CN113580169A

CN113580169A - Shock attenuation tray mechanism and delivery robot

Info

Publication number: CN113580169A
Application number: CN202110986351.4A
Authority: CN
Inventors: 何林; 唐旋来; 刘贤林
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-08-26
Filing date: 2021-08-26
Publication date: 2021-11-02
Anticipated expiration: 2041-08-26
Also published as: CN113580169B

Abstract

The invention relates to the technical field of robots, in particular to a damping tray mechanism and a distribution robot. The damping tray mechanism comprises a tray, a placing rack is arranged on the tray, a separable placing space is formed in the placing rack, articles to be delivered can be arranged in the placing space in a sliding limiting mode, a moving tray is arranged between the placing rack and the tray, the placing rack is arranged on the moving tray, the moving tray can horizontally move relative to the tray within a set moving range, and energy-consuming media are arranged between the moving tray and the tray and used for reducing moving inertia of the moving tray. According to the invention, the articles to be delivered are placed on the tray through the placing frame, the articles can be effectively limited in the placing space of the placing frame, and the placing frame can relatively move/float relative to the machine body frame of the robot by matching with the moving plate and the energy consumption medium, so that the articles can be effectively prevented from toppling over in the delivery process, and the buffering and shock absorption effects are increased.

Description

Shock attenuation tray mechanism and delivery robot

Technical Field

The invention relates to the technical field of robots, in particular to a damping tray mechanism and a distribution robot.

Background

With the rapid development of robotics, robots are increasingly used, for example, welcome robots, meal delivery robots, educational robots, biomimetic robots, and the like. The robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to principles formulated by artificial intelligence technology. With the emphasis of national macro strategy, the research of mobile robots in China has entered the unprecedented period. Various mobile robots gradually reflect the line of sight of people, and in the prior art, the mobile robots are various and basically meet the functions, but still have some defects.

The prior delivery robot uses a tray structure to place the objects to be delivered. Specifically, the robot is provided with an article rack, the article rack is used for placing drinks, and the article rack is used for placing articles such as cups, wine bottles and beverage bottles with regular shapes.

However, the commonly used trays are relatively simple in structure and do not ensure that the articles are stable enough to not topple over during the distribution process. For example, when the robot with a dinner plate is used for placing articles with higher gravity center and smaller bottom area, such as cups, the articles can topple over when passing through a bumpy road; when the robot suddenly stops, turns to a great extent and passes through a bumpy road surface, liquid in the cup-shaped container placed on the dinner plate risks being spilled.

Therefore, a shock absorbing tray mechanism is needed to solve the above technical problems.

Disclosure of Invention

The invention aims to provide a damping tray mechanism and a distribution robot, so that a placed object is not prone to toppling due to vibration when the robot vibrates, and the damping effect on the placed object in the distribution process is achieved.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a shock attenuation tray mechanism, includes the tray, be equipped with the rack on the tray, the separable space of placing has on the rack, and article slidable ground that need deliver is spacing to be located place in the space, the rack with be equipped with the removal dish between the tray, the rack props up and locates on the removal dish, the removal dish can be relative in setting for the migration within range the tray horizontal migration, the removal dish with be equipped with the power consumption medium between the tray and supply to reduce the removal inertia of removal dish.

As the preferable technical scheme, the placing frame comprises a bottom plate, a supporting rod is arranged on the bottom plate, a blocking frame is arranged on the top surface of the placing frame and is arranged at the top end of the supporting rod to form a frame type placing frame, and the article is limited by the blocking frame.

As the above-mentioned preferred technical solution, the blocking frame is in a square frame shape and includes at least one frame notch, the article is inserted and inserted through the frame notch and stands on the bottom plate, the partitioned placing space is formed by the frame notch, the size of the frame notch is adjustably set, and the height of the support rod is adjustably set.

As one preferable technical solution, a cushion layer is provided along an inner edge of the opening of the frame, and the cushion layer deforms when the article slides on the bottom plate and the surface of the article contacts the cushion layer.

As a preferable embodiment of the above, the upper surface of the bottom plate has a static friction coefficient of less than 0.5.

As the above preferred technical scheme, a sinking structure is arranged on the tray, the bottom plate of the placing frame is supported on the sinking structure, and the surface of the bottom plate or the top surface of the placing frame is flush with the surface of the tray.

As the above-mentioned preferred technical scheme, the sinking structure comprises a sinking opening formed in the surface of the tray, a sinking bracket is arranged at the sinking opening, a bottom plate of the placing rack is supported on the sinking bracket, and the floating plate is arranged between the bottom plate and the sinking bracket.

As a preferable technical solution, a movable assembly is disposed between the tray and the movable plate, and the movable plate is freely movable on the tray through the movable assembly.

As a preferred technical solution, a connection pivot is provided on the tray, the energy-consuming medium includes an elastic pulling member, the movable tray is connected with the connection pivot through the elastic pulling member, and the movable tray can slide in a reciprocating manner relative to the connection pivot; the tray further comprises a limiting plate, wherein the limiting plate is arranged between the bottom plate and the elastic traction piece and used for limiting the displacement of the elastic traction piece.

As the preferable technical scheme, the periphery of the bottom plate of the placing rack is distributed with a plurality of sliding fulcrums, the sliding fulcrums are in point-surface contact with the tray, the peripheral edge of the moving plate is provided with a convex wall edge, the connecting fulcrums are arranged in the wall edge on the periphery of the moving plate, a slidable space interval is arranged between the wall edge and the connecting fulcrums to form the set moving range, and the elastic traction piece is connected between the wall edge and the connecting fulcrums.

As a preferable technical solution, the plurality of sliding fulcrums are uniformly distributed around the bottom plate, and the movable assembly includes a universal ball disposed at each sliding fulcrum for making point-surface contact with the tray.

As a preferable aspect of the above, the movable tray and the tray are pulled by at least two elastic pulling members provided in different directions.

As a preferable technical solution, at least one central seat is provided on the tray, the connection fulcrum is provided on the central seat, and the elastic pulling member is connected to the central seat, wherein an enclosed space formed by all the elastic pulling members surrounds the central seat.

As a preferred technical solution, the movable plate is circular, the elastic pulling member is a spring, a tension spring or a gradual-change damping spring, the set movement range is a unilateral distance of 10mm to 150mm, and the elastic coefficient of the elastic pulling member is 0.01 to 0.03N/mm.

The invention also provides a distribution robot which comprises a machine body frame and the damping tray mechanism, wherein a plurality of layers of trays are arranged on the machine body frame at intervals up and down, and the placing frame is arranged on any layer of tray.

The beneficial effects of the invention include:

1) the article to be delivered is placed on the tray through the placing frame with the blocking frame, the article can be effectively limited by the blocking frame and can slide in the placing space formed by the blocking frame, and therefore the article (particularly the article with higher gravity center) is effectively prevented from falling in the delivery process;

2) the movable plate capable of moving horizontally relatively is arranged, so that articles placed on the robot tray are not fixed any more, but can move/float relatively to a frame of a robot body, and energy dissipation media are arranged between the movable plate and the tray, so that when the robot vibrates or suddenly stops or accelerates, the tray has a relative buffer stroke and a relative return stroke relative to the robot instead of a rigid sudden change of speed inertia, so that the inertial movement of the articles is greatly reduced, the fluid articles cannot spill out of the tray, and the efficiency and quality of robot distribution are effectively ensured;

3) the sliding limiting mode is simple in structure, good in moving effect and convenient to draw materials and assemble;

4) according to the elastic traction device, the plurality of elastic traction pieces are arranged between the wall edge of the movable disc and the connecting fulcrum, the moving inertia of an article is fully reduced through the elastic traction pieces, and the movable disc is automatically restored to the initial position through the elastic recovery of the elastic traction pieces. Furthermore, in the moving process, the elastic traction piece adopts a connection form of a multi-angle star-shaped structure and is matched with a set elastic coefficient, so that the moving disc is continuously subjected to multi-angle gradually-changed tension, the gradually-changed tension is in direct proportion to the deformation degree, and more important details are that more than one elastic traction piece is positioned at a certain angle, and the gradually-changed tension can not be invalid due to over-stretching or contraction of a certain elastic traction piece;

5) the elastic traction piece is provided with a plurality of elastic traction pieces which are arranged at the same angle, and the movable disc is provided with a plurality of hinged clamping ports;

6) the delivery robot of this application adopts foretell tray to put the thing and fall the structure, can make things convenient for the people to place article at the robot, and its stability of article after placing (especially bottled class drink, drinks etc.) has more showing the improvement than current simple placing means, has increased the robot and has transported the diversification of function, has improved the work efficiency of robot.

Drawings

FIG. 1 is a schematic view of the overall structure of the shock absorbing tray mechanism of the present invention;

FIG. 2 is a schematic top view of the structure corresponding to FIG. 1;

FIG. 3 is a schematic view of the overall structure of the shock absorbing tray mechanism with additional sinking brackets;

FIG. 4 is a side view of the structure corresponding to FIG. 3;

FIG. 5 is a schematic view of the overall structure of the sinking mode of the shock absorbing tray mechanism of the present invention;

FIG. 6 is a side view of the structure corresponding to FIG. 5;

FIG. 7 is a schematic structural view of the shock-absorbing tray mechanism of the present invention after the sinking brackets are hidden in the sinking mode;

FIG. 8 is a schematic plan view of the connection between a single floating disc and a connection fulcrum via an elastic pull member corresponding to FIG. 7;

FIG. 9 is a cross-sectional structural schematic view of a single floating disk in the shock absorbing tray mechanism of the present invention in cross section with the tray;

FIG. 10 is an enlarged schematic view corresponding to B in FIG. 9;

FIG. 11 is an enlarged schematic view corresponding to C in FIG. 9;

FIG. 12 is a cross-sectional structural schematic view of another cross-section of the shock absorbing tray mechanism of the present invention between a single floating tray and a tray;

FIG. 13 is a schematic cross-sectional view corresponding to E-E in FIG. 12;

fig. 14 is an overall schematic view of the shock absorbing tray mechanism of the present invention installed to a dispensing robot.

Reference numbers in the figures:

11. a blocking frame; 22. a tray; 33. a base plate; 44. a strut; 55. a frame notch; 66. a cushion layer; 77. sinking the opening; 88. sinking the bracket;

2. a movable tray; 3. connecting a fulcrum; 4. a sliding fulcrum; 5. an elastic pull member; 6. a universal ball; 7. a hinged nip; 8. a bolt;

98. a fuselage frame; 99. and (5) placing the shelf.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The prior delivery robot uses a tray structure to place the objects to be delivered. However, the commonly used trays are relatively simple in structure and do not ensure that the articles are stable enough to not topple over during the distribution process. In order to solve the above problem, the present embodiment provides a shock-absorbing tray mechanism, so that the placed objects (especially during distribution) are not easy to topple.

As shown in fig. 1 to 6, the application provides a shock attenuation tray mechanism, including tray 22, be equipped with rack 99 on the tray 22, the separable space of placing has on the rack 99, and article slidable ground that need the delivery is spacing to be located place in the space, rack 99 with be equipped with between the tray 22 and remove dish 2, rack 99 props up and locates on removing dish 2, it can be relative in setting for the moving range to remove dish 2 remove tray 22 horizontal migration, remove dish 2 with be equipped with the power consumption medium between the tray 22 and supply to subtract the removal inertia of removing the dish.

Hereinafter, each member of the present application will be described in detail.

In the first embodiment, the first embodiment proposes an implementable protection scheme for the tray and the rack:

as shown in fig. 1 to 4, in the present application, on the basis of placing an article by using the placing rack 99, a blocking frame 11 is further provided, and the article is limited by the blocking frame 11, so as to effectively prevent the article from toppling over. In addition, the articles can slide in the placing space in a limiting way, and the buffering and shock-absorbing effects in the distribution process are added to the articles.

Specifically, as shown in fig. 1 or fig. 3, the placing rack 99 includes a bottom plate 33, a supporting rod 44 is disposed on the bottom plate 33, a blocking frame 11 is disposed on the top surface of the placing rack 99, the blocking frame 11 is disposed on the top end of the supporting rod 44 to form a frame-type placing rack 99, and the article is limited by the blocking frame 11. The bottom plate 33 can be fixedly connected with the tray 22, or can be simply placed detachably, or the bottom plate 33 and the tray 22 are integrally and fixedly formed as one member. The height of the baffle frame 11 from the bottom plate 33 is in the range of 7.5cm to 14 cm.

In this embodiment, as shown in fig. 1 or fig. 2, the blocking frame 11 is in a square frame shape and includes at least one (two) frame slot 55, the articles are inserted through the frame slot 55 and stand on the bottom plate 33, and the placing space is formed by the frame slot 55. Thereby set up the space of placing of a plurality of frame notches 55 formation separation/branch row structure for when the many article of delivery, separate the article, avoid the damage that the front and back striking between the article caused.

Alternatively, the frame slot 55 may be adjustably sized and the height of the strut 44 may be adjustably set. The size of the upright post 44 is designed according to the height of the article (such as a cup body, a coffee cup, a goblet and other special cups); the spacing width of each adjacent row of the baffle frame 11 is correspondingly designed according to the size of the object (such as a cup body, a coffee cup, a goblet and other different cups). Thus, the barrier frame 11 can be applied to articles of different heights.

Further, in order to effectively cushion the placed object, in this embodiment, a cushion layer 66 is disposed along the inner edge of the frame notch 55 to abut against the surface of the object, when the object slides on the bottom plate 33 and the surface of the object contacts the cushion layer 66, the cushion layer 66 deforms, and the cushion layer 66 is a rubber strip. Thus, when the article slides in the placing space in a limiting way, effective buffering and shock absorption can be realized.

In order to facilitate the sliding of the objects during the distribution process, in this embodiment, the upper surface of the bottom plate 33 is paved with a plastic layer or a metal layer so that the upper surface of the bottom plate 33 is smooth for the sliding of the objects. The static coefficient of friction of the upper surface of the sole plate is less than 0.5.

After having the above structural features, as shown in fig. 1 to 4, the present application can be implemented as the following processes:

the baffle frame 11 is positioned at the upper part of the bottom plate 33 and is connected with the bottom plate through four upright posts 44. The baffle frame 11 is provided with at least one notch, the front edge and the rear edge of each notch are respectively fixed with a strip-shaped buffer cushion layer 66, and the left edge and the right edge of each notch can also be provided with the strip-shaped buffer cushion layer 66; because the robot mainly moves in the front-back direction to generate vibration in the running process, the robot is not easy to shake in the directions of two sides, and a strip-shaped buffer cushion layer 66 is not required to be arranged.

The containers a/b/c are placed on the bottom plate 33. Due to the smooth upper surface of the bottom plate 33, the containers a/b/c can slide back and forth on the bottom plate 33, hitting the bumper strips when sliding to the front and back sides, when the robot is accelerated or decelerated. The upper surface of the bottom plate 33 may be made of plastic, metal or other material with low friction coefficient, and the static friction coefficient between the upper surface of the bottom plate and the placed objects (such as containers a, cups and the like) is lower/less than 0.5.

The bottom plate 33 may be detachably placed on the tray 22, may be fixed to the tray 22, or may be a member integrally fixed to the tray 22.

Therefore, the articles placed on the tray can be effectively prevented from falling through the blocking frame.

After the implementation process is completed, the following characteristics of the application can be realized:

A. the structure is simple, the operation is convenient for users, and the design that the articles can slide on the bottom plate not only can realize the anti-falling function for the articles with different sizes, but also has certain vibration damping effect;

B. the baffle frame is provided with notches to form a separating/dividing structure, so that when a plurality of articles are delivered, the articles are separated and batched, and damage caused by front and back impact among the articles is avoided.

In a second embodiment, the present embodiment further provides a scheme for optimizing the setting position of the placement rack:

on the basis of the first embodiment, the present application further improves the arrangement manner of the rack on the tray 22, and the difference from the first embodiment is that,

as shown in fig. 3 and 4, a sinking structure is provided on the tray 22, and the bottom of the placing frame 99 is supported on the sinking structure, so that the bottom surface of the placing frame 99 is flush with the surface of the tray 22. Specifically, sunken structure is including seting up in the sunken mouthful 77 on tray 22 surface, sunken mouthful 77 department is equipped with the sunken support groove 88 of downward certain distance, bottom plate 33 of rack 99 props up and locates sunken support groove 88, floating disc 2 locates bottom plate 33 with between the sunken support groove 88, and then, rack 99 locates on tray 22 and bottom plate 33 with tray 22 parallel and level.

Either or both of the first and second substrates may be,

as shown in fig. 5 and 6, in this embodiment, a sinking structure is provided on the tray 22, and the bottom of the placing frame 99 is supported on the sinking structure, so that the top surface of the placing frame 99 is flush with the surface of the tray 22. Specifically, the sinking structure comprises a sinking port 77 formed in the surface of the tray 22, sinking brackets 88 completely hung on opposite sides of the sinking port 77, and a bottom plate 33 of the placement frame 99 is erected on the sinking brackets 88 and then the placement frame 99 is wholly sunk and hung on the tray 22.

Therefore, the sunken structure can prevent articles from toppling over, and the whole appearance of the tray is neat and attractive.

Other structures are basically the same as those of the first embodiment, and thus are not described herein.

In a third embodiment, the present embodiment further provides a floating improvement scheme for the tray and the rack:

on the basis of the first embodiment or the second embodiment, the supporting connection mode between the placing rack and the tray 22 is further improved, and the difference of the supporting connection mode with the first embodiment or the second embodiment is that,

as shown in fig. 1, 3, 4, and 7, in order to generate restorable floating displacement between the rack 99 and the tray 22 and to add a shock absorbing effect to the rack, the present embodiment adds the moving plate 2 between the rack 99 and the tray 22. The placing rack 99 is supported on the movable plate 2, and can be connected with each other.

The movable disc 2 can horizontally move relative to the tray 22 within a set moving range, and an energy consumption medium is arranged between the movable disc 2 and the tray 22 to reduce the moving inertia of the movable disc 2.

In this embodiment, the movable plate 2 can horizontally move within a set moving range relative to the tray 22, and is matched with the combined action of the energy consumption medium, so that the movable plate 2 is continuously subjected to the drawing force of the tray 22 in the moving process, thereby forming effective buffering, and can slowly return to the initial position, thereby effectively avoiding the fluid articles from being spilled out, and significantly improving the distribution quality and user experience of the robot. And, set up the low friction through the bottom plate upper surface, article on the movable plate can be when taking place the fuselage and rock, movable plate and movable plate take the whole removal that is in the same place of rack can reduce the fuselage and rock inertia, make the liquid level in the liquid container stable, if rock the condition aggravation, except the removal of movable plate, article can be at the bottom plate upper surface slip of rack, avoid the interior liquid level of article to spill, and when the accident scram incident appears, rock more acutely, the frame of rack can effectively keep off article slope, the protection article are stable.

Optionally, the energy consuming medium includes a movable assembly disposed between the tray 22 and the movable plate 2, and the movable plate 2 slides freely on the tray 22 through the movable assembly.

Alternatively, the movable plate 2 is in direct contact with the tray 22 and the movable plate is relatively movable with respect to the tray 22, wherein the contact surface between the movable plate and the tray 22 forms the energy consuming medium. By setting the surface roughness between the moving tray and the tray 22, the moving tray is made movable on the base tray, and the moving range is made within the set moving range. Alternatively, this is achieved by using acrylic sheet material on the surface of the moving plate.

Hereinafter, a specific structural relationship between the movable tray 2 and the tray 22 according to the present invention will be described in detail.

As shown in fig. 7, a connection fulcrum 3 is fixedly arranged on the tray 22, four sliding fulcrums 4 are uniformly distributed on the lower surface of the bottom plate 33 of the placing rack 99 and are slidably arranged on the tray 22 through the sliding fulcrums 4, the energy dissipation medium includes an elastic pulling piece 5, the movable tray 2 is connected with the connection fulcrum 3 through the elastic pulling piece 5, the movable tray 2 can slide in a reciprocating manner relative to the connection fulcrum 3, and the movable assembly is mounted through the sliding fulcrums 4 or the connection fulcrum 3.

As shown in fig. 7, the protection spring is pulled out by providing a limit plate 51 between the base plate 33 and the elastic pulling member 5 for limiting the displacement of said elastic pulling member. Optionally, limiting plate 51 is equipped with connects spacing portion and spacing, connects spacing portion and passes the bottom plate, and spacing is restricted through connecting spacing portion and the displacement of vertical direction, and optionally, this embodiment is through setting up the spacing of three different angles, and the all-round user that prevents upwards lifts, damages elasticity tractive spare.

In this embodiment, as shown in fig. 8 and 9, the peripheral edge of the moving plate 2 has a protruding wall edge, the moving plate 2 is inversely covered on the tray 22, the sliding fulcrum 4 and the tray 22 form a point-surface contact, the connecting fulcrum 3 is fixedly disposed at the center or both sides of the tray 22 and is placed in the wall edge around the moving plate 2, a slidable space interval is formed between the wall edge and the connecting fulcrum 3 to form the set moving range, and the elastic pulling member 5 is connected between the wall edge and the connecting fulcrum 3.

As shown in fig. 8, 12 and 13, the movable assembly includes a universal ball 6 disposed at each of the sliding fulcrums 4 for making point-surface contact with the tray 22.

Therefore, the movable disc 2 can slide in a point-surface contact manner by arranging the universal ball 6 on the sliding fulcrum 4, so that the movable disc 2 can fully move along with the inertia of the article, and the wall edge of the movable disc 2 and the connecting fulcrum 3 form a set moving range to limit the movement of the movable disc 2.

Alternatively, as shown in fig. 8, the tray 22 comprises a central seat on which the connection fulcrum 3 is located, and the elastic traction members 5 are connected with the central seat, wherein all the enclosed spaces formed by the elastic traction members 5 surround the central seat. So that in the moving process, the central seat is wrapped by the elastic traction piece 5 to avoid impacting the wall edge, and further the buffer effect is achieved.

In order to achieve an optimal damping effect of the mobile disc 2 during the movement, in a further elaboration, in the present embodiment elastic traction elements 5 are provided, provided with different connection forms, as will be described in detail below.

The mobile disc 2 and the tray 22 are pulled by at least two elastic pulling members 5 arranged in different directions. More preferably, the mobile disc 2 and the tray 22 are pulled by a plurality of elastic pulls 5 in at least three directions. More specifically, three elastic traction pieces 5 arranged along three directions are uniformly distributed on the circumferential surface between the wall edge and the connecting fulcrum 3.

For uniform stress, as shown in fig. 8 and 13, in this embodiment, three disk connection points a1/a2/A3 are uniformly distributed along the inner circumferential surface of the wall edge, two adjacent disk connection points are spaced 120 ° apart from each other, three seat connection points B1/B2/B3 are uniformly distributed along the outer circumferential surface of the connection fulcrum 3, two adjacent seat connection points are spaced 120 ° apart from each other, six elastic pulling members 5 are distributed between the wall edge and the connection fulcrum 3, one ends of two adjacent elastic pulling members 5 are respectively connected to three disk connection points a1/a2/A3 in a converging manner, the other ends of two adjacent elastic pulling members 5 are respectively connected to any two seat connection points B1/B2 or B2/B3 or B3/B1 in a diffusing manner, an included angle α between two adjacent elastic pulling members 5 is 30 °, the six elastic traction pieces 5 are connected with each other to form a triangular star-shaped structure.

Preferably, the movable plate 2 and the tray 22 are both circular, the elastic pulling member 5 is a spring or a tension spring or a gradual damping spring, the set moving range is a single side movable distance of 10mm to 150mm at most, because the whole length of the robot tray is about 500mm, if the movable distance is too large, the tray will be extended too much, which may cause the collision of pedestrians or objects; if the movable distance is too small, the shock absorption effect cannot be achieved. Preferably, the movement range is set to be about 30mm optimally, so that the damping effect of common weight objects (such as cup-shaped beverages) is ensured, and the obstacle avoidance effect of the robot is not influenced. Optionally, the elastic modulus of the elastic traction element 5 is 0.01 to 0.03N/mm, preferably 0.012N/mm.

Meanwhile, as shown in fig. 9 to 11, hinge jaws 7 are respectively disposed at the disk connection point a1/a2/A3 and the seat connection point B1/B2/B3, the elastic pulling member 5 is fastened to the hinge jaw 7 by a bolt 8, and the elastic pulling member 5 is pressed and deformed by the hinge jaw 7. Therefore, the ends of the two elastic traction pieces 5 at the same angle are fully closed by extruding the deformed elastic traction pieces 5 through the bolts 8, so that when the connecting fulcrum 3 collides with the wall edge of the movable plate 2, the hard collision can be fully avoided, and the impact force is reduced. As shown in FIG. 13, the width of the hinged jaw 7 at the disk connection point A1/A2/A3 is a, and the width of the hinged jaw 7 at the seat connection point B1/B2/B3 is B.

Therefore, in the process of inertial movement of the movable disc 2, because the elastic traction piece 5 adopts the connection form of a multi-angle star structure and is matched with the set elastic coefficient, the movable disc 2 continuously receives multi-angle gradual change traction force, the gradual change traction force is in direct proportion to the deformation degree, and more important details are that more than one elastic traction piece 5 is positioned at a certain angle, and the gradual change traction force cannot be invalid due to over stretching or contraction of a certain elastic traction piece 5.

After having above-mentioned structural feature, this application tray mechanism when practical application, its specific process includes:

the entire tray mechanism can be placed on the robot tray, and the tray 22 can be placed stably, can be connected and fixed with the tray, and can not be fixed. After being stably placed, the placing frame 99 may be directly placed on the upper surface of the moving tray 2. Therefore, when the robot shakes or suddenly stops or suddenly accelerates, the tray 22 changes the motion state together with the robot, and the moving tray 2 moves with the article by inertia, and no matter inertia is performed in any direction, in the moving process of the moving tray 2, the elastic traction piece 5 generates gradually changed traction force due to the deformation degree, and further, the larger the moving distance is, the larger the generated traction force is, so that the inertia kinetic energy of the moving tray 2, the placing rack 99 and the articles thereof is sufficiently reduced by the elastic traction piece 5, and the moving tray 2 finally returns to the initial position due to the self deformation recovery capability of the elastic traction piece 5.

After the implementation process is completed, the following technical advantages of the embodiment should be realized:

the whole structure belongs to the optimal mode of technicians in the field, and is good in all aspects such as material selection, cost, disassembly and assembly, actual effect and the like.

In a fourth embodiment, the present invention provides another connection structure form of the elastic pulling member:

on the basis of the third embodiment, in order to pull the movable disk 2 more completely, the present embodiment proposes a further connection form of the elastic pulling member, and the difference from the fourth embodiment is that four elastic pulling members 5 arranged along four directions are uniformly distributed on the circumferential surface between the wall edge and the connection fulcrum 3.

Specifically, in this embodiment, four disk connection points a1/a2/A3/a4 are uniformly distributed along the inner circumferential surface of the wall edge, two adjacent disk connection points are spaced from each other by 90 °, four seat connection points B1/B2/B3/B4 are uniformly distributed along the outer circumferential surface of the connection fulcrum 3, two adjacent seat connection points are spaced from each other by 90 °, eight elastic pulling members 5 are distributed between the wall edge and the connection fulcrum 3, one ends of the two elastic pulling members 5 relatively close to the two adjacent seat connection points are respectively connected to the four disk connection points a1/a2/A3/a4 in a converging manner, the other ends of the two elastic pulling members 5 relatively close to the two adjacent seat connection points B1/B2 or B2/B3 or B3/B4 or B4/B1 in a diffusing manner, an included angle β between the two elastic pulling members 5 relatively close to the adjacent seat connection points is 60 °, the eight elastic traction pieces 5 are connected with each other to form a four-corner star-shaped structure.

Due to the variation of this connection form, it should be easily understood by those skilled in the art that a specific illustration is not given in this embodiment. However, it is obvious that this connection form of the present embodiment is structurally more finely distributed than the first embodiment, and in terms of application effect, the force applied to the moving plate 2 is more uniform.

Other structures of this embodiment are basically the same as those of this embodiment, and therefore, detailed descriptions thereof are omitted.

In a fifth embodiment, the present embodiment further provides a preferred protection scheme for the shock absorbing tray mechanism:

as shown in fig. 1 to 6, the application provides a shock attenuation tray mechanism, including tray 22, be equipped with rack 99 on the tray 22, the separable space of placing has on the rack 99, and article slidable ground that need the delivery is spacing to be located place in the space, rack 99 with be equipped with between the tray 22 and remove dish 2, rack 99 props up and locates on removing dish 2, it can be relative in setting for the moving range to remove dish 2 remove tray 22 horizontal migration, remove dish 2 with be equipped with the power consumption medium between the tray 22 and supply to subtract the removal inertia of removing the dish. As shown in fig. 1 to 4, in the present application, on the basis of placing an article by using the placing rack 99, a blocking frame 11 is further provided, and the article is limited by using the blocking frame 11, so as to effectively prevent the article from toppling over. In addition, the articles can slide in the placing space in a limiting way, and the buffering and shock-absorbing effects in the distribution process are added to the articles. Specifically, as shown in fig. 1 or fig. 3, the placing rack 99 includes a bottom plate 33, a supporting rod 44 is disposed on the bottom plate 33, a blocking frame 11 is disposed on the top surface of the placing rack 99, the blocking frame 11 is disposed on the top end of the supporting rod 44 to form a frame-type placing rack 99, and the article is limited by the blocking frame 11. The bottom plate 33 can be fixedly connected with the tray 22, or can be simply placed detachably, or the bottom plate 33 and the tray 22 are integrally and fixedly formed as one member. In this embodiment, as shown in fig. 1 or fig. 2, the blocking frame 11 is in a square frame shape and includes at least one (two) frame slot 55, the articles are inserted through the frame slot 55 and stand on the bottom plate 33, and the placing space is formed by the frame slot 55. Thereby set up the space of placing of a plurality of frame notches 55 formation separation/branch row structure for when the many article of delivery, separate the article, avoid the damage that the front and back striking between the article caused. The frame slot 55 is adjustably sized and the height of the strut 44 is adjustably set. The size of the upright post 44 is designed according to the height of the article (such as a cup body, a coffee cup, a goblet and other special cups); the spacing width of each adjacent row of the baffle frame 11 is correspondingly designed according to the size of the object (such as a cup body, a coffee cup, a goblet and other different cups). Thus, the barrier frame 11 can be applied to articles of different heights. Further, in order to achieve effective buffering for the placed object, in this embodiment, a buffer layer 66 is disposed along the inner edge of the frame notch 55, when the object slides on the bottom plate 33 and the surface of the object contacts the buffer layer 66, the buffer layer 66 deforms, and the buffer layer 66 is a rubber strip. Thus, when the article slides in the placing space in a limiting way, effective buffering and shock absorption can be realized. In order to facilitate the sliding of the objects during the distribution process, in this embodiment, the upper surface of the bottom plate 33 is paved with a plastic layer or a metal layer so that the upper surface of the bottom plate 33 is smooth for the sliding of the objects. The static coefficient of friction of the upper surface of the sole plate is less than 0.5. As shown in fig. 3 and 4, a sinking structure is provided on the tray 22, and the bottom of the placing frame 99 is supported on the sinking structure, so that the bottom surface of the placing frame 99 is flush with the surface of the tray 22. Specifically, sunken structure is including seting up in the sunken mouthful 77 on tray 22 surface, sunken mouthful 77 department is equipped with the sunken support groove 88 of downward certain distance, bottom plate 33 of rack 99 props up and locates sunken support groove 88, floating disc 2 locates bottom plate 33 with between the sunken support groove 88, and then, rack 99 locates on tray 22 and bottom plate 33 with tray 22 parallel and level. Or, as shown in fig. 5 and fig. 6, in this embodiment, a sinking structure is provided on the tray 22, and the bottom of the placing frame 99 is supported on the sinking structure, so that the top surface of the placing frame 99 is flush with the surface of the tray 22. Specifically, the sinking structure comprises a sinking port 77 formed in the surface of the tray 22, sinking brackets 88 completely hung on opposite sides of the sinking port 77, and a bottom plate 33 of the placement frame 99 is erected on the sinking brackets 88 and then the placement frame 99 is wholly sunk and hung on the tray 22. As shown in fig. 1, 3, 4, and 7, in order to generate restorable floating displacement between the rack 99 and the tray 22 and to add a shock absorbing effect to the rack, the present embodiment adds the moving plate 2 between the rack 99 and the tray 22. The placing rack 99 is supported on the movable plate 2, and can be connected with each other. The movable disc 2 can horizontally move relative to the tray 22 within a set moving range, and an energy consumption medium is arranged between the movable disc 2 and the tray 22 to reduce the moving inertia of the movable disc 2. In this embodiment, the movable plate 2 can horizontally move within a set moving range relative to the tray 22, and is matched with the combined action of the energy consumption medium, so that the movable plate 2 is continuously subjected to the drawing force of the tray 22 in the moving process, thereby forming effective buffering, and can slowly return to the initial position, thereby effectively avoiding the fluid articles from being spilled out, and significantly improving the distribution quality and user experience of the robot. Optionally, the energy consuming medium includes a movable assembly disposed between the tray 22 and the movable plate 2, and the movable plate 2 slides freely on the tray 22 through the movable assembly. Alternatively, the movable plate 2 is in direct contact with the tray 22 and the movable plate is relatively movable with respect to the tray 22, wherein the contact surface between the movable plate and the tray 22 forms the energy consuming medium. By setting the surface roughness between the moving tray and the tray 22, the moving tray is made movable on the base tray, and the moving range is made within the set moving range. Alternatively, this is achieved by using acrylic sheet material on the surface of the moving plate. Hereinafter, a specific structural relationship between the movable tray 2 and the tray 22 according to the present invention will be described in detail. As shown in fig. 7, a connection fulcrum 3 is fixedly arranged on the tray 22, four sliding fulcrums 4 are uniformly distributed on the lower surface of the bottom plate 33 of the placing rack 99 and are slidably arranged on the tray 22 through the sliding fulcrums 4, the energy dissipation medium includes an elastic pulling piece 5, the movable tray 2 is connected with the connection fulcrum 3 through the elastic pulling piece 5, the movable tray 2 can slide in a reciprocating manner relative to the connection fulcrum 3, and the movable assembly is mounted through the sliding fulcrums 4 or the connection fulcrum 3. In this embodiment, as shown in fig. 8 and 9, the peripheral edge of the moving plate 2 has a protruding wall edge, the moving plate 2 is inversely covered on the tray 22, the sliding fulcrum 4 and the tray 22 form a point-surface contact, the connecting fulcrum 3 is fixedly disposed at the center or both sides of the tray 22 and is placed in the wall edge around the moving plate 2, a slidable space interval is formed between the wall edge and the connecting fulcrum 3 to form the set moving range, and the elastic pulling member 5 is connected between the wall edge and the connecting fulcrum 3. As shown in fig. 8, 12 and 13, the movable assembly includes a universal ball 6 disposed at each of the sliding fulcrums 4 for making point-surface contact with the tray 22. Therefore, the movable disc 2 can slide in a point-surface contact manner by arranging the universal ball 6 on the sliding fulcrum 4, so that the movable disc 2 can fully move along with the inertia of the article, and the wall edge of the movable disc 2 and the connecting fulcrum 3 form a set moving range to limit the movement of the movable disc 2. Alternatively, as shown in fig. 8, the tray 22 comprises a central seat on which the connection fulcrum 3 is located, and the elastic traction members 5 are connected with the central seat, wherein all the enclosed spaces formed by the elastic traction members 5 surround the central seat. So that in the moving process, the central seat is wrapped by the elastic traction piece 5 to avoid impacting the wall edge, and further the buffer effect is achieved. In order to achieve an optimal damping effect of the mobile disc 2 during the movement, in a further elaboration, in the present embodiment elastic traction elements 5 are provided, provided with different connection forms, as will be described in detail below. The mobile disc 2 and the tray 22 are pulled by at least two elastic pulling members 5 arranged in different directions. More preferably, the mobile disc 2 and the tray 22 are pulled by a plurality of elastic pulls 5 in at least three directions. More specifically, three elastic traction pieces 5 arranged along three directions are uniformly distributed on the circumferential surface between the wall edge and the connecting fulcrum 3. For uniform stress, as shown in fig. 8 and 13, in this embodiment, three disk connection points a1/a2/A3 are uniformly distributed along the inner circumferential surface of the wall edge, two adjacent disk connection points are spaced 120 ° apart from each other, three seat connection points B1/B2/B3 are uniformly distributed along the outer circumferential surface of the connection fulcrum 3, two adjacent seat connection points are spaced 120 ° apart from each other, six elastic pulling members 5 are distributed between the wall edge and the connection fulcrum 3, one ends of two adjacent elastic pulling members 5 are respectively connected to three disk connection points a1/a2/A3 in a converging manner, the other ends of two adjacent elastic pulling members 5 are respectively connected to any two seat connection points B1/B2 or B2/B3 or B3/B1 in a diffusing manner, an included angle α between two adjacent elastic pulling members 5 is 30 °, the six elastic traction pieces 5 are connected with each other to form a triangular star-shaped structure. Preferably, the movable plate 2 and the tray 22 are both circular, the elastic pulling member 5 is a spring or a tension spring or a gradual damping spring, the set moving range is a single side movable distance of 10mm to 150mm at most, because the whole length of the robot tray is about 500mm, if the movable distance is too large, the tray will be extended too much, which may cause the collision of pedestrians or objects; if the movable distance is too small, the shock absorption effect cannot be achieved. Preferably, the movement range is set to be about 30mm optimally, so that the damping effect of common weight objects (such as cup-shaped beverages) is ensured, and the obstacle avoidance effect of the robot is not influenced. Optionally, the elastic modulus of the elastic traction element 5 is 0.01 to 0.03N/mm, preferably 0.012N/mm. Meanwhile, as shown in fig. 9 to 11, hinge jaws 7 are respectively disposed at the disk connection point a1/a2/A3 and the seat connection point B1/B2/B3, the elastic pulling member 5 is fastened to the hinge jaw 7 by a bolt 8, and the elastic pulling member 5 is pressed and deformed by the hinge jaw 7. Therefore, the ends of the two elastic traction pieces 5 at the same angle are fully closed by extruding the deformed elastic traction pieces 5 through the bolts 8, so that when the connecting fulcrum 3 collides with the wall edge of the movable plate 2, the hard collision can be fully avoided, and the impact force is reduced. As shown in FIG. 13, the width of the hinged jaw 7 at the disk connection point A1/A2/A3 is a, and the width of the hinged jaw 7 at the seat connection point B1/B2/B3 is B. Therefore, in the process of inertial movement of the movable disc 2, because the elastic traction piece 5 adopts the connection form of a multi-angle star structure and is matched with the set elastic coefficient, the movable disc 2 continuously receives multi-angle gradual change traction force, the gradual change traction force is in direct proportion to the deformation degree, and more important details are that more than one elastic traction piece 5 is positioned at a certain angle, and the gradual change traction force cannot be invalid due to over stretching or contraction of a certain elastic traction piece 5.

This implementation provides a collection of all the preferred modes of the first embodiment, which facilitates implementation in the field as the best collection mode.

Sixth embodiment, this embodiment also proposes a product application scheme of a shock attenuation tray mechanism:

as shown in fig. 14, the present embodiment further provides a robot, which includes a body frame 98 and the above-mentioned shock-absorbing tray mechanism, wherein multiple layers of the trays 22 are installed on the body frame 98 at intervals, and the placing frame 99 is arranged on any layer of the trays 22.

The delivery robot of this application adopts foretell tray to put the thing and fall the structure, can make things convenient for the people to place article at the robot, and its stability of article after placing (especially bottled class drink, drinks etc.) has more showing the improvement than current simple placing means, has increased the robot and has transported the diversification of function, has improved the work efficiency of robot.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The utility model provides a shock attenuation tray mechanism, its characterized in that, includes the tray, be equipped with the rack on the tray, but have the partitioned space of placing on the rack, article slidable ground that need deliver is spacing to be located place in the space, the rack with be equipped with the removal dish between the tray, the rack props up and locates on the removal dish, it can be relative in setting for the migration within range the tray horizontal migration to remove the dish, remove the dish with be equipped with the power consumption medium between the tray and for reducing the removal inertia of removal dish.

2. The shock absorbing tray mechanism as claimed in claim 1, wherein the placing frame comprises a bottom plate, a supporting rod is arranged on the bottom plate, a blocking frame is arranged on the top surface of the placing frame, the blocking frame is arranged on the top end of the supporting rod to form a frame type placing frame, and the article is limited by the blocking frame.

3. The shock absorbing tray mechanism according to claim 2, wherein the blocking frame is shaped like a square frame and includes at least one frame slot through which the article is inserted and stood on the bottom plate, the partitioned placing space is formed by the frame slot, the size of the frame slot is adjustably set, and the height of the supporting rod is adjustably set.

4. The vibration dampening tray mechanism of claim 3 wherein a cushion layer is provided along the inner edge of the frame slot, the cushion layer deforming when the article slides on the base plate and the surface of the article contacts the cushion layer.

5. The shock absorbing tray mechanism of claim 4 wherein the static coefficient of friction of the upper surface of the bottom plate is less than 0.5.

6. The shock-absorbing tray mechanism according to claim 1, wherein a sinking structure is provided on the tray, the bottom plate of the placing frame is supported on the sinking structure, and the surface of the bottom plate or the top surface of the placing frame is flush with the surface of the tray.

7. The shock-absorbing tray mechanism according to claim 6, wherein the sinking structure comprises a sinking opening arranged on the surface of the tray, a sinking bracket is arranged at the sinking opening, the bottom plate of the placing rack is supported on the sinking bracket, and the floating tray is arranged between the bottom plate and the sinking bracket.

8. The shock absorbing tray mechanism of claim 1 wherein a movable assembly is provided between said tray and said movable tray, said movable tray being freely movable on said tray by said movable assembly.

9. The shock-absorbing tray mechanism according to claim 8, wherein a connecting pivot is provided on the tray, the energy-consuming medium includes an elastic pulling member, the movable tray is connected to the connecting pivot through the elastic pulling member, and the movable tray is capable of sliding reciprocally with respect to the connecting pivot;

the tray further comprises a limiting plate, and the limiting plate is arranged between the bottom plate and the elastic traction piece and used for limiting the displacement of the elastic traction piece.

10. The shock-absorbing tray mechanism according to claim 9, wherein a plurality of sliding fulcrums are distributed around the bottom plate of the placing rack, the sliding fulcrums are in point-surface contact with the tray, a protruded wall edge is arranged on the peripheral edge of the moving disk, the connecting fulcrums are arranged in the wall edge around the moving disk, a slidable space interval is arranged between the wall edge and the connecting fulcrums to form the set moving range, and the elastic pulling member is connected between the wall edge and the connecting fulcrums.

11. The shock absorbing tray mechanism of claim 10 wherein a plurality of said sliding fulcrums are evenly distributed around said bottom plate, and said movable assembly includes a ball gimbal disposed at each of said sliding fulcrums for point-to-surface contact with said tray.

12. The shock absorbing tray mechanism of claim 10 wherein said moving tray and said tray are pulled by at least two said elastic pulls disposed in different directions.

13. The shock absorbing tray mechanism of claim 12 wherein said tray has at least one central seat, said connection pivot is located on said central seat, said elastic pulling member is connected to said central seat, and wherein all of said elastic pulling member forms an enclosure around said central seat.

14. The tray mechanism as claimed in any one of claims 12 to 13, wherein the movable tray is circular, the elastic pulling member is a spring, a tension spring or a gradual damping spring, the predetermined moving range is a single side distance of 10mm to 150mm, and the elastic coefficient of the elastic pulling member is 0.01-0.03N/mm.

15. A dispensing robot comprising a body frame and a shock absorbing tray mechanism as claimed in any one of claims 1 to 14, wherein a plurality of said trays are mounted on said body frame at intervals up and down, and said rack is provided on any one of said plurality of said trays.