Anthropomorphic execution mechanism of intelligent hand coffee maker

Abstract

The utility model provides an anthropomorphic actuating mechanism of an intelligent hand coffee maker, which comprises a mounting frame, two X-direction linear guide rails which are parallelly distributed at intervals along the Y direction are mounted on the mounting frame, a Y-direction linear guide rail is mounted between the two X-direction linear guide rails through a sliding block, a motion module is mounted on the Y-direction linear guide rail, and the motion module is connected with the X-direction linear guide rail through a sliding block. The water injection pipe is installed at the bottom of the movement module and extends downwards, the movement module is connected with the Y-direction driving device, and the Y-direction linear guide rail is connected with the X-direction driving device. The anthropomorphic execution mechanism of the intelligent hand coffee making machine can simulate manual coffee making, can accurately control the water temperature of coffee making, improves the making quality, adds an ultrasonic oscillation function, and can achieve adjustment of different tastes. The anthropomorphic execution mechanism of the intelligent hand coffee maker is simple in structure and reasonable in design, the water injection pipe can accurately move in the X direction and the Y direction, and the anthropomorphic track movement process during hand coffee making is achieved.

Description

Technical Field

[0001] This utility model relates to the field of coffee machine technology, specifically to an anthropomorphic actuator for an intelligent pour-over coffee machine. Background Technology

[0002] Existing coffee machines that brew coffee from ground coffee all involve adding hot water directly into the brewing chamber, allowing it to drip through the coffee grounds. The coffee is then filtered through the brewing chamber before being served. These machines typically have a cylindrical or funnel-shaped brewing chamber, with the hot water dripping downwards from the center. Some coffee grounds on the inner wall of the brewing chamber do not fully combine with the hot water. In contrast, pour-over coffee involves manually holding a kettle and rotating it along the conical or inclined inner wall of the brewing chamber, pouring hot water evenly from the inside out or from the outside in. This allows for a more even and thorough mixing of the coffee grounds and water, and allows for control over the dripping speed and time, achieving the desired brewing effect. However, current coffee machines cannot mimic the manual pouring process. Many coffee enthusiasts prefer the method and effect of manual brewing, so traditional coffee machines cannot meet their needs.

[0003] In the prior art, there are also coffee machines that simulate hand-drip brewing. For example, Chinese patent application CN20734116U discloses a simulated hand-drip device and its coffee machine. The simulated hand-drip device includes a main unit, a spray component, a water tank, and a track plate. The main unit is equipped with a power source and a turntable driven by the power source. The spray component is slidably connected to the turntable and moves along the spiral track of the track plate under the drive of the turntable to simulate the human hand-brewing process. Its structure is complex, and the spray component needs to move along the spiral track, which is prone to jamming and uneven brewing. Therefore, it needs to be improved. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention proposes an anthropomorphic actuator for an intelligent pour-over coffee machine. The actuator has a simple structure and can achieve precise positioning of the water pipe in the X and Y directions, realizing an anthropomorphic trajectory movement process during pour-over coffee making.

[0005] To achieve the above technical solution, this utility model provides an anthropomorphic actuator for an intelligent pour-over coffee machine, comprising: a mounting frame on which two parallel X-axis linear guides are mounted, spaced apart along the Y-axis. The Y-axis linear guides are mounted between the two X-axis linear guides via sliders. A motion module is mounted on the Y-axis linear guides, and a water inlet pipe is mounted at the bottom of the motion module and extends downward. The motion module is connected to a Y-axis drive device, and the Y-axis linear guides are connected to the X-axis drive device. The X-axis drive device includes a closed-loop stepper motor, a first transmission idler wheel group, a second transmission idler wheel, and a third transmission idler wheel, wherein the first transmission idler wheel group and the third transmission idler wheel are respectively mounted on the X-axis linear guides. On the left and right sides of the rail, the second transmission idler wheel is installed on the Y-direction linear guide rail. The first transmission idler wheel group and the third transmission idler wheel are connected by the first synchronous belt. The second transmission idler wheel is embedded in the first synchronous belt. The output shaft of the closed-loop stepper motor is connected to the first transmission idler wheel group through the second synchronous belt. The Y-direction drive device includes a first synchronous wheel, a second synchronous wheel, and a Y-direction drive servo motor. The first synchronous wheel and the second synchronous wheel are respectively installed at the front and rear ends of the Y-direction linear guide rail. The first synchronous wheel and the second synchronous wheel are connected by a transmission belt. The first synchronous wheel or the second synchronous wheel is connected to the Y-direction drive servo motor. The motion module is installed on the Y-direction linear guide rail and connected to the transmission belt.

[0006] In the above technical solution, during actual operation, the closed-loop stepper motor in the X-axis drive device drives the first synchronous belt between the first and third transmission idler pulleys to rotate forward or backward. Then, the second transmission idler pulley drives the Y-axis linear guide to move back and forth along the X-axis linear guide, achieving precise movement of the Y-axis linear guide in the X direction. The Y-axis drive servo motor in the Y-axis drive device drives the first or second synchronous pulley to rotate forward or backward, which in turn drives the motion module mounted on the transmission belt to move back and forth on the Y-axis linear guide, achieving precise movement of the motion module in the Y direction. The cooperation between the X-axis and Y-axis drive devices enables precise positioning of the water inlet pipe mounted on the motion module in both the X and Y directions, achieving a human-like trajectory movement process during hand-drip coffee making.

[0007] Preferably, a first infrared limiter is mounted on the closed-loop stepper motor, a first reflective baffle is mounted on the back of the motion module, a second reflective baffle is mounted on the back of the Y-axis linear guide, and a second infrared limiter is mounted on a mounting bracket located directly behind the second reflective baffle. In actual operation, the position of the motion module in the Y-axis direction can be monitored through the interaction between the first infrared limiter and the first reflective baffle, and the position of the Y-axis linear guide in the X-axis can be monitored through the interaction between the second infrared limiter and the first infrared limiter.

[0008] Preferably, a full-color ambient light is installed at the bottom of the motion module, which can enhance the atmosphere during hand-throwing.

[0009] Preferably, the first transmission idler wheel group consists of two parallel transmission idler wheels spaced apart, and a stepper motor position adjustment port is provided between the two transmission idler wheels, through which the tension of the second synchronous belt can be adjusted.

[0010] Preferably, the water injection pipe is connected to an external water inlet via a silicone hose to facilitate the injection of water.

[0011] Preferably, the closed-loop stepper motor is mounted on a motor fixing slot provided on the mounting bracket to facilitate fine-tuning of the installation position of the closed-loop stepper motor.

[0012] Preferably, the anthropomorphic actuator of this intelligent pour-over coffee machine also includes a control system, which is electrically connected to the X-axis drive device and the Y-axis drive device. During actual operation, the control system can acquire the G-code motion trajectory from the cloud. Based on the G-code data, it synchronizes information such as temperature and water flow rate to the X-axis drive device and the Y-axis drive device. The X-axis drive device and the Y-axis drive device control the motion module to perform synchronized trajectory movement, completing the water pouring process for the coffee powder.

[0013] The beneficial effects of the anthropomorphic actuator of the intelligent pour-over coffee machine provided by this utility model are as follows: The anthropomorphic actuator of this intelligent pour-over coffee machine has a simple structure and reasonable design, which can achieve precise positioning of the water pipe in the X and Y directions, realizing the anthropomorphic trajectory movement process during pour-over coffee. In actual operation, the closed-loop stepper motor in the X-direction drive device can drive the first synchronous belt between the first transmission idler wheel group and the third transmission idler wheel to rotate forward or backward. Then, the second transmission idler wheel drives the Y-direction linear guide rail to move back and forth along the X-direction linear guide rail, realizing precise movement of the Y-direction linear guide rail in the X direction. The Y-direction drive servo motor in the Y-direction drive device can drive the first synchronous wheel or the second synchronous wheel to rotate forward or backward. This, in turn, drives the motion module mounted on the transmission belt to move back and forth on the Y-direction linear guide rail, realizing precise movement of the motion module in the Y direction. Through the cooperation between the X-direction drive device and the Y-direction drive device, the water pipe mounted on the motion module can achieve precise positioning in the X and Y directions, realizing the anthropomorphic trajectory movement process during pour-over coffee. Attached Figure Description

[0014] Figure 1 This is a planar structural diagram of the punch of this utility model.

[0015] Figure 2 This is a three-dimensional structural diagram of the present invention.

[0016] In the diagram: 1. Closed-loop stepper motor; 2. First transmission idler wheel assembly; 3. Stepper motor position adjustment port; 4. First X-axis linear guide rail; 5. Second transmission idler wheel; 6. First synchronous belt; 7. Third transmission idler wheel; 8. Second synchronous belt; 9. First synchronous pulley; 10. First infrared limiter; 11. First reflective baffle; 12. Motor fixing strip groove; 13. Full-color ambient light; 14. Silicone hose; 15. Motion module; 16. Second reflective baffle; 17. Second infrared limiter; 19. Y-axis linear guide rail; 20. Second synchronous pulley; 21. Water injection pipe; 22. Mounting bracket. Detailed Implementation

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

[0018] Example: An anthropomorphic actuator for a smart pour-over coffee machine.

[0019] Reference Figures 1 to 2 As shown, an anthropomorphic actuator for a smart pour-over coffee machine includes: a mounting bracket 22, on which two parallel X-axis linear guide rails 4 spaced apart along the Y-axis are mounted; a Y-axis linear guide rail 19 is mounted between the two X-axis linear guide rails 4 via a slider; a motion module 15 is mounted on the Y-axis linear guide rail 19; a water inlet pipe 21 is mounted at the bottom of the motion module 15 and extends downwards; the motion module 15 is connected to a Y-axis drive device; and the Y-axis linear guide rail 19 is connected to an X-axis drive device. In actual operation, the X-axis drive device and the Y-axis drive device drive the motion module 15 to move along the Y-axis and X-axis guide rails, simulating a pour-over trajectory, and water is injected downwards through the water inlet pipe 21 during the movement.

[0020] Reference Figures 1 to 2As shown, the X-axis driving device includes a closed-loop stepper motor 1, a first transmission idler wheel group 2, a second transmission idler wheel 5, and a third transmission idler wheel 7. The first transmission idler wheel group 2 and the third transmission idler wheel 7 are respectively installed on the left and right sides of the X-axis linear guide rail 4. The second transmission idler wheel 5 is installed on the Y-axis linear guide rail 19. The first transmission idler wheel group 2 and the third transmission idler wheel 7 are connected by a first synchronous belt 6, and the second transmission idler wheel 5 is embedded in the first synchronous belt 6. The output shaft of the closed-loop stepper motor 1 is connected to the first transmission idler wheel group 2 via a second synchronous belt 8. In actual operation, the closed-loop stepper motor 1 can drive the first synchronous belt 6 between the first transmission idler wheel group 2 and the third transmission idler wheel 7 to rotate forward or backward. Then, the second transmission idler wheel 5 drives the Y-axis linear guide rail 19 to move back and forth along the X-axis linear guide rail 4, achieving precise movement of the Y-axis linear guide rail 19 in the X direction. The first transmission idler wheel group 2 consists of two parallel transmission idler wheels spaced apart. A stepper motor position adjustment port 3 is provided between the two transmission idler wheels, through which the tension of the second synchronous belt 8 can be adjusted.

[0021] Reference Figures 1 to 2 As shown, the Y-axis drive device includes a first synchronous pulley 9, a second synchronous pulley 20, and a Y-axis drive servo motor. The first synchronous pulley 9 and the second synchronous pulley 20 are respectively installed at the front and rear ends of the Y-axis linear guide rail 19, and are connected by a transmission belt. The first synchronous pulley 9 is connected to the Y-axis drive servo motor installed at the bottom of the first synchronous pulley 9. The motion module 15 is installed on the Y-axis linear guide rail 19 and connected to the transmission belt. In actual operation, the Y-axis drive servo motor can drive the first synchronous pulley 9 to rotate in the forward or reverse direction, thereby driving the motion module 15 installed on the transmission belt to move back and forth on the Y-axis linear guide rail 19, realizing precise movement of the motion module 15 in the Y direction.

[0022] Reference Figures 1 to 2 As shown, a first infrared limiter 10 is mounted on the closed-loop stepper motor 1, a first reflective baffle 11 is mounted on the back of the motion module 15, a second reflective baffle 16 is mounted on the back of the Y-axis linear guide rail 19, and a second infrared limiter 17 is mounted on the mounting bracket directly behind the second reflective baffle 16. In actual operation, the position of the motion module 15 in the Y-axis direction can be monitored through the cooperation between the first infrared limiter 10 and the first reflective baffle 11, and the position of the Y-axis linear guide rail 19 in the X-axis direction can be monitored through the cooperation between the second infrared limiter 17 and the first infrared limiter 10. A full-color ambient light 13 is also mounted at the bottom of the motion module 15 to enhance the atmosphere during manual punching.

[0023] The anthropomorphic actuator of this intelligent pour-over coffee machine also includes a control system, which is electrically connected to the X-axis drive device and the Y-axis drive device. During actual operation, the control system can acquire the G-code motion trajectory from the cloud. Based on the G-code data, it synchronizes information such as temperature and water flow rate to the X-axis and Y-axis drive devices. The X-axis and Y-axis drive devices then control the motion module to move synchronously along the trajectory, completing the water pouring process for the coffee grounds.

[0024] The anthropomorphic actuator of this intelligent pour-over coffee machine has a simple and reasonable structure, enabling precise movement of the motion module 15 and the water inlet pipe 21 in the X and Y directions, achieving anthropomorphic trajectory movement during pour-over coffee. In actual operation, the closed-loop stepper motor 1 in the X-axis drive device drives the first synchronous belt 6 between the first transmission idler wheel group 2 and the third transmission idler wheel 7 to rotate forward or backward. Then, the second transmission idler wheel 5 drives the Y-axis linear guide rail 19 to move back and forth along the X-axis linear guide rail 4, achieving precise movement of the Y-axis linear guide rail 19 in the X direction. The Y-axis drive servo motor in the Y-axis drive device drives the first synchronous wheel 9 to rotate forward or backward, which in turn drives the motion module 15 mounted on the transmission belt to move back and forth on the Y-axis linear guide rail 19, achieving precise movement of the motion module 15 in the Y direction. By coordinating the X-axis drive device and the Y-axis drive device, the water pipe 21 installed on the motion module 15 can be precisely positioned in the X and Y directions, realizing the anthropomorphic trajectory movement process during hand-drip coffee making.

[0025] The above description is only a preferred embodiment of the present utility model. However, the present utility model should not be limited to the content disclosed in the embodiments and drawings. Therefore, any equivalent or modified embodiments made without departing from the spirit disclosed in the present utility model shall fall within the protection scope of the present utility model.

Claims

1. An anthropomorphic effector for an intelligent hand coffee maker, characterized in that include: The mounting bracket has two parallel X-axis linear guides spaced apart along the Y-axis. The Y-axis linear guides are mounted between the two X-axis linear guides via sliders. A motion module is mounted on the Y-axis linear guides. A water injection pipe is installed at the bottom of the motion module and extends downwards. The motion module is connected to a Y-axis drive device, and the Y-axis linear guides are connected to the X-axis drive device. The X-axis drive device includes a closed-loop stepper motor, a first transmission idler wheel group, a second transmission idler wheel, and a third transmission idler wheel. The first and third transmission idler wheel groups are respectively mounted on the left and right sides of the X-axis linear guides, and the second transmission idler wheel is mounted on the Y-axis linear guide. On the linear guide rail, the first transmission idler wheel group and the third transmission idler wheel are connected by a first synchronous belt, and the second transmission idler wheel is embedded in the first synchronous belt. The output shaft of the closed-loop stepper motor is connected to the first transmission idler wheel group through the second synchronous belt. The Y-axis drive device includes a first synchronous wheel, a second synchronous wheel, and a Y-axis drive servo motor. The first synchronous wheel and the second synchronous wheel are respectively installed at the front and rear ends of the Y-axis linear guide rail. The first synchronous wheel and the second synchronous wheel are connected by a transmission belt. The first synchronous wheel or the second synchronous wheel is connected to the Y-axis drive servo motor. The motion module is installed on the Y-axis linear guide rail and connected to the transmission belt.

2. Anthropomorphic effector for an intelligent hand coffee maker according to claim 1, characterized in that: A first infrared limiter is installed on the closed-loop stepper motor, a first reflective baffle is installed on the back of the motion module, a second reflective baffle is installed on the back of the Y-axis linear guide, and a second infrared limiter is installed on the mounting bracket located directly behind the second reflective baffle.

3. The anthropomorphic effector of an intelligent hand coffee maker according to claim 1, characterized in that: The bottom of the motion module is equipped with full-color ambient lighting.

4. The anthropomorphic effector of an intelligent hand coffee maker according to claim 1, characterized in that: The first transmission idler wheel group consists of two parallel transmission idler wheels spaced apart, with a stepper motor position adjustment port provided between the two transmission idler wheels.

5. The anthropomorphic effector of an intelligent hand coffee maker according to claim 1, characterized in that: The water injection pipe is connected to an external water inlet via a silicone hose.

6. The anthropomorphic effector of an intelligent hand coffee maker according to claim 1, characterized in that: The closed-loop stepper motor is mounted on the motor fixing slot set on the mounting bracket.

7. The anthropomorphic effector of an intelligent hand coffee maker according to claim 1, characterized in that: It also includes a control system, which is electrically connected to the X-axis drive device and the Y-axis drive device.

Images