving connecting rod 136 and an intermediate connecting rod 137, one end of the driving connecting rod 136 is connected to the output shaft of the driving member 135, the other end of the driving connecting rod 136 is hinged to the intermediate connecting rod 137, and the intermediate connecting rod 137 is hinged to the free end of the mating section.

[0075] The driving member 135 can be constructed as an electric motor, the output end of which can output rotation speed and torque, and the output shaft of the driving member 135 is connected to the driving connecting rod 136 to rotate the driving connecting rod 136. The intermediate connecting rod 137 is hinged to the free end of the matching section, and the intermediate connecting rod 137 connects the driving connecting rod 136 and the pressure rod 134 to form a multi-link mechanism to realize the transmission of power to the pressure rod 134 and ensure the stable movement of the pressure rod 134.

[0076] Furthermore, the brewing device 1 of the present invention further comprises a controller for controlling the components of the brewing device 1 to achieve automatic brewing of the beverage capsule.

[0077] The following briefly describes the intelligent food preparation system 3 according to the present invention.

[0078] The intelligent catering preparation system 3 according to the present invention includes the brewing device for beverage capsules described in the above embodiment. Since the intelligent catering preparation system according to the present invention includes the brewing device for beverage capsules in the above embodiment, the beverage production efficiency of the intelligent catering preparation system is high, the space occupied is small, and the cost is low.

[0079] According to one embodiment of the present invention, the intelligent catering preparation system 3 also includes a beverage capsule storage device 2, on which a capsule slide for storing beverage capsules 4 and a limiter for keeping the beverage capsules 4 in the capsule slide are provided; in the brewing device 1 for beverage capsules 4 in the above embodiment, the robotic arm 12 drives the capsule accommodating portion 111 on the actuator 11 to grab the beverage capsules 4 on the beverage capsule storage device 2.

[0080] According to the intelligent catering preparation system 3 of the present invention, the brewing device 1 can realize the functions of grabbing beverage capsules 4, brewing beverage capsules 4, and discarding beverage capsules 4. The robotic arm 12 can drive the actuator 11 to move and complete the brewing process of the beverage capsules 4 in the actuator 11, thereby improving the processing efficiency of the intelligent catering preparation system 3 and reducing the number of mechanisms on the table of the intelligent catering preparation system 3. The intelligent catering preparation system 3 has a better aesthetics and a neater processing interface.

[0081] The present invention also provides a control method for the brewing device 1 mentioned above.

[0082] like Figure 6As shown, the control method of the brewing device includes at least the following steps:

[0083] S1: controlling the robot arm to drive the actuator to move to the beverage capsule position, and controlling the actuator to grab the beverage capsule.

[0084] Specifically, the capsule accommodating portion on the actuator may be controlled to grab the beverage capsule so that the beverage capsule is located in the accommodating space in the capsule accommodating portion.

[0085] S2: controlling the robot arm to drive the actuator to move to the brewing position, and controlling the actuator to inject water into the beverage capsule to complete the brewing of the beverage capsule.

[0086] Specifically, the brewing head on the actuator may be controlled to inject water toward the beverage capsule in the accommodating space to complete the brewing of the beverage capsule.

[0087] The above method can quickly brew the beverage capsule 4, greatly improve the brewing efficiency of the beverage capsule 4, reduce the waiting time of the user, and improve the user experience.

[0088] The present invention also proposes a controller for a brewing device, wherein the brewing device is the brewing device of the above embodiment, and the controller includes at least a memory, the memory is used to store a computer program, and the controller also includes at least one processor, which is used to execute the computer program stored in the memory to implement the control method of the brewing device in the above embodiment.

[0089] The present invention further provides a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed, the control method of the brewing device in the above embodiment is implemented.

[0090] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0091] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0092] In the description of the present invention, "plurality" means two or more.

[0093] In the description of the present invention, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0094] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0096] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A brewing device for beverage capsules, characterized in that: include: A mechanical arm, the mechanical arm comprising a mechanical arm body and an actuator, the mechanical arm body is connected to the actuator and is suitable for driving the actuator to move, the actuator is suitable for grabbing a beverage capsule and providing pressurized water for the beverage capsule; wherein: the actuator comprises an actuator body, a capsule accommodating portion and a brewing head arranged in the actuator body, the actuator body has a beverage processing space, the capsule accommodating portion is mounted on the actuator body, a accommodating space for accommodating the beverage capsule is arranged in the capsule accommodating portion, the capsule accommodating portion can extend out of the beverage processing space to grab the beverage capsule and accommodate the beverage capsule, and the brewing head is suitable for providing pressurized water for the beverage capsule in the accommodating space; A water supply device, the water supply device having a water inlet and a water outlet, the water inlet of the water supply device being connected to a water source, and the water outlet of the water supply device being connected to the actuator; The robotic arm is used to drive the actuator to move to the beverage capsule position and control the actuator to grab the beverage capsule, and is also used to drive the actuator to move to the brewing position and control the actuator to inject water into the beverage capsule to complete the brewing of the beverage capsule.

2. The brewing device according to claim 1, characterized in that: The capsule accommodating portion is slidably disposed on the actuator body, a slide rail is disposed on the capsule accommodating portion, and a slide groove matched with the slide rail is disposed on the actuator body.

3. The brewing device according to claim 1, characterized in that: The brewing head comprises a puncturing needle, which is movably arranged in the beverage processing space to puncture the beverage capsule.

4. The brewing device according to any one of claims 1 to 3, characterized in that: The water supply device is constructed as a quick-plug connector, which includes: a male connector and a female connector, the male connector and the female connector can be matched, and one of the male connector and the female connector serves as the water inlet end of the water supply device connected to the water source, and the other of the male connector and the female connector serves as the water outlet end of the water supply device connected to the actuator.

5. The brewing device according to any one of claims 1 to 3, characterized in that: The water supply device is constructed as a water supply pipeline arranged on the robot arm body, one end of the water supply pipeline is connected to the water source as the water inlet end of the water supply device, and the other end of the water supply pipe is connected to the actuator as the water outlet end of the water supply device.

6. The brewing device according to claim 4, characterized in that: Also includes: A pressing mechanism suitable for pressing the male end of the connector and the female end of the connector.

7. The brewing device according to claim 6, characterized in that: The clamping mechanism comprises: A base, wherein a main slide is arranged on the base, and the main slide comprises: a vertical section and an inclined section arranged at the top of the vertical section and extending obliquely upward; The pressure rod is constructed in an L shape and includes: a mating section and a pressing section connected to the mating section, the free end of the mating section can slide along the vertical section and / or the inclined section, and the fixed end of the mating section is connected to the pressing section and can slide along the vertical section and / or the inclined section.

8. The brewing device according to claim 7, characterized in that: The base comprises: a first limiting plate and a second limiting plate which are spaced apart from each other, the pressure rod is arranged between the first limiting plate and the second limiting plate, and the first limiting plate is provided with the main sliding groove.

9. An intelligent food preparation system, characterized in that: include: A brewing device for beverage capsules according to any one of claims 1 to 8.

10. The intelligent food preparation system according to claim 9, characterized in that: Also includes: A beverage capsule storage device is provided with a capsule slideway for storing beverage capsules and a limiting member for retaining the beverage capsules in the capsule slideway.

11. A method for controlling a brewing device, wherein the brewing device is the brewing device according to any one of claims 1 to 8, characterized in that: At least the following steps are included: S1: controlling the robot arm to drive the actuator to move to the beverage capsule position, and controlling the actuator to grab the beverage capsule; S2: controlling the robot arm to drive the actuator to move to the brewing position, and controlling the actuator to inject water into the beverage capsule to complete the brewing of the beverage capsule.

12. A controller for a brewing device, the brewing device being the brewing device according to any one of claims 1 to 10, characterized in that: At least: Memory for storing computer programs; At least one processor is used to execute the computer program stored in the memory to implement the control method of the brewing device as claimed in claim 11.

13. A computer storage medium storing a computer program, characterized in that: When the computer program is executed, the method according to claim 11 is implemented.

Images