CN106826863B

CN106826863B - Anti-overflow robot

Info

Publication number: CN106826863B
Application number: CN201710191973.1A
Authority: CN
Inventors: 陶茂林
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2017-03-28
Filing date: 2017-03-28
Publication date: 2023-10-20
Anticipated expiration: 2037-03-28
Also published as: CN106826863A

Abstract

The invention belongs to the field of robots, and in particular relates to an anti-overflow robot which comprises a moving device, a cup holder and a cup holder, wherein the cup holder is used for supporting the cup holder, the moving device comprises a chassis, a driving mechanism is arranged on the chassis, the cup holder comprises a supporting part and a bearing part arranged at the upper end of the supporting part, the lower end of the supporting part is connected with the chassis, a mounting hole for the lower part of the cup holder to pass through is formed in the bearing part, a rotating mechanism is further arranged on the bearing part, the cup holder is mounted on the cup holder through the rotating mechanism, the upper part of the cup holder is matched with the rotating mechanism, and the lower part of the cup holder is inserted into the mounting hole of the bearing part so that the gravity center of the cup holder is positioned at the lower part of the cup holder, and the cup holder can rotate relative to the cup holder through the rotating mechanism. Compared with the prior art, the invention is provided with the rotating mechanism and the cup seat, and the cup seat can rotate at a certain angle through the rotating mechanism under the action of inertia, so that the vibration of liquid in the container is buffered, the sudden fluctuation of the liquid level is avoided, and the risk of liquid overflow is reduced.

Description

Anti-overflow robot

Technical Field

The invention belongs to the field of robots, and particularly relates to an anti-overflow robot for conveying drinks.

Background

The robot is a machine device for automatically performing work, and can assist or replace the work of people because it can run a pre-programmed program to perform tasks, and is widely used in various fields.

In particular, in the catering industry, robots are increasingly used, and at present, a meal delivery robot serving a restaurant mainly uses a tray installed on a robot body to deliver dishes, and when delivering liquid drinks such as tea, coffee and the like contained in a cup, the meal delivery robot is difficult to deliver, because the meal delivery robot cannot overcome the problems of large liquid shaking amplitude and even overflowing caused by inertia in the motion process. Patent CN106333591a discloses a food delivery robot with a multifunctional tray, and a cup placing partition, a beverage groove and the like are arranged on the tray of the robot, but the structure can only prevent the toppling of the cup body, and for a cup body without a cover, the beverage is still difficult to be ensured not to spill. Of course, to the above problems, the food delivery can be completed by reducing the moving speed of the robot, or the cup cover is additionally arranged on the conveyed beverage to prevent overflowing, but because the lowering of the moving speed can affect the food delivery efficiency, the additionally arranged cover can increase the cost of reforming the existing container, so that the above method can not well solve the problems of large liquid shaking or liquid overflowing, and therefore, the development of an anti-overflow robot is necessary.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a device for preventing liquid from overflowing by reducing the liquid shaking amplitude.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides an anti-overflow robot, includes mobile device, cup and is used for the bearing the glass stand, mobile device includes the chassis, be equipped with actuating mechanism on the chassis, the glass stand includes supporting part and locates the supporting part upper end's supporting part, the supporting part lower extreme is connected with the chassis, still be equipped with slewing mechanism in the supporting part, the cup is installed through this slewing mechanism on the glass stand, the upper portion and the slewing mechanism cooperation of cup, its lower part is unsettled, the focus of cup is located the lower part of cup, the cup can be relative through this slewing mechanism the glass stand rotates.

Compared with the prior art, the anti-overflow robot is provided with the cup seat for placing the container filled with liquid, the cup seat is movably arranged on the cup holder through the rotating mechanism, the upper part of the cup seat is matched with the rotating mechanism, and the lower part of the cup seat is arranged in a suspended manner, so that when the robot is stationary on a horizontal plane or transports a beverage in uniform linear motion, namely the acceleration is zero, the cup seat is vertical to the horizontal plane, and the liquid level of the container in the cup seat is also in a horizontal position; in general, when a robot suddenly changes in acceleration (including linear acceleration and centripetal acceleration), liquid in a container shakes under the influence of inertia, and the liquid level at that moment appears as: the liquid level on the same side as the acceleration direction is lower than the liquid level on the opposite side to the acceleration direction by taking the center of the liquid level as a reference, and the cup seat provided by the invention can rotate under the influence of inertia, and the rotation direction of the lower part (the position where the gravity center is positioned) of the cup seat is opposite to the acceleration direction at the moment, namely, the rotation direction of the upper part of the cup seat is the same as the acceleration direction, and the rotation direction of the lower part of the cup seat is opposite to the acceleration direction.

Further, the cup seat comprises an overflow preventing cover positioned on the upper portion and a cup body positioned on the lower portion and connected with the lower end of the overflow preventing cover, a placing opening for placing a container is formed in the upper end of the overflow preventing cover, the placing opening extends downwards to form a containing cavity for containing the container, a mounting hole is formed in the bearing portion, and the lower portion of the cup seat can be inserted into the mounting hole. The setting mode has simple structure, and the anti-overflow cover can prevent the liquid in the container from overflowing and spilling outside the cup seat.

Further, the rotating mechanism comprises an annular ball retainer which is arranged on the bearing part and corresponds to the mounting hole, and a plurality of balls which are annularly arranged on the annular ball retainer, wherein the cup seat is inserted into the annular ball retainer from top to bottom in an upward direction of the anti-overflow cover so that the anti-overflow cover is supported on the rotating mechanism, the outer peripheral surface of the anti-overflow cover is in rolling contact with the balls, and the balls are respectively tangent to the corresponding positions of the outer peripheral surface of the anti-overflow cover. The rotating mechanism is simple in structure, and the cup seat has a better buffering effect due to the fact that the rotating mechanism is compact in cooperation with the anti-overflow cover and smooth in rotation. Preferably, the outer peripheral surface of the anti-overflow cover is arranged in an arc surface, the maximum outer diameter of the anti-overflow cover is larger than the inner diameter of the annular ball retainer, the anti-overflow cover is preferably designed into a hemispherical shape, the outer diameter of the anti-overflow cover decreases downwards from top to bottom, the cup body is arranged at the lower end of the middle part of the anti-overflow cover, and the outer diameters of the cup body are smaller than the inner diameters of the mounting hole and the annular ball retainer.

Further, the rotating mechanism further comprises a cup seat mounting plate arranged between the bearing part of the cup holder and the annular ball retainer, a mounting groove for the lower part of the cup seat to pass through is formed in the cup seat mounting plate, the mounting groove corresponds to the mounting hole, a damping component is arranged between the cup seat mounting plate and the annular ball retainer, and the cup seat sequentially passes through the annular ball retainer and the damping component.

Further, the damping assembly comprises a buffer rubber ring and a compression ring which are arranged on the mounting plate of the cup holder, the buffer rubber ring is arranged in the mounting groove, the buffer rubber ring is arranged on the periphery of the cup holder in a surrounding mode, the compression ring is arranged on the lower side of the buffer rubber ring, and the cup holder penetrates through the compression ring and the buffer rubber ring. The buffer rubber ring is arranged in the mounting groove, and when the cup seat rotates to be close to the limit angle, the buffer rubber ring is contacted with the buffer rubber ring at first, so that the direct rigid collision between the cup seat and the cup seat mounting plate is avoided, the buffer rubber ring plays a role in buffering and limiting, and the rotation angle of the cup seat is ensured not to exceed the designed allowable value.

Further, be equipped with the first protruding edge that extends to inboard on the lateral wall of mounting groove, the outer wall ring of buffering rubber ring be equipped with extend to the outside and with the corresponding protruding edge of first second, the outer wall of annular ball holder still is equipped with extend to the outside and with the corresponding protruding edge of first third, the upside in the protruding edge of second support in the downside in the protruding edge of first, the clamping ring is located the downside in the protruding edge of second, the protruding edge of third support press in the upside in the protruding edge of first, the protruding edge of third, the protruding edge of second, clamping ring, first protruding edge dismantlement are connected. The setting mode is simple in structure, compact in connection and convenient and quick to install and detach.

Further, a fixing structure for stabilizing the container is arranged in the accommodating cavity, the fixing structure comprises a plurality of clamping elastic pieces, and the clamping elastic pieces are arranged on the inner wall of the accommodating cavity at the lower part of the cup seat. The fixing structure can enable the container filled with liquid to be placed more firmly, so that the anti-overflow effect of the invention is improved.

Further, the driving mechanism comprises two groups of servo motors, each group of servo motors is connected with a driving wheel, a plurality of universal wheels are arranged on the lower side of the chassis, and the universal wheels are preferably four and uniformly distributed at corners of the chassis. The servo motor outputs accurately, and the universal wheels play an auxiliary role, so that the robot moves more smoothly.

Further, the bearing part of the cup holder is an annular bearing bracket, a plurality of protruding arms are uniformly distributed on the periphery of the bearing bracket at intervals, the protruding arms are respectively bent downwards to form the supporting part, and the rotating mechanism is detachably connected with the bearing bracket. The bearing part and the supporting part are preferably integrally arranged.

Drawings

Fig. 1 is a perspective view of an overflow prevention robot.

Fig. 2 is a perspective view of the spill-proof robot with the housing removed.

Fig. 3 is a schematic view of the structure of the cup holder and the rotating mechanism.

Fig. 4 is a schematic diagram of the cooperation of the rotating mechanism.

Fig. 5 is an exploded view of the spill-proof robot with the housing removed.

Fig. 6 is a schematic view of the instantaneous liquid level when the robot is making a uniform deceleration linear motion, with the container placed at a position other than the cup of the robot.

Fig. 7 is a schematic view of the instantaneous liquid level of the container placed in the cup when the robot makes a uniform deceleration linear motion.

Detailed Description

A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, an anti-overflow robot comprises a housing 6, a moving device 1, a cup holder 2 and a cup holder 3 arranged on the moving device 1, wherein the cup holder 3 is used for supporting the cup holder 2, the housing 6 is arranged on the outer sides of the cup holder 2 and the cup holder 3, and a through hole 61 for a container 4 to pass through is arranged at the upper end of the housing.

Referring to fig. 1 and 5, the mobile device 1 includes a chassis 11, a driving mechanism is disposed on the chassis 11, the driving mechanism includes two groups of servomotors 12, each group of servomotors 12 is connected with a driving wheel 13, a plurality of universal wheels 14 are disposed on the lower side of the chassis 11, and the universal wheels 14 are preferably four and are uniformly distributed at corners of the chassis 11. The servo motor 12 outputs accurately, and the universal wheel 14 plays an auxiliary role, so that the robot moves more smoothly.

Referring to fig. 2 to 4, the cup holder 2 includes a spill-proof cover 21 at an upper portion and a cup 22 at a lower portion and connected to a lower end of the spill-proof cover 21, the cup 22 has a height greater than that of the spill-proof cover 21, and a placement opening 211 for receiving the container 4 is provided at an upper end of the spill-proof cover 21, and the placement opening 211 extends downward in a direction of the cup 22 to form a receiving chamber 212 for receiving the container 4. This mode of setting simple structure, the spill-proof cover 21 can prevent that container 4 liquid from spilling over and spill the place beyond the cup 2, in addition, in order to further avoid liquid to spill the place beyond the cup 2, still can set up the lid that can cover in its place port 211 (not shown in the lid figure) in the upper end of spill-proof cover 21, this lid sets up to be connected with cup 2 detachably, perhaps through hinge mechanism (not shown in the hinge mechanism figure) movably installs on cup 2 to improve the leakproofness of cup 2. Specifically, the outer circumferential surface of the anti-overflow cover 21 is provided with an arc surface, for example, is provided with a hemisphere, and the cup 22 is provided at the lower end of the middle part of the anti-overflow cover 21; in addition, in order to improve the anti-overflow effect, be equipped with the fixed knot of firm container 4 in holding chamber 212 and construct, fixed knot constructs including locating four clamp shrapnel 213 on holding chamber 212 inner wall, clamp shrapnel 213 equipartition is in holding chamber 212, and clamp shrapnel 213 can adapt to the cylindrical or conical container 4 of different external diameters, and preferably, be equipped with on every clamp shrapnel 213 with the cambered surface that outer wall of placed container 4 suited (not shown in the cambered surface diagram), fixed knot constructs hugs closely with container 4 surface, can make container 4 that is equipped with liquid place more firmly.

Referring to fig. 2 and 5, the cup holder 3 includes a supporting portion 31 and a bearing portion 32 disposed at an upper end of the supporting portion 31, a lower end of the supporting portion 31 is connected to an upper side of the chassis 11, a mounting hole 321 for passing a lower portion of the cup holder 2 is disposed on the bearing portion 32, specifically, the bearing portion 32 of the cup holder 3 is an annular support bracket, three protruding arms 322 are uniformly distributed at intervals on an outer periphery of the support bracket, the three protruding arms 322 are respectively bent downward to form the supporting portion 31, a space within an inner ring of the annular support bracket forms the mounting hole 321, and the bearing portion 32 and the supporting portion 31 are preferably integrally disposed, for example, by casting molding, welding molding or stamping molding.

Referring to fig. 2 to 5, the supporting portion 32 is further provided with a rotation mechanism 5, the rotation mechanism 5 is detachably connected with the supporting portion 32, the cup holder 2 is mounted on the cup holder 3 through the rotation mechanism 5, the cup holder 2 is inserted into the cup holder 3 from top to bottom in an upward direction of the anti-overflow cover 21, an upper portion of the cup holder 2 is matched with the rotation mechanism 5, a lower portion of the cup holder 2 is inserted into a mounting hole 321 of the supporting portion 32, a center of gravity of the cup holder 2 is located at a lower portion of the cup holder 2, namely, a center of gravity of the cup holder 2 is located on the cup body 22, and the cup holder 2 can rotate relative to the cup holder 3 through the rotation mechanism 5.

Referring to fig. 2, 3 and 5, the rotation mechanism 5 includes an annular ball holder 51, balls 52, a cup mounting plate 53 and a damper assembly, the cup mounting plate 53 is used for mounting the annular ball holder 51 and the damper assembly, and the cup 2 sequentially passes through the annular ball holder 51 and the damper assembly.

Specifically, the annular ball holder 51 is disposed on the upper side of the supporting portion 32 and corresponds to the mounting hole 321, the balls 52 are disposed in a plurality of rings uniformly disposed on the annular ball holder 51, the outer diameter of the anti-overflow cover 21 decreases from top to bottom, the outer diameter of the cup 22 is smaller than the mounting hole 321 and the inner diameter of the annular ball holder 51, the inner diameter of the annular ball holder 51 is smaller than the maximum outer diameter of the anti-overflow cover 21, the cup holder 2 is inserted into the annular ball holder 51 from top to bottom in the upward direction of the anti-overflow cover 21 so that the anti-overflow cover 21 is supported on the rotating mechanism 5, the cup 22 is disposed below the rotating mechanism 5 and is in a suspended state, the outer circumferential surface of the anti-overflow cover 21 is in rolling contact with the balls 52, and the balls 52 are respectively tangent to the corresponding positions of the outer circumferential surface of the anti-overflow cover 21. The rotating mechanism 5 has a simple structure, is compact in cooperation with the anti-overflow cover 21, rotates smoothly, and enables the cup holder 2 to play a better role in buffering, and as the balls 52 can rotate in multiple directions relative to the annular ball retainer 51, the cup holder 2 can rotate according to the actual action direction of the robot, so that the practicability of the robot is improved.

Referring to fig. 4, the cup holder mounting plate 53 is disposed between and connected to the bearing portion 32 of the cup holder 3 and the ball holder 51, and has a mounting groove 531 for the cup 22 to pass through, and the mounting groove 531 corresponds to the mounting hole 321.

Referring to fig. 3 and 4, the damping component includes an annular damping rubber ring 541 and a compression ring 542 disposed on the cup holder mounting plate 53, the damping rubber ring 541 is mounted in the mounting groove 531, and is disposed around the outer periphery of the cup holder 2, the compression ring 542 is disposed on the lower side of the damping rubber ring 541, a first flange 531a extending inward is disposed on a sidewall of the mounting groove 531, a second flange 541a extending outward and corresponding to the first flange 531a is disposed around an outer wall of the damping rubber ring 541, an upper side of the second flange 541a abuts against a lower side of the first flange 531a, the compression ring 542 abuts against a lower side of the second flange 541a, so as to clamp the damping rubber ring 541, a third flange 511 extending outward and corresponding to the first flange 531a is disposed on an outer wall of the annular ball holder 51, the third flange 511 abuts against an upper side of the first flange 531a, and the third flange 511, the second flange 542, the first flange 541a, the second flange 542 and the annular ball holder 541 b are detachably connected to the compression ring 541 and the annular ball holder 51 via the compression ring 541 and the annular damping rubber ring 541. The buffer rubber ring 541 is installed in the installation groove 531, when the cup holder 2 rotates to approach the limit angle, the buffer rubber ring 541 is contacted with the cup holder 2 at first, so that the direct rigid collision between the cup holder 2 and the cup holder installation plate 53 is avoided, the buffer and limit functions are achieved, and the rotation angle of the cup holder 2 is ensured not to exceed the designed allowable value.

Referring to fig. 2, 5, 6 and 7, compared with the prior art, the anti-overflow robot provided by the invention is provided with the cup holder 2 for placing the container 4 filled with liquid, the cup holder 2 is rotatably arranged on the cup holder 3 through the rotating mechanism 5, the cup 22 of the anti-overflow robot is inserted into the mounting hole 321 of the cup holder 3 and is in a suspended state due to the fact that the rotating mechanism 5 is matched with the anti-overflow cover 21 of the cup holder 2, and the gravity center of the cup holder 2 is positioned at the cup 22, when the robot is used for transporting drinks in a static or uniform linear motion on a horizontal plane, namely, the acceleration is zero, the cup holder 2 is vertical to the horizontal plane, the liquid level of the container 4 in the cup holder 2 is also in a horizontal position, and liquid shaking does not occur; in general, when a robot suddenly changes in acceleration (including linear acceleration and centripetal acceleration), the liquid in the container 4 is shaken under the influence of inertia, and the liquid level at that moment is expressed as: the present invention provides a cup holder 2, which rotates under the influence of inertia, with the center of the liquid surface being the same as the acceleration direction, wherein the liquid surface is lower than the opposite side to the acceleration direction, and the rotation direction of the position where the center of gravity is located is opposite to the acceleration direction at the moment, that is, the rotation direction of the anti-overflow cover 21 is the same as the acceleration direction, and the rotation direction of the cup 22 is opposite to the acceleration direction, for example, taking the moment when the robot changes from uniform linear motion to uniform deceleration linear motion, as shown in fig. 6, v represents the advancing direction of the robot, and if the container 4 is fixed at a position other than the cup holder 2, the liquid continues to flow forward under the action of inertia after the acceleration change, and the liquid surface is in a state of being higher before and lower after the acceleration, and obviously, if the container 4 is not provided with a cover, the liquid in the container 4 is easy to spill at this moment. As shown in fig. 7, v indicates the advancing direction of the robot, if the container 4 is placed in the cup holder 2, after the acceleration changes, the container 4 will rotate clockwise along with the cup holder 2 by a certain angle, so as to buffer the shaking of the liquid, thus the liquid level will not suddenly fluctuate, the liquid will not easily overflow the container 4, and thus the anti-overflow function is realized.

Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.

Claims

1. The utility model provides an anti-overflow robot, includes mobile device, cup and is used for the bearing the glass stand, mobile device includes the chassis, be equipped with actuating mechanism on the chassis, the glass stand includes supporting part and locates the supporting part upper end's bearing portion, the supporting part lower extreme is connected its characterized in that with the chassis: the cup holder comprises an anti-overflow cover at the upper part and a cup body at the lower part and connected with the lower end of the anti-overflow cover, the upper end of the anti-overflow cover is provided with a placing opening for placing a container, the placing opening extends downwards to form a containing cavity for containing the container, the bearing part is provided with a mounting hole, and the lower part of the cup holder can be inserted into the mounting hole;

the cup seat sequentially passes through the annular ball retainer and the damping component, the damping component comprises a buffer rubber ring and a compression ring which are arranged on the cup seat mounting plate, the buffer rubber ring is arranged in the mounting groove, the periphery of the cup seat is in rolling contact with the balls, the cup seat mounting plate is arranged between the bearing part of the cup holder and the annular ball retainer, the cup seat mounting plate is provided with a mounting groove for the lower part of the cup seat to pass through, the mounting groove corresponds to the mounting hole, the damping component is arranged between the cup seat mounting plate and the annular ball retainer, and the cup seat sequentially passes through the annular ball retainer and the damping component;

the utility model discloses a buffer rubber ring, including the mounting groove, the mounting groove is equipped with the first protruding edge that extends to the inboard on the lateral wall of mounting groove, the outer wall ring of buffer rubber ring be equipped with extend to the outside and with the corresponding second protruding edge of first edge, the outer wall of annular ball holder still is equipped with extend to the outside and with the corresponding third protruding edge of first edge, the upside of the protruding edge of second support in the downside of the protruding edge of first edge, the clamping ring is located the downside of the protruding edge of second, the protruding edge of third support press in the upside of the protruding edge of first, the connection can be dismantled along third protruding edge, the protruding edge of second, clamping ring, first protruding edge.

2. The spill-resistant robot of claim 1 wherein: the anti-overflow cover is designed into a hemispherical shape, the outer diameter of the anti-overflow cover is gradually decreased from top to bottom, and the cup body is arranged at the lower end of the middle part of the anti-overflow cover.

3. The spill-resistant robot of claim 1 wherein: the cup holder is characterized in that a fixing structure for stabilizing the container is arranged in the accommodating cavity, the fixing structure comprises a plurality of clamping elastic pieces, and the clamping elastic pieces are arranged on the inner wall of the accommodating cavity at the lower part of the cup holder.

4. The spill-resistant robot of claim 1 wherein: the driving mechanism comprises two groups of servo motors, each group of servo motors is connected with a driving wheel, and a plurality of universal wheels are arranged on the lower side of the chassis.

5. The spill-resistant robot of claim 1 wherein: the bearing part of the cup holder is an annular bearing bracket, a plurality of protruding arms are uniformly distributed on the periphery of the bearing bracket at intervals, the protruding arms are respectively bent downwards to form the supporting part, and the rotating mechanism is detachably connected with the bearing bracket.