CN113580169B

CN113580169B - Shock attenuation tray mechanism and delivery robot

Info

Publication number: CN113580169B
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: 2023-06-06
Anticipated expiration: 2041-08-26
Also published as: CN113580169A

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, wherein a placing frame is arranged on the tray, a placing space capable of being separated is formed in the placing frame, articles to be distributed are slidably and limitedly arranged in the placing space, a moving tray is arranged between the placing frame and the tray, the placing frame is arranged on the moving tray in a supporting mode, the moving tray can horizontally move relative to the tray in a set moving range, and energy consumption media are arranged between the moving tray and the tray so as to reduce moving inertia of the moving tray. According to the invention, the articles to be distributed are placed on the tray through the placing rack, the articles can be effectively limited in the placing space of the placing rack, and the placing rack can relatively move/float relative to the robot body rack by matching with the moving tray and the energy-consuming medium, so that the articles can be effectively ensured not to fall down in the distribution process, and the buffering and damping 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 rapid development of robot technology, robots are increasingly used, such as greeting robots, meal delivery robots, educational robots, biomimetic robots, and the like. The robot is a machine device for automatically executing work, can accept human command, can run a pre-programmed program and can act according to the principle formulated by artificial intelligence technology. With the importance of national macro strategy, the research of mobile robots in China has entered an unprecedented period. Various mobile robots are gradually reflected in the line of sight of people, and in the prior art, the mobile robots are various and basically meet the functions, but some defects still exist.

At present, the dispensing robot utilizes a tray structure to place articles to be dispensed. 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, beverage bottles and the like with regular shapes.

However, the tray structure of the conventional arrangement is relatively simple, and cannot ensure that the articles are sufficiently stable during the distribution process without toppling. For example, articles with higher center of gravity and smaller bottom area such as cups are placed on a dinner plate carried by a robot, and toppling occurs when the articles pass through a bumpy road; when the robot suddenly stops, turns to a large extent and passes over a bumpy road, the liquid in the cup-shaped container placed on the dinner plate risks being spilled.

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

Disclosure of Invention

The invention aims to provide a damping tray mechanism and a dispensing robot, so that when the robot vibrates, a placed object is not easy to topple over due to vibration, and the damping tray mechanism has a damping effect on the placed object in the dispensing process.

To achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a shock attenuation tray mechanism, including the tray, be equipped with the rack on the tray, but have the spaced place on the rack, the article that needs the delivery is slideable spacing to be located in the place space, the rack with be equipped with the movable tray between the tray, the rack prop up to be located on the movable tray, the movable tray can be in setting for the movable range relatively tray horizontal migration, the movable tray with be equipped with energy consumption medium between the tray for reduce the removal inertia of movable tray.

As an optimized technical scheme, the placement frame comprises a bottom plate, a supporting rod is arranged on the bottom plate, a baffle frame is arranged on the top surface of the placement frame, the baffle frame is arranged on the top end of the supporting rod to form a frame-type placement frame, and the article is limited through the baffle frame.

As a preferred technical scheme, the baffle frame is square and comprises at least one frame notch, the article is inserted and arranged to pass through the frame notch and stand on the bottom plate, the separated placing space is formed through the frame notch, the size of the frame notch is arranged in an adjustable mode, and the height of the supporting rod is arranged in an adjustable mode.

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

As a preferable solution, the static friction coefficient of the upper surface of the bottom plate is lower than 0.5.

As a preferable technical scheme, the tray is provided with a sinking structure, the bottom plate of the placing rack is supported on the sinking structure, and then the surface of the bottom plate or the top surface of the placing rack is flush with the surface of the tray.

As an preferable 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 arranged on the sinking bracket in a supporting mode, and the moving plate is arranged between the bottom plate and the sinking bracket.

As one preferable technical scheme, a movable assembly is arranged between the tray and the movable disc, and the movable disc freely moves on the tray through the movable assembly.

As a preferable technical scheme, the tray is provided with a connecting pivot, the energy dissipation medium comprises an elastic traction piece, the movable disc is connected with the connecting pivot through the elastic traction piece, and the movable disc can slide back and forth relative to the connecting 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 an preferable technical scheme, a plurality of sliding fulcra are distributed around the bottom plate of the placement frame, the sliding fulcra are in point-to-surface contact with the tray, raised skirts are arranged on the periphery of the movable tray, the connecting fulcra are arranged in the skirts around the movable tray, slidable space intervals are arranged between the skirts and the connecting fulcra to form the set moving range, and the elastic traction piece is connected between the skirts and the connecting fulcra.

As an preferable solution, the sliding fulcra are uniformly distributed around the bottom plate, and the movable assembly includes a universal ball disposed at each sliding fulcra for point-to-surface contact with the tray.

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

As an preferable technical scheme, the tray is provided with at least one center seat, the connecting pivot is arranged on the center seat, and the elastic traction piece is connected with the center seat, wherein an enclosed space formed by all the elastic traction pieces surrounds the center seat.

As an preferable technical scheme, the movable disc is circular, the elastic traction piece is a spring or a tension spring or a gradual change damping spring, the set movement range is that the unilateral distance is 10mm to 150mm, and the elastic coefficient of the elastic traction piece is 0.01-0.03N/mm.

The invention also provides a dispensing 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 rack is arranged on any layer of tray.

The beneficial effects of the invention include:

1) According to the rack, the articles to be distributed are placed on the tray through the placement frame with the baffle frame, the articles can be effectively limited by the baffle frame and can slide in the placement space formed by the baffle frame, so that the articles (particularly articles with higher gravity centers) can be effectively prevented from falling in the distribution process;

2) According to the method, the moving disc capable of moving horizontally relatively is arranged, so that articles placed on the robot tray are not fixed but can move/float relatively to the machine frame of the robot, and energy-consuming mediums are further arranged between the moving disc and the tray, so that when the robot shakes or scrubs or accelerates suddenly, the tray has a relative buffer stroke and a relative return stroke rather than hard sudden changes of speed inertia relatively to the robot, and therefore, the inertial movement of the articles is greatly reduced, fluid articles cannot spill out of the tray, and the distribution efficiency and quality of the robot are effectively guaranteed;

3) According to the sliding limiting type, the universal ball is arranged on the sliding fulcrum, so that the movable disc can realize point-surface contact sliding, the movable disc can move with the inertia of an article fully, a set moving range is formed by the wall edge of the movable disc and the connecting fulcrum to limit the movement of the movable disc, and the sliding limiting type is simple in structure, good in moving effect and convenient to draw materials and assemble;

4) According to the movable disc, the plurality of elastic traction pieces are arranged between the wall edges of the movable disc and the connecting fulcra, the moving inertia of the article is sufficiently reduced through the elastic traction pieces, and the movable disc is automatically restored to the initial position by utilizing elastic recovery of the elastic traction pieces. Furthermore, in the moving process, as the elastic traction piece adopts a connection form of a polygonal star-shaped structure and is matched with a set elastic coefficient, the moving disc is continuously subjected to gradual change pulling force of multiple angles, the gradual change pulling force is in direct proportion to the deformation degree, more important details are that more than one elastic traction piece is positioned at a certain angle, and the gradual change pulling force is not invalid due to excessive stretching or shrinkage of a certain elastic traction piece;

5) According to the elastic traction piece and the movable disc hinge clamp, the bolts are further arranged at the hinge clamp openings of the elastic traction piece and the movable disc to extrude the deformed elastic traction piece, so that the end parts of the two elastic traction pieces at the same angle are fully gathered, and when the connecting support point collides with the wall edge of the movable disc, rigid collision can be fully avoided, and the impact force is reduced;

6) The distribution robot of this application adopts foretell tray to put thing structure of falling, can make things convenient for the people to place article at the robot, and its stability of (especially bottled class drink, drinks etc.) article after placing has shown the improvement than current simple mode of placing, has increased the diversification of robot transport 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 of the present invention with the addition of a sink bracket;

FIG. 4 is a schematic 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 schematic side view of the structure corresponding to FIG. 5;

FIG. 7 is a schematic view of the structure of the shock absorbing tray mechanism of the present invention after the sinking bracket is hidden in the sinking mode;

FIG. 8 is a schematic plan view of a connection between a single movable disk and a connection fulcrum through an elastic traction member corresponding to FIG. 7;

FIG. 9 is a schematic cross-sectional view of a shock absorbing tray mechanism of the present invention in cross-section between a single movable tray and a tray;

fig. 10 is an enlarged schematic view of the structure corresponding to B in fig. 9;

fig. 11 is an enlarged schematic view of the structure corresponding to C in fig. 9;

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

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

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

Reference numerals in the drawings:

11. a blocking frame; 22. a tray; 33. a bottom plate; 44. a support rod; 55. a frame notch; 66. a cushion layer; 77. a sinking port; 88. a sinking bracket;

2. a moving tray; 3. a connecting fulcrum; 4. a sliding fulcrum; 5. an elastic pulling member; 6. a universal ball; 7. a hinged clamping opening; 8. a bolt;

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

Detailed Description

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

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

At present, the dispensing robot utilizes a tray structure to place articles to be dispensed. However, the tray structure of the conventional arrangement is relatively simple, and cannot ensure that the articles are sufficiently stable during the distribution process without toppling. In order to solve the above-mentioned problems, a shock absorbing tray mechanism is provided in the present embodiment so that the placed object (particularly during the dispensing process) is not easy to topple over.

As shown in fig. 1 to 6, the present application provides a damping tray mechanism, including tray 22, be equipped with rack 99 on the tray 22, but have the spaced place space on the rack 99, the article that needs the delivery is slideable spacing to be located in the place space, rack 99 with be equipped with between the tray 22 and remove dish 2, rack 99 props up and locates on the removal dish 2, remove dish 2 can be in setting for the movable range relatively tray 22 horizontal migration, remove dish 2 with be equipped with energy consumption medium between the tray 22 for reduce remove inertia of removal dish.

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

First, the embodiment firstly proposes an implementation protection scheme for a tray and a rack:

as shown in fig. 1 to 4, the present application further sets a blocking frame 11 on the basis of placing articles by using the placement frame 99, and uses the blocking frame 11 to limit the articles so as to effectively avoid the articles from falling down. And moreover, the articles can also slide in the placement space in a limiting way, and the buffering and damping effects in the delivery process are increased for the articles.

Specifically, as shown in fig. 1 or fig. 3, the placement frame 99 includes a bottom plate 33, a supporting rod 44 is disposed on the bottom plate 33, a blocking frame 11 is disposed on a top surface of the placement frame 99, and the blocking frame 11 is disposed on a top end of the supporting rod 44, so as to form a frame-type placement frame 99, and the articles are limited by the blocking frame 11. The bottom plate 33 may be fixedly connected to the tray 22, or may be detachably and simply placed, or the bottom plate 33 and the tray 22 may be integrally and fixedly connected to each other. 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 baffle frame 11 is in a square frame shape and includes at least one (two) frame slot 55, and the article is inserted through the frame slot 55 and stands on the bottom plate 33, and the placement space is formed by the frame slot 55. The plurality of frame slots 55 are provided to form a space for placement of a separation/row arrangement structure so that the articles are separated from each other when a plurality of articles are dispensed, thereby avoiding damage caused by front-rear impact between the articles.

Optionally, the frame slot 55 is adjustably sized and the strut 44 is adjustably sized in height. The dimensions of the post struts 44 are designed according to the height of the article (e.g., cup, coffee cup, goblet, etc.); the interval width of each adjacent row of the baffle frame 11 is correspondingly designed according to the size of the objects (such as cup bodies, coffee cups, goblets and the like). In this way, the baffle frame 11 can be suitable for articles with different sizes and heights.

Further, in order to effectively cushion the placed article, in this embodiment, a cushion layer 66 is provided along the inner edge of the frame slot 55 to abut against the surface of the article, and when the article slides on the bottom plate 33 and the surface of the article contacts the cushion layer 66, the cushion layer 66 is deformed, and the cushion layer 66 is a rubber strip. Thus, when the article is limited and slides in the placing space, effective buffering and damping can be formed.

To facilitate sliding of the articles during dispensing, in this embodiment, a plastic or metal layer is applied to the upper surface of the base 33 to smooth the upper surface of the base 33 for sliding of the articles. The coefficient of static friction of the upper surface of the bottom plate is lower than 0.5.

Having the above structural features, as shown in connection with fig. 1 to 4, the present application may be implemented as follows:

the baffle frame 11 is positioned at the upper part of the bottom plate 33, and the baffle frame and the bottom plate are connected through four upright post struts 44. The baffle frame 11 is provided with at least one notch, the front and rear edges of each notch are respectively fixed with a strip-shaped cushion layer 66, and the left and right edges of the notch can be also provided with strip-shaped cushion layers 66; since the robot mainly moves in the front-rear direction to generate vibration during operation, the robot is not easy to shake in the two side directions, and the buffer cushion layer 66 in a strip shape is not required.

The containers a/b/c are placed on the bottom plate 33. Since the upper surface of the base plate 33 is smooth, the container a/b/c can be slid back and forth on the base plate 33 when the robot accelerates or decelerates, and strike the buffer bar when slid to the front and rear sides. The upper surface of the base 33 may be a material having a low coefficient of friction, such as plastic, metal, etc., and the static coefficient of friction between the upper surface of the base and the object (e.g., container a, cup, etc.) is less than/equal to 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 toppling through the baffle frame.

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

A. the structure is simple, the operation is convenient for the user, 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 a certain vibration reduction effect;

B. the baffle frame is provided with notches to form a separation/row structure, so that when multiple articles are distributed, the articles are separated in batches, and damage caused by front-back collision among the articles is avoided.

In the second embodiment, the present embodiment further proposes a setting position optimization scheme of the placement frame:

The arrangement of the rack on the tray 22 is further improved based on the first embodiment, and the difference from the first embodiment is that,

as shown in fig. 3 and 4, the tray 22 is provided with a sinking structure, and the bottom of the placement frame 99 is supported on the sinking structure, so that the bottom of the placement frame 99 is flush with the surface of the tray 22. Specifically, the sinking structure includes a sinking opening 77 formed on the surface of the tray 22, a sinking bracket 88 is disposed at the sinking opening 77 and is spaced downward from the sinking opening, the bottom plate 33 of the placement frame 99 is supported by the sinking bracket 88, the moving tray 2 is disposed between the bottom plate 33 and the sinking bracket 88, and the placement frame 99 is disposed on the tray 22 and the bottom plate 33 is flush with the tray 22.

Also, alternatively, the method may comprise,

as shown in fig. 5 and 6, in this embodiment, the tray 22 is provided with a sinking structure, and the bottom of the placement frame 99 is supported on the sinking structure, so that the top surface of the placement frame 99 is flush with the surface of the tray 22. Specifically, the sinking structure includes a sinking opening 77 formed on the surface of the tray 22, and sink brackets 88 that are completely hung on opposite sides of the sinking opening 77, and the bottom plate 33 of the placement frame 99 is supported by the sink brackets 88, so that the placement frame 99 is integrally sunk and hung on the tray 22.

Therefore, the sinking structure can prevent articles from toppling over, and the tray has a neat and attractive effect on the overall appearance.

The other structures are basically the same as those of the first embodiment, and will not be described in detail here.

Embodiment three, this embodiment still proposes a floating improvement scheme of tray and rack:

the present application further improves the manner of supporting connection between the rack and the tray 22 on the basis of the first or second embodiment, and differs from the first or second embodiment in that,

as shown in fig. 1, 3, 4 and 7, in order to generate a recoverable floating displacement between the rack 99 and the tray 22, a buffering and damping effect is added to the rack, and a movable tray 2 is added between the rack 99 and the tray 22 in the embodiment. The placing frame 99 may be supported on the movable tray 2, or may be connected to each other.

The movable tray 2 can move horizontally relative to the tray 22 within a set movement range, and an energy dissipation medium is disposed between the movable tray 2 and the tray 22 to reduce movement inertia of the movable tray 2.

In this embodiment, the movable disc 2 may move horizontally relative to the tray 22 within a set movement range, and cooperate with the combined action of energy-consuming media, so that in the movement process, the movable disc 2 is continuously subjected to the pulling force of the tray 22, thereby forming an effective buffer, and can slowly return to the initial position, so that the fluid objects are effectively prevented from spilling, and the dispensing quality and the user experience of the robot are significantly improved. And, set up low friction through the bottom plate upper surface, article on the movable tray can be when taking place the fuselage and rock, the movable tray and the movable tray is with the whole removal of taking place of rack can reduce the fuselage and rock inertia for liquid level in the liquid container is stable, if rock the condition aggravate, except the removal of movable tray, article can slide at the bottom plate upper surface of rack, avoid article interior liquid level to spill, and when unexpected scram incident, rock more violently, the frame of rack can effectively stop article slope, the protection article is stable.

Optionally, the energy dissipation medium includes a movable component disposed between the tray 22 and the movable disk 2, and the movable disk 2 slides freely on the tray 22 through the movable component.

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

Hereinafter, specific structural relationships between the movable tray 2 and the tray 22 of the present application will be described in detail.

As shown in fig. 7, the tray 22 is fixedly provided with a connection pivot 3, four sliding pivots 4 are uniformly distributed on the lower surface of the bottom plate 33 of the placement frame 99 and slidably disposed on the tray 22 through the sliding pivots 4, the energy dissipation medium includes an elastic traction member 5, the movable disc 2 and the connection pivot 3 are connected through the elastic traction member 5, the movable disc 2 can slide reciprocally relative to the connection pivot 3, and the movable assembly is mounted through the sliding pivots 4 or the connection pivot 3.

As shown in fig. 7, a limiting plate 51 is provided between the bottom plate 33 and the elastic pulling member 5 for limiting the displacement amount of the elastic pulling member, thereby protecting the spring from being pulled out. Optionally, limiting plate 51 is equipped with connection limit portion and spacing, connects limit portion and passes the bottom plate, and spacing is restricted through the removal displacement of connection limit portion in and the vertical direction, and optionally, this embodiment is through setting up the spacing of three different angles, and the omnidirectional prevents that the user from lifting upwards, damages the elasticity and pulls the piece.

In this embodiment, as shown in fig. 8 and 9, the peripheral edge of the movable disc 2 has a protruding rim, the movable disc 2 is inversely covered on the tray 22, the sliding support 4 and the tray 22 form a point-to-surface contact, the connection support 3 is fixedly arranged at the center or two sides of the tray 22 and is disposed in the rim around the movable disc 2, a slidable space is provided between the rim and the connection support 3 to form the set movement range, and the elastic traction member 5 is connected between the rim and the connection support 3.

As shown in fig. 8 or 12 and 13, the movable assembly includes a universal ball 6 provided at each of the sliding fulcra 4 for making point-to-face contact with the tray 22.

Therefore, the universal ball 6 is arranged on the sliding fulcrum 4 to enable the movable disc 2 to realize point-surface contact sliding, so that the movable disc 2 can move with the inertia of an article, and the wall edge of the movable disc 2 and the connecting fulcrum 3 form a set movement range to limit the movement of the movable disc 2.

Alternatively, as shown in fig. 8, the tray 22 includes a central seat, the connection fulcrum 3 is located on the central seat, and the elastic traction member 5 is connected to the central seat, where all the surrounding space formed by the elastic traction member 5 surrounds the central seat. So that the central seat is wrapped by the elastic traction piece 5 to avoid striking the wall edge during the moving process, and further the buffer effect is achieved.

Further elaboration, in order to achieve an optimal cushioning effect of the mobile plate 2 during movement, in the present embodiment, elastic traction members 5 are provided with different connection forms, which are described in detail below.

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

In order to achieve uniform stress, as shown in fig. 8 and 13, in this embodiment, three disc connection points A1/A2/A3 are uniformly distributed along the inner circumferential surface of the rim, two adjacent disc connection points are spaced apart from each other by 120 °, 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 apart from each other by 120 °, six elastic traction members 5 are distributed between the rim and the connection fulcrum 3, one ends of the two adjacent elastic traction members 5 are respectively connected with the three disc connection points A1/A2/A3 in a converging manner, the other ends of the two adjacent elastic traction members 5 are respectively connected with any two seat connection points B1/B2 or B2/B3 or B3/B1 in a diffusing manner, and an included angle α between the two adjacent elastic traction members 5 is 30 °, so that a triangular star-shaped structure is formed by the six elastic traction members 5.

Preferably, the moving tray 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 maximum, and if the movable distance is too large, the tray stretches out too much to strike pedestrians or objects because the whole length of the robot tray is about 500 mm; if the movable distance is too small, the damping effect cannot be achieved. Preferably, the movement range is optimally set at about 30mm, so that the shock absorption effect of the general weight objects (such as the cup-shaped beverage) is ensured, and the obstacle avoidance effect of the robot is not influenced. Alternatively, the elastic coefficient of the elastic traction element 5 is selected to be 0.01 to 0.03N/mm, preferably 0.012N/mm.

Meanwhile, as shown in fig. 9 to 11, the disc connection point A1/A2/A3 and the seat connection point B1/B2/B3 are respectively provided with a hinge clip 7, the elastic pulling member 5 is fastened to the hinge clip 7 by a bolt 8, and the elastic pulling member 5 deformed by the hinge clip 7 is pressed. In this way, the ends of the two elastic traction members 5 at the same angle are fully gathered by the elastic traction members 5 deformed by the bolts 8, so that when the connecting pivot 3 collides with the wall edge of the movable disk 2, the hard collision can be fully avoided, and the impact force is reduced. As shown in FIG. 13, the width of the toggle clamp 7 at the disk connection point A1/A2/A3 is a, and the width of the toggle clamp 7 at the seat connection point B1/B2/B3 is B.

Therefore, in the inertial movement process of the movable disc 2, since the elastic traction members 5 adopt the connection form of the multi-angle star structure and cooperate with the set elastic coefficient, the movable disc 2 is continuously subjected to the gradual change of the multi-angle, the gradual change of the tension is in direct proportion to the deformation degree, and more important details are that more than one elastic traction member 5 is positioned at a certain angle, and the gradual change of the tension is not invalid due to the excessive stretching or shrinkage of a certain elastic traction member 5.

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

the whole tray mechanism can be placed on a robot tray, and the tray 22 can be placed stably, and the whole tray mechanism can be connected with the tray for fixation or not. After the stable placement, the placement frame 99 may be directly placed on the upper surface of the movable tray 2. In this way, when the robot shakes, scram or suddenly accelerates, the tray 22 will change the motion state together with the robot, and the moving tray 2 will move with the object, no matter in any direction, the elastic pulling member 5 generates gradual pulling force due to the deformation degree during the moving process of the moving tray 2, and further, the greater the moving distance is, the greater the generated pulling force is, so that the inertial kinetic energy of the moving tray 2 and the placing rack 99 and the object is sufficiently reduced by the elastic pulling member 5, and the moving tray 2 will finally return to the initial position due to the deformation restoring capability of the elastic pulling member 5 itself.

After the implementation process is completed, the following technical advantages of the specific scheme of the embodiment should be achieved:

the whole structure belongs to the optimal mode of the person skilled in the art, and is good in all aspects such as material selection, cost, disassembly and actual effect.

In a fourth embodiment, another connection structure of the elastic traction member is provided in this embodiment:

on the basis of the third embodiment, in order to more comprehensively pull the movable disk 2, this embodiment proposes a further connection form of the elastic pulling member, which is different from the fourth embodiment in that four elastic pulling members 5 disposed along four directions are uniformly distributed on the circumferential surface where the rim and the connection fulcrum 3 are located.

Specifically, in this embodiment, four disc connection points A1/A2/A3/A4 are uniformly distributed along the inner circumferential surface of the rim, two adjacent disc connection points are spaced by 90 ° from each other, 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 by 90 ° from each other, eight elastic traction members 5 are distributed between the rim and the connection fulcrum 3, one ends of the two adjacent elastic traction members 5 relatively close to each other are respectively connected together and converged to the four disc connection points A1/A2/A3/A4, the other ends of the two adjacent elastic traction members 5 relatively close to each other are respectively connected to any two seat connection points B1/B2 or B2/B3 or B3/B4/B1 in a diffusion manner, an included angle β between the two adjacent elastic traction members 5 relatively close to each other is 60 °, and a four-corner structure is formed by the interconnection of the eight elastic traction members 5.

Because of this variation in connection form, it should be readily understood by those skilled in the art that no specific illustration is given in this embodiment. However, it is obvious that the connection form of the present embodiment is more finely distributed in terms of the angle of the elastic pulling member 5 than the first embodiment, and the force applied to the movable tray 2 is more uniform in terms of the application effect.

Other structures of this embodiment are basically the same as those of the embodiments, and will not be described in detail herein.

Fifth embodiment, the preferred set protection scheme of the damping tray mechanism is also provided in this embodiment:

as shown in fig. 1 to 6, the present application provides a damping tray mechanism, including tray 22, be equipped with rack 99 on the tray 22, but have the spaced place space on the rack 99, the article that needs the delivery is slideable spacing to be located in the place space, rack 99 with be equipped with between the tray 22 and remove dish 2, rack 99 props up and locates on the removal dish 2, remove dish 2 can be in setting for the movable range relatively tray 22 horizontal migration, remove dish 2 with be equipped with energy consumption medium between the tray 22 for reduce remove inertia of removal dish. As shown in fig. 1 to 4, the present application further sets a blocking frame 11 on the basis of placing articles by using the placement frame 99, and uses the blocking frame 11 to limit the articles so as to effectively avoid the articles from toppling over. And moreover, the articles can also slide in the placement space in a limiting way, and the buffering and damping effects in the delivery process are increased for the articles. Specifically, as shown in fig. 1 or fig. 3, the placement frame 99 includes a bottom plate 33, a supporting rod 44 is disposed on the bottom plate 33, a blocking frame 11 is disposed on a top surface of the placement frame 99, and the blocking frame 11 is disposed on a top end of the supporting rod 44, so as to form a frame-type placement frame 99, and the articles are limited by the blocking frame 11. The bottom plate 33 may be fixedly connected to the tray 22, or may be detachably and simply placed, or the bottom plate 33 and the tray 22 may be integrally and fixedly connected to each other. In this embodiment, as shown in fig. 1 or fig. 2, the baffle frame 11 is in a square frame shape and includes at least one (two) frame slot 55, and the article is inserted through the frame slot 55 and stands on the bottom plate 33, and the placement space is formed by the frame slot 55. The plurality of frame slots 55 are provided to form a space for placement of a separation/row arrangement structure so that the articles are separated from each other when a plurality of articles are dispensed, thereby avoiding damage caused by front-rear impact between the articles. The frame notch 55 is adjustably sized and the strut 44 is adjustably sized in height. The dimensions of the post struts 44 are designed according to the height of the article (e.g., cup, coffee cup, goblet, etc.); the interval width of each adjacent row of the baffle frame 11 is correspondingly designed according to the size of the objects (such as cup bodies, coffee cups, goblets and the like). In this way, the baffle frame 11 can be suitable for articles with different sizes and heights. Further, in order to achieve effective cushioning of the placed article, in this embodiment, a cushion layer 66 is provided along the inner edge of the frame slot 55, and when the article slides on the bottom plate 33 and the surface of the article contacts the cushion layer 66, the cushion layer 66 is deformed, and the cushion layer 66 is a rubber strip. Thus, when the article is limited and slides in the placing space, effective buffering and damping can be formed. To facilitate sliding of the articles during dispensing, in this embodiment, a plastic or metal layer is applied to the upper surface of the base 33 to smooth the upper surface of the base 33 for sliding of the articles. The coefficient of static friction of the upper surface of the bottom plate is lower than 0.5. As shown in fig. 3 and 4, the tray 22 is provided with a sinking structure, and the bottom of the placement frame 99 is supported on the sinking structure, so that the bottom of the placement frame 99 is flush with the surface of the tray 22. Specifically, the sinking structure includes a sinking opening 77 formed on the surface of the tray 22, a sinking bracket 88 is disposed at the sinking opening 77 and is spaced downward from the sinking opening, the bottom plate 33 of the placement frame 99 is supported by the sinking bracket 88, the moving tray 2 is disposed between the bottom plate 33 and the sinking bracket 88, and the placement frame 99 is disposed on the tray 22 and the bottom plate 33 is flush with the tray 22. Alternatively, as shown in fig. 5 and 6, in the present embodiment, the tray 22 is provided with a sinking structure, and the bottom of the placement frame 99 is supported on the sinking structure, so that the top surface of the placement frame 99 is flush with the surface of the tray 22. Specifically, the sinking structure includes a sinking opening 77 formed on the surface of the tray 22, and sink brackets 88 that are completely hung on opposite sides of the sinking opening 77, and the bottom plate 33 of the placement frame 99 is supported by the sink brackets 88, so that the placement frame 99 is integrally sunk and hung on the tray 22. As shown in fig. 1, 3, 4 and 7, in order to generate a recoverable floating displacement between the rack 99 and the tray 22, a buffering and damping effect is added to the rack, and a movable tray 2 is added between the rack 99 and the tray 22 in the embodiment. The placing frame 99 may be supported on the movable tray 2, or may be connected to each other. The movable tray 2 can move horizontally relative to the tray 22 within a set movement range, and an energy dissipation medium is disposed between the movable tray 2 and the tray 22 to reduce movement inertia of the movable tray 2. In this embodiment, the movable disc 2 may move horizontally relative to the tray 22 within a set movement range, and cooperate with the combined action of energy-consuming media, so that in the movement process, the movable disc 2 is continuously subjected to the pulling force of the tray 22, thereby forming an effective buffer, and can slowly return to the initial position, so that the fluid objects are effectively prevented from spilling, and the dispensing quality and the user experience of the robot are significantly improved. Optionally, the energy dissipation medium includes a movable component disposed between the tray 22 and the movable disk 2, and the movable disk 2 slides freely on the tray 22 through the movable component. Alternatively, the movable tray 2 is in direct contact with the tray 22, and the movable tray is relatively movable with respect to the tray 22, wherein the contact surface between the movable tray and the tray 22 forms the energy-consuming medium. By setting the surface roughness between the movable tray and the tray 22, the movable tray is made movable on the chassis, and the movement range is made within the set movement range. Alternatively, the above effect is achieved by using an acrylic plate material on the surface of the moving plate. Hereinafter, specific structural relationships between the movable tray 2 and the tray 22 of the present application will be described in detail. As shown in fig. 7, the tray 22 is fixedly provided with a connection pivot 3, four sliding pivots 4 are uniformly distributed on the lower surface of the bottom plate 33 of the placement frame 99 and slidably disposed on the tray 22 through the sliding pivots 4, the energy dissipation medium includes an elastic traction member 5, the movable disc 2 and the connection pivot 3 are connected through the elastic traction member 5, the movable disc 2 can slide reciprocally relative to the connection pivot 3, and the movable assembly is mounted through the sliding pivots 4 or the connection pivot 3. In this embodiment, as shown in fig. 8 and 9, the peripheral edge of the movable disc 2 has a protruding rim, the movable disc 2 is inversely covered on the tray 22, the sliding support 4 and the tray 22 form a point-to-surface contact, the connection support 3 is fixedly arranged at the center or two sides of the tray 22 and is disposed in the rim around the movable disc 2, a slidable space is provided between the rim and the connection support 3 to form the set movement range, and the elastic traction member 5 is connected between the rim and the connection support 3. As shown in fig. 8 or 12 and 13, the movable assembly includes a universal ball 6 provided at each of the sliding fulcra 4 for making point-to-face contact with the tray 22. Therefore, the universal ball 6 is arranged on the sliding fulcrum 4 to enable the movable disc 2 to realize point-surface contact sliding, so that the movable disc 2 can move with the inertia of an article, and the wall edge of the movable disc 2 and the connecting fulcrum 3 form a set movement range to limit the movement of the movable disc 2. Alternatively, as shown in fig. 8, the tray 22 includes a central seat, the connection fulcrum 3 is located on the central seat, and the elastic traction member 5 is connected to the central seat, where all the surrounding space formed by the elastic traction member 5 surrounds the central seat. So that the central seat is wrapped by the elastic traction piece 5 to avoid striking the wall edge during the moving process, and further the buffer effect is achieved. Further elaboration, in order to achieve an optimal cushioning effect of the mobile plate 2 during movement, in the present embodiment, elastic traction members 5 are provided with different connection forms, which are described in detail below. The moving tray 2 and the tray 22 are pulled by at least two of the elastic pulling pieces 5 provided in different directions. More preferably, the movable tray 2 and the tray 22 are pulled by a plurality of the elastic pulling pieces 5 in at least three directions. More specifically, three elastic traction pieces 5 are uniformly distributed on the circumferential surface between the wall edge and the connecting pivot 3 and are arranged along three directions. In order to achieve uniform stress, as shown in fig. 8 and 13, in this embodiment, three disc connection points A1/A2/A3 are uniformly distributed along the inner circumferential surface of the rim, two adjacent disc connection points are spaced apart from each other by 120 °, 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 apart from each other by 120 °, six elastic traction members 5 are distributed between the rim and the connection fulcrum 3, one ends of the two adjacent elastic traction members 5 are respectively connected with the three disc connection points A1/A2/A3 in a converging manner, the other ends of the two adjacent elastic traction members 5 are respectively connected with any two seat connection points B1/B2 or B2/B3 or B3/B1 in a diffusing manner, and an included angle α between the two adjacent elastic traction members 5 is 30 °, so that a triangular star-shaped structure is formed by the six elastic traction members 5. Preferably, the moving tray 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 maximum, and if the movable distance is too large, the tray stretches out too much to strike pedestrians or objects because the whole length of the robot tray is about 500 mm; if the movable distance is too small, the damping effect cannot be achieved. Preferably, the movement range is optimally set at about 30mm, so that the shock absorption effect of the general weight objects (such as the cup-shaped beverage) is ensured, and the obstacle avoidance effect of the robot is not influenced. Alternatively, the elastic coefficient of the elastic traction element 5 is selected to be 0.01 to 0.03N/mm, preferably 0.012N/mm. Meanwhile, as shown in fig. 9 to 11, the disc connection point A1/A2/A3 and the seat connection point B1/B2/B3 are respectively provided with a hinge clip 7, the elastic pulling member 5 is fastened to the hinge clip 7 by a bolt 8, and the elastic pulling member 5 deformed by the hinge clip 7 is pressed. In this way, the ends of the two elastic traction members 5 at the same angle are fully gathered by the elastic traction members 5 deformed by the bolts 8, so that when the connecting pivot 3 collides with the wall edge of the movable disk 2, the hard collision can be fully avoided, and the impact force is reduced. As shown in FIG. 13, the width of the toggle clamp 7 at the disk connection point A1/A2/A3 is a, and the width of the toggle clamp 7 at the seat connection point B1/B2/B3 is B. Therefore, in the inertial movement process of the movable disc 2, since the elastic traction members 5 adopt the connection form of the multi-angle star structure and cooperate with the set elastic coefficient, the movable disc 2 is continuously subjected to the gradual change of the multi-angle, the gradual change of the tension is in direct proportion to the deformation degree, and more important details are that more than one elastic traction member 5 is positioned at a certain angle, and the gradual change of the tension is not invalid due to the excessive stretching or shrinkage of a certain elastic traction member 5.

The present embodiment provides a set of all the preferred modes of the first embodiment, which is convenient to implement as the best set mode in the field.

In a sixth embodiment, the present embodiment further provides a product application scheme of the damping tray mechanism:

as shown in fig. 14, the present embodiment further provides a robot, which includes a frame 98 and the above-mentioned damping tray mechanism, wherein multiple layers of trays 22 are mounted on the frame 98 at intervals up and down, and the placement frame 99 is disposed on any layer of trays 22.

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

Furthermore, the foregoing description of the preferred embodiments and the principles of the invention is provided herein. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. The damping tray mechanism is characterized by comprising a tray, wherein a placing frame is arranged on the tray, a separable placing space is formed in the placing frame, objects to be distributed are slidably limited in the placing space, a movable tray is arranged between the placing frame and the tray, the placing frame is supported on the movable tray, the movable tray can horizontally move relative to the tray in a set moving range, and energy consumption mediums are arranged between the movable tray and the tray so as to reduce the moving inertia of the movable tray;

a sinking structure is arranged on the tray, and the placing rack is arranged on the sinking structure;

the sinking structure comprises a sinking opening formed in the surface of the tray, a sinking supporting groove is formed in the sinking opening, the bottom plate of the placing rack is arranged on the sinking supporting groove in a supporting mode, and the moving disc is arranged between the bottom plate and the sinking supporting groove.

2. The shock absorbing tray mechanism as defined in claim 1, wherein the rack includes a base plate, a supporting rod is provided on the base plate, a blocking frame is provided on a top surface of the rack, and the blocking frame is provided on a top end of the supporting rod to form a frame type rack, and the articles are limited by the blocking frame.

3. The shock absorbing tray mechanism as defined in claim 2, wherein the baffle frame is square and includes at least one frame slot through which the article is inserted and stands on the base plate, the spaced-apart placement spaces being formed by the frame slots, the size of the frame slots being adjustably set, the height of the struts being adjustably set.

4. A shock absorbing tray mechanism according to claim 3, wherein a cushion layer is provided along an inner edge of the frame notch, the cushion layer being deformed when the article slides on the base plate and a surface of the article contacts the cushion layer.

5. The shock absorbing tray mechanism of claim 4, wherein the upper surface of the base plate has a coefficient of static friction of less than 0.5.

6. The shock absorbing tray mechanism of claim 1, wherein a surface of the base plate or a top surface of the rack is flush with a surface of the tray.

7. The shock absorbing tray mechanism as claimed in claim 1, wherein a movable assembly is provided between the tray and the movable tray, the movable tray being freely movable on the tray by the movable assembly.

8. The damping tray mechanism according to claim 7, wherein a connecting fulcrum is arranged on the tray, the energy-consuming medium comprises an elastic traction piece, the movable tray is connected with the connecting fulcrum through the elastic traction piece, and the movable tray can slide reciprocally relative to the connecting fulcrum;

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.

9. The shock absorbing tray mechanism as defined in claim 8, wherein a plurality of sliding support points are distributed around the bottom plate of the placement frame, the sliding support points are in point-to-surface contact with the tray, the peripheral edge of the moving plate has a protruding rim, the connecting support points are disposed in the rim around the moving plate, a slidable space is provided between the rim and the connecting support points to form the set movement range, and the elastic traction member is connected between the rim and the connecting support points.

10. The shock absorbing tray mechanism as defined in claim 9, wherein a plurality of said sliding support points are uniformly distributed around said base plate, and said movable assembly includes a universal ball provided at each of said sliding support points for point-to-surface contact with said tray.

11. The shock absorbing tray mechanism as claimed in claim 9, wherein the moving tray and the tray are pulled by at least two of the elastic pulling members provided in different directions.

12. The shock absorbing tray mechanism as defined in claim 11, wherein the tray is provided with at least one center seat, the connection fulcrum is provided on the center seat, the elastic pulling member is connected with the center seat, and an enclosed space formed by all the elastic pulling members surrounds the center seat.

13. The shock absorbing tray mechanism according to any one of claims 10 to 12, wherein the moving disc is circular, the elastic traction member is a tension spring or a gradual damping spring, the set moving range is a unilateral distance of 10mm to 150mm, and the elastic coefficient of the elastic traction member is 0.01 to 0.03N/mm.

14. A dispensing robot comprising a frame and a shock absorbing tray mechanism according to any one of claims 1 to 13, wherein a plurality of layers of trays are mounted on the frame at intervals up and down, and the rack is arranged on any layer of tray.