A traditional hand-punching automatic tea-making machine and a control method thereof

Abstract

The application discloses an automatic tea whisking machine imitating traditional manual operation and a control method thereof, and relates to the technical field of tea whisking machines.The automatic tea whisking machine imitating traditional manual operation comprises a main body and a base, and the inner wall of the main body is slidably connected with a lifting shell, a bionic part and a rotating part.The bionic part comprises a swing assembly and a lifting assembly, and the control method of the automatic tea whisking machine imitating traditional manual operation is applied to the automatic tea whisking machine imitating traditional manual operation, and is used in cooperation with a master control unit, a driving unit, a man-machine interaction unit and a detection protection unit to realize full-automatic operation.The swing assembly is arranged to solve the problem that the existing tea whisking machine usually adopts a fixed tea whisk rotating or eccentric wheel or axial rotating grinding mode in the use process, so that there is a great difference between the whisked tea and the traditional manual operation of the tea whisk reciprocating swing mode, and the taste of the whisked tea is also greatly different from that of the traditional manual operation.

Description

Technical Field

[0001] This invention belongs to the field of matcha machine technology, and in particular relates to a traditional hand-beaten automatic matcha machine and its control method. Background Technology

[0002] The automatic matcha maker is a convenient tea-making device designed to simplify the matcha brewing process. It integrates functions such as stirring and blending, and can quickly and fully blend matcha powder with liquid. It is easy to operate and dispenses drinks quickly, meeting various needs such as daily drinking and pairing with other beverages. It allows people to easily enjoy a well-tasting matcha drink at home or in the office, combining practicality with a daily drinking experience.

[0003] However, existing matcha machines typically use a fixed whisk rotating, an eccentric wheel, or an axial rotating method for grinding. This method of grinding matcha is very different from the traditional method of hand-whipping with a whisk that swings back and forth. The taste of the resulting matcha is also quite different from that of traditionally hand-whipped matcha.

[0004] At the same time, the equipment lacks anthropomorphic complex movements and precise timing control, making it impossible to standardize and replicate the tea master's techniques, and thus failing to meet the demand of tea shops and home users for traditional taste. Summary of the Invention

[0005] The purpose of this invention is to provide a traditional hand-beating automatic matcha machine and its control method, which solves the following problems: traditional matcha machines only rotate / eccentrically move and cannot simulate the reciprocating swinging and compound whisking actions of a human hand; the matcha bowl is stationary or passively rotated, resulting in low whisking efficiency and poor uniformity; without precise electronic control timing, it is difficult to standardize and replicate the traditional tea-making process and taste.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to a traditional hand-beaten automatic matcha machine, comprising a main body and a base fixedly connected to the bottom of the main body. A lifting outer shell is slidably connected to the inner wall of the main body. The machine also includes: a bionic part installed inside the lifting outer shell; a rotating part disposed within the base; the bionic part includes a swing assembly installed inside the lifting outer shell; and a lifting assembly disposed within the main body. The swing assembly includes a first bracket fixedly connected to the inner wall of the lifting outer shell, the outer wall of the first bracket slidably connected to the main body, a first swing frame rotatably connected to the inner wall of the first bracket, and a second swing frame rotatably connected to the inner wall of the first swing frame. The bottom of the second swing frame has a tea whisk fixing interface. The top of the second component is fixedly connected to a connecting frame. A power component is installed inside the first support. The power component includes two connecting blocks installed inside the first support. A motor is installed outside each of the two connecting blocks. A rotating shaft is rotatably connected to the inner wall of each of the two connecting blocks. A transmission sleeve is fixedly connected to the outer wall of each of the two rotating shafts. A swing rod is installed inside each of the two transmission sleeves. The top of the left connecting block is fixedly connected to the first support. The bottom of the right connecting block is fixedly connected to the connecting frame. The bottom of the left motor is fixedly connected to the first support. The bottom of the right motor is fixedly connected to the connecting frame. The inner wall of the left swing rod is hinged to the swing frame one. The inner wall of the right swing rod is hinged to the swing frame two. A bamboo whisk is installed inside the whisk fixing interface. The bamboo whisk is used to whisk matcha.

[0007] Furthermore, the rotating part includes a rotating assembly installed inside the main body; and a placement assembly disposed on the base.

[0008] Furthermore, the lifting assembly includes a second bracket fixedly connected to the inner wall of the main body, a second motor is provided on one side of the second bracket, a transmission component is provided on the second motor, the transmission component includes a lifting module lead screw rotatably connected to the inner wall of the second bracket, a slider is slidably connected to the inner wall of the second bracket, the top of the slider is fixedly connected to the first bracket, the lifting module lead screw passes through the slider, and the outer wall of the lifting module lead screw is threadedly connected to the slider.

[0009] Furthermore, the rotating assembly includes a motor three fixedly connected to the inner wall of the base, a rotating shaft two rotatably connected to the inner wall of the base, a tray fixedly connected to the top of the rotating shaft two, and the output shaft of the motor three fixedly connected to the rotating shaft two via a coupling. Furthermore, the bracket can be fitted with a protective plate for stability.

[0010] Furthermore, the placement component includes a matcha bowl disposed within a tray, the bottom of which is provided with a positioning element, the matcha bowl being adapted to the tray, the positioning element including a positioning groove formed in the bottom of the matcha bowl, and a positioning block fixedly connected to the inner wall of the tray, the positioning groove being adapted to the positioning block.

[0011] A control method for a traditional hand-beaten automatic matcha machine includes the following steps: S1: System initialization. After power-on, the hardware self-test is completed, and the preset swing frequency, rotation speed, working time, and lifting stroke parameters are loaded. The display screen enters the standby interface. S2: Positioning detection, determines whether the matcha bowl is placed in place through the positioning groove and positioning block, and whether the lifting component is at the upper limit position. If the conditions are met, it enters the ready-to-start state. S3: Automatic descent, controlling motor 2 to run in the forward direction, and driving the slider and bracket to descend through the lifting module screw, so that the tea whisk fixing interface enters the matcha bowl. After reaching the preset position, motor 2 stops and locks itself. S4: Collaborative bionic whipping, synchronously starting two motors, motor one and motor three; motor one drives swing frame one and swing frame two to perform a two-degree-of-freedom reciprocating compound swing, and motor three drives the tray and matcha bowl to rotate synchronously, simulating the traditional hand-whipping matcha whisking action. S5: Real-time closed-loop regulation, real-time acquisition of motor current and load status during operation, automatic fine-tuning of speed and swing, countdown operation and real-time display of remaining time; S6: End reset. After the timer ends, stop motors 1 and 3 first. After a delay, control motor 2 to reverse and drive the swing component to move upward and reset to the initial position. Then, indicate that the production is complete. S7: Fault protection. During operation, it monitors in real time for lifting overtravel, motor stall, overcurrent, overtemperature, matcha bowl displacement, and voltage abnormality. If any abnormality occurs, the entire machine will stop immediately and an alarm will be triggered.

[0012] The present invention has the following beneficial effects: 1. By setting up the swing assembly, during use, the power component drives the swing rod to drive the swing frame one and the swing frame two to reciprocate in sequence. The swing frame two drives the bottom whisk fixing interface to swing synchronously. The transmission component of the lifting assembly drives the slider to slide under the drive of the power source. The slider is fixed to the support of the swing assembly, thereby driving the entire swing assembly to achieve the lifting action. This allows the whisking operation to better restore the traditional whisking process and the traditional taste. The operation experience is better and more intuitive. It can also help industry practitioners to better demonstrate the entire whisking process to customers, thus making it more acceptable to users and customers. 2. By setting up a rotating part, during the whipping process, the motor drives the rotating shaft to rotate the tray. The matcha bowl containing the components is matched with the tray through the positioning part at the bottom and rotates with the tray. The matcha bowl is directly placed inside the tray, which can drive the matcha bowl to rotate during the whipping process, imitating the rotation in the traditional whipping process, improving the efficiency and quality of whipping, and thus further restoring the traditional taste.

[0013] 3. It adopts dual swing motors with a 90° phase difference for coordinated drive, and the bowl rotates synchronously to accurately simulate the four-in-one compound action of hand-beating, whisking, stirring and beating. The beating trajectory is highly consistent with that of hand-beating, the tea soup is uniform, the foam is thick and delicate, and the flavor is close to that of traditional hand-beating. From initialization, positioning detection, automatic descent, biomimetic beating to reset and stop, it is fully automatic with one button and no manual intervention is required, which lowers the threshold of use and is suitable for multiple scenarios such as home, tea shop, and office. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial cross-sectional view of the bionic part of the present invention; Figure 3 This is a partial structural schematic diagram of the lifting assembly of the present invention; Figure 4 This is a schematic diagram of the overall structure of the swing frame of the present invention; Figure 5 This is a schematic diagram of the overall structure of the swing arm of the present invention; Figure 6 This is a partial structural schematic diagram of the rotating part of the present invention; Figure 7 For the present invention Figure 6 A magnified structural diagram of A in the middle; Figure 8 This is a diagram of the control system architecture of the present invention.

[0016] The attached diagram lists the components represented by each number as follows: 101. Main body; 102. Base; 103. Lifting outer shell; 2. Bionic part; 21. Swing assembly; 211. Bracket 1; 212. Swing frame 1; 213. Swing frame 2; 214. Tea whisk fixing interface; 215. Connecting frame; 216. Connecting block; 217. Motor 1; 218. Rotating shaft 1; 219. Transmission sleeve; 2110. Swing rod; 22. Lifting assembly; 221. Bracket 2; 222. Motor 2; 223. Lifting module lead screw; 224. Slider; 225. Guard plate; 3. Rotating part; 31. Rotating assembly; 311. Motor 3; 312. Rotating shaft 2; 313. Tray; 32. Placement assembly; 321. Matcha bowl; 322. Positioning groove; 323. Positioning block. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1-8 As shown, the present invention is a traditional hand-beating automatic matcha machine, including a main body 101 and a base 102 fixedly connected to the bottom of the main body 101. A lifting shell 103 is slidably connected to the inner wall of the main body 101. It also includes: a bionic part 2, which is installed inside the lifting shell 103; and a rotating part 3, which is disposed inside the base 102.

[0019] The bionic part 2 includes a swing assembly 21, which is installed inside the lifting housing 103; and a lifting assembly 22, which is disposed inside the main body 101. The swing assembly 21 includes a bracket 211 fixedly connected to the inner wall of the lifting housing 103. The outer wall of the bracket 211 is slidably connected to the main body 101. A swing frame 212 is rotatably connected to the inner wall of the bracket 211. A swing frame 213 is rotatably connected to the inner wall of the swing frame 212. A whisk fixing interface 214 is provided at the bottom of the swing frame 213. A connecting frame 215 is fixedly connected to the top of the swing frame 213. The device contains a power component. The connecting frame 215 is a U-shaped block. The power component includes two connecting blocks 216 housed within the support frame 211. A motor 217 is mounted outside each of the two connecting blocks 216. A rotating shaft 218 is rotatably connected to the inner wall of each of the two connecting blocks 216. A transmission sleeve 219 is fixedly connected to the outer wall of each of the two rotating shafts 218. A swing rod 2110 is installed inside each of the two transmission sleeves 219. The top of the left connecting block 216 is fixedly connected to the support frame 211, and the bottom of the right connecting block 216 is fixedly connected to the connecting frame 215. The bottom of the left motor 217 is fixedly connected to the support frame 211. The right... The bottom of motor 217 is fixedly connected to connecting frame 215. The inner wall of left swing rod 2110 is hinged to swing frame 212, and the inner wall of right swing rod 2110 is hinged to swing frame 213. A bamboo whisk is installed inside the whisk fixing interface 214, and the bamboo whisk is used to whisk matcha. The lifting assembly 22 includes a bracket 221 fixedly connected to the inner wall of the main body 101. Motor 222 is provided on one side of bracket 221. A transmission component is provided on motor 222. The transmission component includes a lifting module screw 223 rotatably connected to the inner wall of bracket 221. A sliding mechanism is slidably connected to the inner wall of bracket 221. Block 224, the top of slider 224 is fixedly connected to bracket 211, lifting module screw 223 passes through slider 224, bracket 211 is fitted with a guard plate 225 by bolts, rivets or integral molding, the guard plate 225 makes the swing component 21 inside bracket 211 more stable, the outer wall of lifting module screw 223 is threadedly connected to slider 224. By setting swing component 21, the whipping operation can better restore the traditional whipping process and the traditional taste, the operation experience is better and more intuitive, and it can help industry practitioners to better show the whole whipping process to customers, thus being more accepted by users and customers.

[0020] The rotating part 3 includes a rotating assembly 31, which is installed inside the main body 101; and a placement assembly 32, which is disposed on the base 102. The rotating assembly 31 includes a motor 311 fixedly connected to the inner wall of the base 102, a rotating shaft 312 rotatably connected to the inner wall of the base 102, a tray 313 fixedly connected to the top of the rotating shaft 312, and the output shaft of the motor 311 fixedly connected to the rotating shaft 312 via a coupling. The placement assembly 32 includes components disposed within the tray 313. The matcha bowl 321 has a positioning component at its bottom. The matcha bowl 321 is adapted to the tray 313. The positioning component includes a positioning groove 322 formed at the bottom of the matcha bowl 321. A positioning block 323 is fixedly connected to the inner wall of the tray 313. The positioning groove 322 is adapted to the positioning block 323. By setting a rotating part 3, the matcha bowl 321 can be rotated during the whipping process, which imitates the rotation in the traditional whipping process, improves the efficiency and quality of whipping, and further restores the traditional taste.

[0021] It should be noted that the control of motor 1 217, motor 222 and motor 311 in this application can all be achieved by using a program set in the control panel and inputting relevant parameters as needed for automated control. This control method can be implemented using existing technologies, such as PLC.

[0022] A specific application of this embodiment is as follows: When in use, matcha powder can be poured into matcha bowl 321 and water can be added as needed. Then, matcha bowl 321 can be placed on tray 313. At this time, matcha bowl 321 can be positioned on tray 313 by positioning groove 322 and positioning block 323. Then, motor 222 can be started (it can be placed on top, or placed in other positions and driven by transmission device, or it can be moved up and down by pulley), so that its output shaft drives lifting module screw 223 to rotate. When lifting module screw 223 rotates, it will drive slider 224 to move up and down. When slider 224 rises and falls, it will drive swing component 21 to rise and fall synchronously. When the whisk fixing interface 214 in the swing assembly 21 (which can be installed at the bottom of the swing frame 213 through various connection methods such as bolt fixing, snap-fit, knob, or one-sided screw tightening, and the whisk material can be bamboo, resin, silicone, etc.) descends into the matcha bowl 321, the motor 217 on the right side can be started (its drive shaft can drive the rotating shaft 218 through a coupling or belt, etc.), so that its output shaft drives the corresponding transmission sleeve 219 to rotate through the corresponding rotating shaft 218, and the corresponding transmission sleeve 219 rotates. When the corresponding swing rod 2110 rotates around the corresponding pivot 218, it will press the swing frame 213, causing it to rotate within the swing frame 212. As the swing rod 2110 rotates around the pivot 218, it will also rotate within the swing frame 213. During the process of the transmission sleeve 219 driving the swing rod 2110 to rotate half a turn around the pivot 218, the swing rod 2110 will also rotate from one side of the swing frame 213 to the other. When the swing arm 2110 rotates another half turn around the pivot 218, it will cause the swing arm 2110 to rotate in the opposite direction, and the swing frame 213 will also rotate in the opposite direction within the swing frame 212. At this time, since the swing arm 2110 and the swing frame 213 are hinged, and the transmission sleeve 219 is fitted on the swing arm 2110, the transmission sleeve 219 will have sufficient freedom to rotate to avoid dead angles. As the pivot 218 continues to rotate, the swing frame 213 will oscillate back and forth within the swing frame 212. At this time, the swing... The second frame 213 will drive the whisk fixing interface 214 to swing back and forth, whisking the matcha in the matcha bowl 321. While the second frame 213 is swinging, the motor 217 on the left can be started, which in turn drives the first frame 212 to swing back and forth within the first support 211. When the first frame 212 is swinging, it will drive the whisk fixing interface 214 to swing through the connecting frame 215, and the swing direction is perpendicular to the swing direction of the second frame 213. At this time, the whisk fixing interface 214 will swing back and forth and left and right, imitating the action of a person whisking. During the whipping process, motor 311 can be started, and its output shaft drives tray 313 to rotate through rotating shaft 312. When tray 313 rotates, it will drive matcha bowl 321 to rotate under the action of positioning groove 322 and positioning block 323, thereby further improving whipping efficiency and quality. After the tea is whipped, the two motors 217 and 311 can be turned off. Then, motor 222 can be turned on, causing it to slide upward through slider 224 and swing component 21. After that, the matcha bowl 321 can be removed and the whipped matcha can be poured out.

[0023] A control method for a traditional hand-beaten automatic matcha machine includes the following steps: S1: System initialization. After power-on, the hardware self-test is completed, and the preset swing frequency, rotation speed, working time, and lifting stroke parameters are loaded. The display screen enters the standby interface. S2: Positioning detection, determine whether the matcha bowl 321 is placed in place through the positioning groove 322 and the positioning block 323, and whether the lifting component 22 is at the upper limit position. If the conditions are met, enter the ready-to-start state. S3: Automatic descent, control motor 222 to run in the forward direction, drive slider 224 and bracket 211 to descend through lifting module screw 223, so that tea whisk fixing interface 214 enters matcha bowl 321, and motor 222 stops and locks itself after reaching the preset position; S4: Collaborative bionic whipping, synchronously starting two motors 1 217 and 3 311; the two motors 1 217 drive the swing frame 1 212 and swing frame 2 213 respectively to perform a two-degree-of-freedom reciprocating compound swing, and the motor 3 311 drives the tray 313 and the matcha bowl 321 to rotate synchronously, simulating the traditional hand-whipping action of matcha. S5: Real-time closed-loop regulation, real-time acquisition of motor current and load status during operation, automatic fine-tuning of speed and swing, countdown operation and real-time display of remaining time; S6: End reset. After the timer ends, stop two motors 1 (217) and 3 (311). After a delay, control motor 2 (222) to reverse, driving the swing component 21 to move upward and reset to the initial position, indicating that the production is complete. S7: Fault protection. During operation, it monitors in real time for lifting overtravel, motor stall, overcurrent, overtemperature, matcha bowl 321 displacement, and voltage abnormality. If any abnormality occurs, the entire machine will stop immediately and an alarm will be triggered.

[0024] The control method for a traditional hand-beaten automatic matcha machine described in this invention is applied to the aforementioned traditional hand-beaten automatic matcha machine. It works in conjunction with a main control unit, a drive unit, a human-machine interaction unit, and a detection and protection unit to achieve fully automatic operation. The specific steps are as follows: S1: System Initialization After the equipment is powered on, the main control unit completes self-tests of Flash, RAM, drive circuit, 2.4-inch TFT display screen and each motor interface, and clears fault signs; loads default operating parameters: oscillation frequency 80 times / minute, rotation speed 45r / min, working time 30s, lifting stroke 50mm; all motors are in a stopped state, and the display screen shows the standby interface.

[0025] S2: In-place detection The main control unit uses the positioning mechanism and weight sensor to determine whether the matcha bowl 321 is accurately placed in the tray 313 through the positioning groove 322 and the positioning block 323; at the same time, it detects whether the lifting component 22 is at the upper limit position; when both conditions are met, the equipment enters the ready state and is allowed to start.

[0026] S3: The tea whisk descends automatically. After the user presses the start button, the main control unit outputs a positive drive signal to control the second motor 222 to run, which drives the lifting module screw 223 to rotate, so that the slider 224 and the bracket 211 descend smoothly, thereby driving the swing component 21 and the whisk fixing interface 214 to descend; when the whisk fixing interface 214 enters the preset depth in the matcha bowl 321, the second motor 222 immediately stops and self-locks, entering the whisking preparation state.

[0027] S4: Collaborative Bionic Stimulation The main control unit synchronously outputs three PWM control signals: Two motors, 217, are started to drive swing frame 212 to swing back and forth and swing frame 213 to swing left and right respectively. The two swings are 90° out of phase, forming a two-dimensional composite bionic sweeping motion to simulate the actions of human hand pointing, brushing, stirring and hitting. Start motor 311, which drives tray 313 and matcha bowl 321 to rotate at a constant speed through shaft 2 312. The rotation direction and the swinging motion are coordinated to improve the efficiency of matcha dissolution and foaming. The swinging and rotating movements are strictly synchronized in time, starting, running, and stopping simultaneously.

[0028] S5: Real-time closed-loop regulation During the firing process, the main control unit collects the operating current of motor 1 (217), motor 2 (222), and motor 3 (311) in real time through the ADC circuit to determine the load, stall, or overload status; it automatically fine-tunes the PWM duty cycle according to load changes to stabilize the oscillation frequency, amplitude, and rotation speed; the countdown is displayed on the screen in real time, and the firing action continues until the remaining time reaches zero.

[0029] S6: Stop and Reset When the timing ends, the main control unit first cuts off the drive signals of the two motors 217 and 311, stopping the swing and rotation; after a delay of 0.5 seconds, it controls motor 222 to run in reverse, driving the swing component 21 to move upward and reset; after reaching the upper limit, motor 222 stops and locks itself, the display screen indicates that the production is complete, and the system returns to standby mode.

[0030] S7: Fault Protection Control Throughout the entire operation, the detection and protection unit monitors in real time: Overtravel: Abnormal upper and lower limit switch signals; Motor malfunctions: stalled rotor, overcurrent, overtemperature; Bowl abnormality: Matcha bowl 321 has shifted and fallen off; Power supply abnormality: undervoltage, overvoltage.

[0031] If any abnormality occurs, the main control unit will immediately cut off the power to all motors, stop the entire machine, and output a fault code on the display screen. The user can reset and restart the machine after troubleshooting.

[0032] Detailed implementation of the control system: The control system of this invention consists of five parts: a main control unit, a drive unit, a human-machine interaction unit, a power supply unit, and a detection and protection unit. These units work together to achieve precise control and safe operation of biomimetic movements. The specific structure and working method are as follows: 1. Main control unit It adopts an ARM Cortex-M3 core microcontroller with a maximum operating frequency of 216MHz and built-in 1024KB Flash and 96KB RAM. Main functions: System power-on initialization, hardware self-test and fault diagnosis; Receive and store parameters from the human-computer interaction unit; The operating sequence of the lifting component 22, the swing component 21, and the rotating component 31; Real-time acquisition and closed-loop regulation of motor current, position, and temperature; Exception protection logic judgment and execution.

[0033] 2. Drive unit It uses an ARM Cortex-M23 core microcontroller with a maximum operating frequency of 72MHz, and has built-in 64KB Flash and 8KB RAM; together with independent drive circuits, it controls three actuator motors respectively. Lifting drive (motor 222): DC24V, working current 150–250mA, drives the lifting module lead screw 223 to achieve forward and reverse rotation, positioning and self-locking; Swing drive (dual motor 217): DC24V, operating current 90–150mA, two independent PWM speed regulation, driving swing frame 212 and swing frame 213 to achieve two degrees of freedom reciprocating swing. Rotary drive (motor 311): DC24V, operating current 90–150mA, drives tray 313 and matcha bowl 321 to rotate at a uniform speed, with continuously adjustable speed.

[0034] 3. Human-Computer Interaction Unit It features a 2.4-inch TFT color display screen with a resolution of 240×320; Functionality: Real-time display of device status: standby, descent, firing, reset, completed, fault; Parameter settings: oscillation frequency, rotation speed, working time, lifting height; One-click start, pause, emergency stop, and reset; Fault code display and alarm prompts.

[0035] 4. Power Supply Unit Input: AC 220V mains power; Conversion: AC-DC switching power supply outputs a stable DC 24V; Power allocation: power is supplied to the motor drive system and the microcontroller control system respectively; Protection: Input filtering, surge protection, and overcurrent protection to prevent motor start-stop from interfering with the main control.

[0036] 5. Detection and Protection Unit Limit detection: Upper and lower limit switches monitor the travel of the lifting assembly 22 to prevent overtravel; Current detection: Real-time acquisition of current from three motors to determine overload, stall, and no-load conditions; Temperature detection: Monitors the temperature of the driver board and motor, and activates over-temperature protection if the temperature exceeds the threshold; Anti-jamming protection: The swing and rotation movements are interlocked, and the machine stops immediately in abnormal conditions to avoid structural damage.

[0037] 6. Software Architecture and Register Rules The system adopts a hierarchical scheduling architecture: Low-level driver layer: GPIO configuration, PWM output, ADC sampling, UART display communication; Intermediate control layer: timing algorithm, motor closed-loop speed regulation, position positioning, fault handling; Application layer: parameter configuration, mode switching, state machine management, human-computer interaction.

[0038] Register access strictly follows these rules: rw: Read and write, used for configuring parameters such as speed, time, and enable; r: Read-only, used for reading operating status, limit switches, and fault signals; w: Write-only, used for triggering commands such as start, reset, and emergency stop; rc_w1: Write 1 to clear 0, used to reset fault flags; rc_w0: Write 0 to clear 0, used to reset the running state; rs: Readable and can be set to 1, used to enable the running mode; res: Reserved bit, keep the default value, do not modify.

[0039] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0040] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A traditional hand-beaten automatic matcha machine, comprising a main body (101) and a base (102) fixedly connected to the bottom of the main body (101), wherein a lifting outer shell (103) is slidably connected to the inner wall of the main body (101), characterized in that, Also includes: Bionic part (2), said bionic part (2) is installed inside the lifting housing (103); Rotating part (3), the rotating part (3) is disposed inside the base (102); The bionic part (2) includes a swing assembly (21) which is installed inside the lifting housing (103); and A lifting assembly (22) is disposed inside the main body (101); The swing assembly (21) includes a bracket (211) fixedly connected to the inner wall of the lifting housing (103). The outer wall of the bracket (211) is slidably connected to the main body (101). The inner wall of the bracket (211) is rotatably connected to a swing frame (212). The inner wall of the swing frame (212) is rotatably connected to a swing frame (213). The bottom of the swing frame (213) is provided with a whisk fixing interface (214). The top of the swing frame (213) is fixedly connected to a connecting frame (215). The bracket (211) contains a power component.

2. The traditional hand-beating automatic matcha machine according to claim 1, characterized in that: The rotating part (3) includes a rotating assembly (31) which is installed inside the main body (101); and Placement component (32) is disposed on base (102).

3. The traditional hand-beating automatic matcha machine according to claim 1, characterized in that: The lifting assembly (22) includes a bracket (221) fixedly connected to the inner wall of the main body (101). A motor (222) is provided on one side of the bracket (221), and a transmission component is provided on the motor (222).

4. The traditional hand-beating automatic matcha machine according to claim 2, characterized in that: The rotating assembly (31) includes a motor three (311) fixedly connected to the inner wall of the base (102), a rotating shaft two (312) rotatably connected to the inner wall of the base (102), and a tray (313) fixedly connected to the top of the rotating shaft two (312). Among them, the output shaft of motor three (311) is fixedly connected to shaft two (312) through a coupling.

5. The traditional hand-beating automatic matcha machine according to claim 2, characterized in that: The placement component (32) includes a matcha bowl (321) disposed in a tray (313), and a positioning element is provided at the bottom of the matcha bowl (321); Among them, the matcha bowl (321) is compatible with the tray (313).

6. The traditional hand-beating automatic matcha machine according to claim 1, characterized in that: The power component includes two connecting blocks (216) disposed in the bracket (211), a motor (217) disposed outside each of the two connecting blocks (216), a rotating shaft (218) rotatably connected to the inner wall of each of the two connecting blocks (216), a transmission sleeve (219) fixedly connected to the outer wall of each of the two rotating shafts (218), and a swing rod (2110) disposed inside each of the two transmission sleeves (219). Among them, the top of the left connecting block (216) is fixedly connected to the first bracket (211), the bottom of the right connecting block (216) is fixedly connected to the connecting frame (215), the bottom of the left motor (217) is fixedly connected to the first bracket (211), the bottom of the right motor (217) is fixedly connected to the connecting frame (215), the inner wall of the left swing rod (2110) is hinged to the first swing frame (212), and the inner wall of the right swing rod (2110) is hinged to the second swing frame (213).

7. The traditional hand-beating automatic matcha machine according to claim 3, characterized in that: The transmission component includes a lifting module screw (223) rotatably connected to the inner wall of the second bracket (221), and a slider (224) slidably connected to the inner wall of the second bracket (221). The top of the slider (224) is fixedly connected to the first bracket (211). The lifting module lead screw (223) passes through the slider (224), and the outer wall of the lifting module lead screw (223) is threadedly connected to the slider (224).

8. The traditional hand-beating automatic matcha machine according to claim 3, characterized in that: The transmission component includes a lifting module screw (223) rotatably connected to the inner wall of the second bracket (221), and a slider (224) slidably connected to the inner wall of the second bracket (221). The top of the slider (224) is fixedly connected to the first bracket (211). Among them, the lifting module screw (223) passes through the slider (224), the outer wall of the lifting module screw (223) is threadedly connected to the slider (224), and the bracket (211) is fixedly connected with the guard plate (225).

9. The traditional hand-beating automatic matcha machine according to claim 5, characterized in that: The positioning component includes a positioning groove (322) formed at the bottom of the matcha bowl (321), and a positioning block (323) is fixedly connected to the inner wall of the tray (313). The positioning groove (322) is adapted to the positioning block (323).

10. A control method for a traditional hand-beaten automatic matcha machine according to any one of claims 1-9, characterized in that, Includes the following steps: S1: System initialization. After power-on, the hardware self-test is completed, and the preset swing frequency, rotation speed, working time, and lifting stroke parameters are loaded. The display screen enters the standby interface. S2: Positioning detection, determine whether the matcha bowl (321) is placed in place through the positioning groove (322) and the positioning block (323), and whether the lifting component (22) is at the upper limit position. If the conditions are met, enter the ready-to-start state. S3: Automatic descent, control motor two (222) to run in the forward direction, drive slider (224) and bracket one (211) to descend through lifting module screw (223), so that tea whisk fixing interface (214) enters matcha bowl (321), and motor two (222) stops and locks itself after reaching the preset position; S4: Collaborative bionic whipping, synchronously starting two motors one (217) and three motors three (311); two motors one (217) drive swing frame one (212) and swing frame two (213) to perform a two-degree-of-freedom reciprocating compound swing, and motor three (311) drives the tray (313) and matcha bowl (321) to rotate synchronously, simulating the traditional hand-whipping action of matcha; S5: Real-time closed-loop regulation, real-time acquisition of motor current and load status during operation, automatic fine-tuning of speed and swing, countdown operation and real-time display of remaining time; S6: End reset. After the timing ends, stop the two motors 1 (217) and 3 (311). After a delay, control motor 2 (222) to reverse and drive the swing component (21) to move upward and reset to the initial position, indicating that the production is complete. S7: Fault protection. During operation, it monitors in real time the lifting overtravel, motor stall, overcurrent, overtemperature, matcha bowl (321) displacement and voltage abnormality. If any abnormality occurs, the whole machine will stop immediately and an alarm will be triggered.

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