CN114104776A

CN114104776A - Anti-shake transport structure, food delivery robot

Info

Publication number: CN114104776A
Application number: CN202111448775.1A
Authority: CN
Inventors: 陈刚; 李川
Original assignee: Fude Robot Chengdu Co ltd
Current assignee: Fude Robot Chengdu Co ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2022-03-01
Anticipated expiration: 2041-12-01

Abstract

The invention belongs to the technical field of transfer equipment, and discloses an anti-shake transfer structure which comprises a connecting beam, a hoisting piece and a driving assembly, wherein the connecting beam is connected with the hoisting piece; the hoisting piece is suspended below the connecting beam through a flexible hinge; the driving assembly is used for carrying the hoisting piece to move through the connecting beam. The invention can filter part of vibration and reduce the risk of overflow of the liquid container due to vibration in the conveying process, thereby ensuring that the liquid container is kept in a stable conveying state in the conveying process. The invention also discloses a food delivery robot with the anti-shake transfer structure.

Description

Anti-shake transport structure, food delivery robot

Technical Field

The invention belongs to the technical field of transfer equipment, and particularly relates to an anti-shake transfer structure and a meal delivery robot.

Background

At present, although the food types of the known food delivery robot on the market are various, the tray and the body are mostly in a hard connection structure, so that when the food delivery robot delivers the food, the vibration of the food delivery robot is transmitted to each part of the body through the bottom idler wheels, and if the food delivery robot delivers the liquid food, the food delivery robot is easy to overflow.

In order to solve the problem, some anti-overflow robot are equipped with slewing mechanism and cup, make it when experiencing vibrations, can pass through the inertia effect, make the cup take place the rotation of certain angle through slewing mechanism to play the cushioning effect to rocking of liquid in the container, avoid the liquid level to fluctuate suddenly, reduced the risk that liquid spills over. However, although this food delivery robot has an effect of preventing liquid from overflowing, it is not widely used because of its complicated structure and poor practicability.

Disclosure of Invention

In order to solve the technical problem, the invention discloses an anti-shake transfer structure which can filter part of vibration and reduce the risk of overflow of a liquid container due to vibration in the transfer process, so that the liquid container is ensured to be in a stable transfer state in the transfer process. The invention also discloses a food delivery robot with the anti-shake transfer structure.

The specific technical scheme of the invention is as follows:

an anti-shake transport structure comprising:

a connecting beam;

the lifting piece is suspended below the connecting beam through a flexible hinge; and

and the driving assembly is used for carrying the hoisting piece to move through the connecting beam.

The lifting piece is used for placing the liquid container, the flexible hinge is used for absorbing vibration from the driving assembly, the liquid container on the lifting piece swings along with the vibration from the driving assembly, and vibration from the outside is effectively avoided, so that liquid is prevented from being thrown out or overflowing.

Preferably, the method further comprises the following steps:

identifying a component;

one end of the first connecting rod is connected with the driving assembly; and

one end of the second connecting rod is connected with the driving assembly;

one end of the connecting beam is connected with the first connecting rod, and the other end of the connecting beam is connected with the second connecting rod;

the identification component comprises:

the pressure sensor is arranged at one end of the connecting beam and is connected with the first connecting rod; and

the movable hinge is arranged at the other end of the connecting beam and is connected with the second connecting rod;

when articles are placed on the hoisting piece, the connecting beam rotates by taking the movable hinge as a circle center to cause the pressure sensor to generate elastic deformation, so that the pressure sensor sends out an electric signal, and whether the articles are placed on the hoisting piece or not is judged.

The identification component can judge whether articles are put on the hoisting piece or not; the rotation is actually micro rotation, the rotation for conventional understanding has certain drive, the micro rotation is not visual rotation, after the article is placed into the hoisting piece, the pressure sensor has a certain pressing process through elastic deformation of the pressure sensor, at the moment, the corresponding micro rotation is realized by the movable hinge to meet the balance requirement of the hoisting piece, so that the corresponding placement precision is ensured, the liquid container is ensured to shake along with vibration, and liquid is prevented from being thrown out or overflowing.

Preferably, the method further comprises the following steps:

the head shell, the one end and the first connecting rod of head shell are connected, and the other end and second connecting rod are connected.

The head shell can provide stable supporting force for the first connecting rod and the second connecting rod, position deviation of the rod piece relative to the driving assembly caused by movement and shaking is avoided, and the first connecting rod and the second connecting rod can keep the driving assembly to be static relatively in any state.

Preferably, the identification component further comprises:

the first fixing piece is connected with one end of the connecting beam; and

the second fixing piece is connected with the other end of the connecting beam;

the pressure sensor is positioned between the first fixing piece and the connecting beam, and the movable hinge is positioned between the second fixing piece and the connecting beam.

First mounting and second mounting can set up the position for pressure sensor and activity hinge provide to the mode of shell realizes pressure sensor and activity hinge's outward appearance protection respectively, thereby under the installation prerequisite of making things convenient for tie-beam and hoist and mount piece, prolongs the normal working life of discernment subassembly.

Preferably, one end of the flexible hinge is connected to the middle part of the connecting beam through a fixed seat.

Because the flexible hinge is arranged in the middle of the connecting beam, the loading and carrying capacity of the hoisting piece is ensured to a greater extent, and the healthy placing condition of more articles is provided for the hoisting piece.

Preferably, said sling comprises:

and the middle part of the hoisting frame is connected with one end, far away from the connecting beam, of the flexible hinge.

The hoisting frame can provide a proper placing space for the liquid container, the connecting end in the middle of the hoisting frame can well utilize the whole weight of the hoisting piece and the weight of the food to realize free falling, and the problem of keeping in a static state is solved.

Preferably, the driving assembly includes:

a base;

any one of the driving rollers is connected with the base through a damping mechanism; and

and the driving device is used for driving the driving roller to rotate.

Damper can realize the more steady motion performance of rotating-structure, in addition, can cooperate flexible hinge, further give the anti-shake effect of transport structure, through both cooperations, the better throw away or overflow of avoiding liquid.

Preferably, the damper mechanism includes:

the supporting piece is connected with the driving roller; and

one end of any one elastic component is connected with the supporting piece, and the other end of the elastic component is connected with the base;

wherein, first elastic component and second elastic component set up in pairs, are located support piece's both ends respectively.

The first elastic assembly and the second elastic assembly are separately arranged on the supporting piece, so that after one elastic assembly is elastically deformed, the other elastic assembly can be relatively deformed through the connection of the supporting piece and the driving roller wheel, and the anti-shake requirement is met; in the structure, the first elastic assembly and the second elastic assembly are arranged in pairs, so that the balance between the first elastic assembly and the second elastic assembly is stronger, and the damping effect of the driving roller is realized.

Meal delivery robot, including an anti-shake transports structure as above.

When the food delivery robot has the anti-shake transfer structure, the food delivery robot can be well used as a conveying device for liquid food, so that the liquid food is prevented from being thrown out or overflowing.

Preferably, the method further comprises the following steps:

one end of the horizontal assembly piece is connected with the first connecting rod, and the other end of the horizontal assembly piece is connected with the second connecting rod;

any one of the flat components is connected to the first link and the second link through the identification component.

The flat package can be used for loading non-liquid meals, so that the meal delivery robot can deliver multiple meals at one time, and the delivery quantity is ensured; and through the arrangement of different identification components, the identification of whether the flat parts are loaded with the meals or not is also realized.

Compared with the prior art, the anti-shaking transfer structure disclosed by the invention realizes stable anti-shaking transfer for liquid through the flexible hinge, avoids throwing or overflowing of the liquid, can realize carrying judgment on the basis of realizing stable connection, and identifies whether an object is placed on a hoisting piece, so that the transfer structure obtains corresponding motion information; according to the invention, through the flexible hinge, the damping mechanism and the combined structure thereof, the shock absorption is better realized, the anti-shake effect is further enhanced, and the stable transportation of liquid is ensured; in addition, the meal delivery robot disclosed by the invention can transport multiple meals at one time, and can avoid throwing or overflowing of liquid meals, and on the basis, the object carrying judgment can be realized no matter a lifting piece or a flat piece, so that corresponding motion information is given to the meal delivery robot.

Drawings

FIG. 1 is a schematic diagram of a food delivery robot in an embodiment of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of a drive assembly in an embodiment of the present invention;

figure 4 is a schematic view of the arrangement of a sling according to an embodiment of the invention;

FIG. 5 is an exploded view of FIG. 4;

FIG. 6 is a schematic view showing the arrangement of a damper mechanism according to the embodiment of the present invention;

FIG. 7 is a left side view of FIG. 6;

fig. 8 is an exploded view of a flat package in an embodiment of the present invention.

In the figure: 1-connecting the beams; 2-hoisting parts; 201-loading a disc; 202-hoisting a frame body; 203-connecting rod; 3-a drive assembly; 301-a base; 302-active roller; 303-driven rollers; 304-a roller carriage; 4-a flexible hinge; 5-an identification component; 501-a pressure sensor; 502-living hinge; 503-fixing a metal plate; 504-a first fixture; 505-a second fixture; 6-a first link; 7-a second link; 8-a head housing; 9-a microphone; 10-an environmental camera; 11-touch display screen; 12-a fixed seat; 13-a support; 14-an assembly link; 15-an elastic member; 16-laser radar; 17-a depth camera; 18-a flat package; 19-a soft cushion; 20-hinge housing.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following embodiments.

As shown in fig. 1 to 8, an anti-shake transfer structure comprises a connecting beam 1, a hoisting piece 2 and a driving assembly 3; the hoisting piece 2 is suspended below the connecting beam 1 through a flexible hinge 4; the driving assembly 3 is used for carrying the hoisting piece 2 to move through the connecting beam 1.

In this embodiment, for the horizontal plane, the coupling beam 1 is the crossbeam of horizontal setting, and it connects hoist and mount piece 2 through flexible hinge 4 for when drive assembly 3 motion was shaken, can rock thereupon through flexible hinge 4, thereby avoids the liquid container on hoist and mount piece 2 to shake out or overflow liquid. In this embodiment, the flexible hinge 4 is a universal joint, and in other embodiments, the flexible hinge 4 may be a sliding rope, a steel cable, or a mechanism based on a lever structure; in addition, in other embodiments, the flexible hinge 4 is a mechanism based on a gimbal structure.

In some embodiments, the connection beam 1 is disposed in an inclined manner to meet the appearance requirements of different transportation structures, however, the connection beam 1 disposed in an inclined manner has a drawback in that the sling 2 is shaken due to vibration and easily collides with the connection beam 1, so that liquid is inevitably spilled in some cases.

In this embodiment, when the liquid container is loaded with liquid and transported by the anti-shake transfer structure, the liquid container is not covered, and therefore, the flexible hinge 4 is required to stably transport the liquid. Of course, in some embodiments, the liquid container with the cover still has the risk of overflowing liquid due to vibration because the flatness of the transfer plane is not enough, and thus the anti-shake transfer structure is still the preferred structure in such embodiments.

For better use of the embodiment, the device further comprises an identification component 5, a first connecting rod 6 and a second connecting rod 7; one end of the first connecting rod 6 is connected with the driving component 3; one end of the second connecting rod 7 is connected with the driving component 3; one end of the connecting beam 1 is connected with the first connecting rod 6, and the other end of the connecting beam is connected with the second connecting rod 7; the identification component 5 comprises a pressure sensor 501 and a living hinge 502; the pressure sensor 501 is arranged at one end of the connecting beam 1 and connected with the first connecting rod 6; the movable hinge 502 is arranged at the other end of the connecting beam 1 and is connected with the second connecting rod 7; when articles are placed on the hoisting piece 2, the connecting beam 1 rotates by taking the movable hinge 502 as a circle center, so that the pressure sensor 501 generates elastic deformation, the pressure sensor 501 sends an electric signal, and whether the articles are placed on the hoisting piece 2 or not is judged. The pressure sensor 501 has a fixed metal plate 503 fitted thereto.

In the prior art, a non-fixed mode is generally adopted to detect whether an article is placed in the hoisting part 2, specifically, the whole gravity of the article in the loading part and the loading part is completely pressed on the pressure sensor 501, so that the pressure sensor 501 obtains the induction of weight change, and an electric signal caused by the change is transmitted to a corresponding control system, thereby realizing the identification of the article.

However, in this embodiment, the lifting member 2 is a suspension structure, which is different from the square structure in the prior art, that is, when the loading member in the flat mode is subjected to a shock, the loading member may jump up, so that the pressure sensor 501 loses gravity sensing at a certain moment, and therefore, the embodiment makes the lifting member 2 shake along with the shock through the shake, so as to satisfy the requirement that the pressure sensor 501 senses the gravity at any moment.

Specifically, pressure sensor 501 is connected with one end of tie-beam 1, activity hinge 502 is connected with the other end of tie-beam 1, when placing the liquid container on hoist and mount piece 2, it arouses to use activity hinge 502 to carry out the micro-rotation as the center, arouses pressure sensor 501 at the tie-beam 1 other end to take place pressure variation this moment promptly to carry out signal interaction through electric signal and corresponding structure control system, compare with the parameter when not placing the liquid container, thereby realize hoist and mount piece 2 and whether have the detection of object discernment. Meanwhile, in the process that the lifting piece 2 is carried by the driving component 3 to move, if movement vibration occurs, the flexible hinge 4 shakes along with the vibration, so that the liquid container constantly contacts the lifting piece 2, the state that the liquid container is continuously placed in the lifting piece 2 meets the identification requirement of the pressure sensor 501, and liquid in the liquid container is guaranteed not to be thrown out or overflow.

For better use of the present embodiment, a head housing 8 is also included; one end of the head housing 8 is connected with the first connecting rod 6, and the other end is connected with the second connecting rod 7.

In this embodiment, one end of the first link 6 and one end of the second link 7 are both connected to the driving assembly 3, so that after the other end of the first link 6 and the other end of the second link 7 are connected by the head housing 8, the first link 6 and the second link 7 can be relatively fixed, and the connection beam 1 is stabilized by fixing at two points, thereby ensuring the stability of the lifting member 2.

In this embodiment, the head housing 8 is provided with a microphone 9, an environment camera 10, a touch display screen 11 and other components besides being used for further fixing the first connecting rod 6 and the second connecting rod 7, and can be used for the anti-shake transfer structure to automatically move or preset a path to move in response to an applicable environment, and meanwhile, the human-computer interaction requirement is met. Of course, it is obvious that the present embodiment has a corresponding control system and communication system, and the two systems can be used directly without additional design and manufacture.

For better use of the present embodiment, the identification assembly 5 further comprises a first fixing member 504 and a second fixing member 505; the first fixing member 504 is connected to one end of the connecting beam 1; the second fixing member 505 is connected to the other end of the connecting beam 1; the pressure sensor 501 is located between the first fixing member 504 and the connecting beam 1, and the living hinge 502 is located between the second fixing member 505 and the connecting beam 1.

The longitudinal sections of the first fixing part 504 and the second fixing part 505 are both L-shaped structures, which can respectively arrange the pressure sensor 501 and the movable hinge 502 on the first connecting rod 6 and the second connecting rod 7; therefore, when a liquid container is placed on the hoisting piece 2, the sensing requirement of the pressure sensor 501 is met. It should be noted that the first fixing member 504 is not directly connected to and in contact with the first connecting rod 6, and is only connected to and spaced apart from the connecting beam 1, so as to avoid interference with the normal operation of the pressure sensor 501, i.e. the connecting beam 1 is made to contact the pressure sensor 501 after rotating around the living hinge 502. Furthermore, there is no connecting contact between the second fixing member 505 and the second connecting rod 7, so as to satisfy the requirement that the connecting beam 1 rotates with the living hinge 502.

That is to say, after the liquid container is placed on the lifting member 2, the first fixing member 504 and the second fixing member 505 both move relatively with the pressure sensor 501 and/or the movable hinge 502, so that the appearance protection function is satisfied, and the recognition inaccuracy caused by hard interference is avoided.

For better use of this embodiment, one end of the flexible hinge 4 is connected to the middle of the coupling beam 1 by means of a fixed base 12. The hoisting piece 2 comprises a hoisting frame; the middle part of the hoisting frame is connected with one end of the flexible hinge 4 far away from the connecting beam 1.

In this embodiment, the lifting member 2 comprises a loading tray 201 and a lifting frame 202, and the lifting frame 202 is detachably connected with the loading tray 201 and is connected with the outer edge of the loading tray 201 in an 1/4 hollow round body structure, so that an inlet and an outlet for placing a liquid container are reserved. Of course, in other embodiments, the connection relationship between the loading tray 201 and the lifting frame 202 may also be stabilized by the arrangement of the rods or the claws.

On this basis, the one end of flexible hinge 4 passes through fixing base 12 and connects in the middle part of tie-beam 1, and the other end is connected in the summit of hoist and mount framework 202 to on guaranteeing that loading dish 201 steadily places the liquid container, guarantee the normal judgement of discernment subassembly 5. It should be further noted that, in some embodiments, threaded holes are formed at two ends of the flexible hinge 4, and a connecting rod 203 with an external thread is disposed at a vertex of the hoisting frame 202, so that, in a specific use, one end of the flexible hinge 4 is connected to the connecting beam 1 through the fixing seat 12, and the other end is connected to the hoisting frame 202 through the connecting rod 203, thereby achieving a suitable connection relationship between the connecting beam 1 and the hoisting member 2, and achieving flexible cushioning and/or shock absorption on the basis of rigid and stable connection. On the basis of the above embodiment, the outer side of the flexible hinge 4 is provided with the hinge housing 20, which is connected to the hoisting frame 202 through the connecting rod 203, so that the flexible hinge 4 is wrapped, the external environment is prevented from affecting the lubrication degree of the flexible hinge 4, and the operation of the flexible hinge 4 is satisfied for a longer time.

For better use of the present embodiment, the driving assembly 3 includes a base 301, at least two driving rollers 302, and a driving device for driving the driving rollers 302 to rotate; any one of the active rollers 302 is connected to the base 301 through a shock absorbing mechanism.

In this embodiment, the first link 6 and the second link 7 are disposed on the base 301. Any one of the active rollers 302 has a self-driving motor, that is, the driving device for driving the active roller 302 to rotate is a driving motor carried by the active roller 302, thereby realizing the same-speed driving and differential-speed driving between different active rollers 302. Of course, it should be noted that if the driving assembly 3 has only two driving rollers 302, it is understood that the driving assembly 3 should further include a driven roller 303 to satisfy the requirement of stable movement of the whole structure. In other embodiments, the active scroll wheel 302 may have multiple pairs, such as two pairs, three pairs, four pairs, etc.

Because the flexible hinge 4 can realize the shock absorption and/or absorb shock for the hoisting piece 2, the shock absorption mechanism is arranged at the shock generation position, namely the driving component 3, so that the liquid in the liquid container can be better prevented from shaking out and overflowing due to the shock.

On this basis, the shock-absorbing mechanism comprises a support 13, and a first elastic component and a second elastic component; the supporting piece 13 is connected with a driving roller; one end of any one elastic component is connected with the supporting piece 13, and the other end of the elastic component is connected with the base 301; the first elastic component and the second elastic component are arranged in pairs and are respectively positioned at two ends of the supporting piece 13.

Specifically, any one of the driving rollers 302 has a roller bracket 304, and the roller bracket 304 is rotatably connected to the corresponding support 13; and any one elastic component comprises a component connecting rod 14 and an elastic element 15, one end of the component connecting rod 14 is connected with the end part of the supporting element 13, the other end of the component connecting rod is connected with the base 301, and the elastic element 15 is sleeved on the outer side of the corresponding component connecting rod 14. Therefore, when the driving roller 302 rotates, the first elastic component and the second elastic component maintain the connection balance between the component connecting rod 14 and the supporting piece 13, when vibration occurs, the dynamic balance is realized through the elastic pieces 15 arranged on the first elastic component and the second elastic component, and in the process, because the roller bracket 304 and the supporting piece 13 have the relation of rotation connection, the whole vibration absorption and buffering effect can be realized while the driving roller 302 is ensured to drive the transferring structure.

Thus, while the transfer structure includes the flexible hinge 4 and the shock absorbing mechanism, it can further prevent the solution in the liquid container from shaking out or overflowing.

It can be understood that, in the present embodiment, the positions of the first elastic component and the second elastic component are symmetrical with respect to the roller bracket 304, and no matter how the number of the first elastic component and the second elastic component is set, the symmetrical relationship between the two components needs to be ensured to ensure the real-time adjustment of the dynamic balance. That is, although the first elastic member and the second elastic member are a pair in the present embodiment, two pairs, three pairs, or more may be provided in other embodiments.

Meanwhile, it can be understood that the driven roller 303 may form an odd number of roller motion structures by an odd number of the same pair of elastic components, and the driven roller 303 may also form an even number of roller motion structures by an even number of the same elastic components.

In this embodiment, the base 301 is further provided with a laser radar 16 and a depth camera 17, so that automatic walking is realized on the basis of the control system and the communication system. That is to say, after placing the liquid container on hoist and mount piece 2, through inputing the target site, can make anti-shake transport structure automatic travel to the destination. It is emphasized that the technical content involved in the process can be directly obtained from the prior art.

As shown in fig. 1, 2 and 8, the meal delivery robot includes an anti-shake transfer structure as described above.

On the basis of the embodiment, the anti-shake transfer structure is used for the food delivery robot, and the liquid container is a cover-free container and can contain liquid food.

In other application scenarios, oil and the like can be transported in a factory, or other liquid materials can be transported in a construction site.

For better use of the present embodiment, at least one flat member 18 is further included; one end of the flat mounting part 18 is connected with the first connecting rod 6, and the other end is connected with the second connecting rod 7; any one of the flat members 18 is connected to the first link 6 and the second link 7 through the identification member 5.

In the present embodiment, the delivery robot has two flat parts 18, which are both arranged above the sling 2, by means of the height of the first link 6 and the second link 7. It will thus be appreciated that in embodiments where the height of the first and second links 6, 7 is not limited, the number of flush-mounted members 18 may be adjusted accordingly.

In this embodiment, the flatting element 18 is also connected to the first connecting rod 6 and to the second connecting rod 7 by means of the same identification means 5 as the sling 2, whereby the flatting element 18 can also be used to determine the presence or absence of a load, which will not be described again since it is implemented in the same way as the sling 2. In the above embodiments, the sling 2 and the mounting member 18 may be provided with a soft pad 19 in addition to the body thereof, to achieve further damping of vibrations.

The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.

Claims

1. An anti-shake transport structure, comprising:

a connecting beam;

2. An anti-shake transport structure according to claim 1, further comprising:

identifying a component;

one end of the first connecting rod is connected with the driving assembly; and

one end of the second connecting rod is connected with the driving assembly;

the identification component comprises:

3. An anti-shake transport structure according to claim 2, further comprising:

4. An anti-shake transport structure according to claim 2, wherein the identification component further comprises:

the first fixing piece is connected with one end of the connecting beam; and

the second fixing piece is connected with the other end of the connecting beam;

5. An anti-shake transfer structure according to claim 1, wherein one end of the flexible hinge is connected to the middle of the connecting beam by a fixing base.

6. An anti-shake transfer structure according to claim 5, wherein the sling comprises:

7. An anti-shake transport structure according to any one of claims 1 to 6, wherein the drive assembly comprises:

a base;

and the driving device is used for driving the driving roller to rotate.

8. An anti-shake transfer structure according to claim 7, wherein the shock-absorbing mechanism comprises:

the supporting piece is connected with the driving roller; and

9. Meal delivery robot, characterized in that it comprises an anti-shake transfer structure according to any of claims 1-8.

10. The meal delivery robot of claim 9, further comprising: