CN214870713U - Floating tray mechanism and robot - Google Patents

Abstract

The utility model relates to the technical field, especially, relate to a tray mechanism and robot float. The floating tray mechanism comprises a tray and an installation frame, the installation frame is supported on the tray and is installed on the robot frame, a floating contact portion is arranged on the installation frame and comprises a sliding fulcrum, and the tray is arranged on the spherical sliding fulcrum in a sliding mode to form point-surface contact and can perform deceleration translation relative to the installation frame. The utility model discloses an add and establish the contact site that floats for the tray is no longer fixed motionless, but relative robot fuselage frame is floated relatively. When the robot suddenly stops or accelerates, the tray has a buffer relative stroke relative to the robot, so that the inertia movement of goods is greatly reduced, and the fluid goods cannot spill out of the tray.

Description

Floating tray mechanism and robot

Technical Field

The utility model relates to the technical field of machinery, especially, relate to a tray mechanism and robot float.

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 robot chassis gradually reflect the sight of people, and in the prior art, the mobile robot chassis with a suspension is various and basically meets the function, but still has some defects.

In the process of delivering, if the robot delivers some fluid goods (such as soup or beverages for catering) the tray of the robot is generally fixedly mounted on the robot, the fluid goods delivered by the robot can be easily spilled due to sudden shaking when the fluid goods are suddenly stopped or accelerated.

Therefore, a robot tray mechanism and a robot are needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tray mechanism and robot float.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model discloses at first provide a tray mechanism floats, including tray and mounting bracket, the mounting bracket supporting in the tray is for installing in the robot frame, be equipped with the contact site that floats on the mounting bracket, the contact site that floats includes the slip fulcrum, the tray slides to prop up and locates spherically form point-to-surface contact and can be relative on the slip fulcrum the mounting bracket translation that slows down.

As a preferred technical scheme, a traction rebound part is arranged on the mounting frame and comprises a rebound fulcrum, the tray is connected with the rebound fulcrum and can be returned to the initial position of translation, the mounting frame comprises a mounting support plate arranged below the tray, the rebound fulcrum is connected with the tray in a traction manner, and the tray is tightly pressed on the mounting support plate through a limiting clamping piece.

As one preferable technical solution, the limiting clamping member is a limiting clamping block, the limiting clamping block is fixedly arranged on the lower surface of the tray, the limiting clamping block includes a horizontally extending clamping opening section, a clamping opening gap is formed between the clamping opening section and the tray, and the clamping opening section is clamped under the installation support plate so that the tray is clamped on the installation frame through the clamping opening gap.

As one preferable technical solution, the traction resilient part is made of a strip-shaped elastic material, one end of the elastic material is fixedly connected to the lower surface of the mounting support plate, the other end of the elastic material is fixedly connected to the lower surface of the tray, and the elastic material is used as the resilient fulcrum and the limiting clamping member to simultaneously pull and press the tray.

As a preferable technical solution, the elastic material is a tension spring or a bent elastic rubber.

As the above-mentioned preferred technical scheme, the installation support plate is provided with a floating installation hole and a rebound installation hole respectively, the floating contact part is detachably installed in the floating installation hole, and the traction rebound part is detachably installed in the rebound installation hole.

As a preferable technical solution, the floating contact portion includes a ball socket and a universal ball, the ball socket is mounted in the floating mounting hole in a clamping manner, the universal ball is rotatably mounted on the ball socket and further serves as a sliding fulcrum protruding from the mounting support plate, and the tray is slidably supported on the universal ball.

As a preferable technical solution, a shock absorbing cushion layer is disposed at a contact position between the lower surface of the tray and the universal ball.

As a preferable technical solution, the traction resilient part includes an elastic traction member, one end of the elastic traction member is movably mounted to the resilient mounting opening, and the other end of the elastic traction member is connected to the lower surface of the tray.

As a foretell preferred technical scheme, elasticity tractive spare is including connecting the axis body and resilience bed course, through the connection axis body is as the fulcrum of kick-backing, the activity of one end of connecting the axis body is located the installation of kick-backing mouth, the other end of connecting the axis body with the lower fixed surface of tray is connected, the resilience bed course presss from both sides and locates the installation of kick-backing mouth with connect between the axis body.

As one preferable technical solution, a cavity groove is fixedly installed at the rebound mounting opening, the connection shaft body is movably arranged in the cavity groove and connected to the tray, the rebound cushion layer is annularly arranged between the connection shaft body and the inner wall of the cavity groove, the rebound cushion layer is pressed and deformed along with the movement of the connection shaft body until the deformation is recovered, and the tray is recovered to the initial position of the movement through the rebound cushion layer.

As foretell a preferred technical scheme, resilience installing port department fixed mounting has a ring cover, the one end of connecting the axis body is equipped with the blind flange, it wears to locate to connect the axis body activity the ring cover, the resilience bed course ring is located connect the axis body with between the inner wall of ring cover, the blind flange butt lid is located the one end of ring cover, the other end of connecting the axis body by the other end of ring cover is worn out and fixed connection in the lower surface of tray, through connect the axis body cooperation the blind flange is as the resilience fulcrum and limit clamping piece is with drawing simultaneously and compressing tightly the tray.

As one preferable technical scheme, the two mounting support plates are respectively supported at two sides of the tray, the two ends of each mounting support plate are respectively provided with the floating mounting hole, and the middle position of each mounting support plate is provided with the rebound mounting opening.

As a preferred technical scheme, a whole block of the installation support plate is arranged below the tray, at least one rebound installation opening is arranged in the center of the installation support plate, and a plurality of floating installation holes are uniformly distributed around the rebound installation opening.

As one preferable technical solution, the two mounting support plates are respectively supported at two sides of the tray, the plurality of floating mounting holes are respectively arranged on each mounting support plate at intervals, and the two ends of each mounting support plate are respectively provided with the rebound mounting openings.

The utility model also provides a robot, including fuselage frame and foretell tray mechanism that floats, the tray mechanism that floats passes through mounting bracket demountable installation in both sides between the fuselage frame.

The beneficial effects of the utility model include:

1) the utility model discloses an add the contact site that floats in order to form the spherical slip fulcrum on the mounting structure (the mounting bracket) of tray to make the tray of bearing no longer be fixed through this fulcrum, but the relative robot fuselage frame is floated relatively. Therefore, when the robot is suddenly stopped or accelerated, the tray has a buffer relative stroke and a return relative stroke relative to the robot instead of rigid sudden change, so that the inertia movement of goods is greatly reduced, the fluid goods cannot spill out of the tray, and the distribution quality of the robot is effectively ensured;

2) the utility model discloses an add on the mounting structure (mounting bracket) of tray and pull resilience portion in order to form the fulcrum of kick-backing to make the tray that receives inertial movement progressively subdue inertial kinetic energy through this fulcrum, with this, when the robot scram or when accelerating suddenly, the tray can form relative stroke of reply and finally reply to initial position by relative robot.

3) The utility model discloses to the concrete structural style of the contact site that floats and pull resilience portion, given four kinds of different implementation modes, its selection of material is with low costs, makes things convenient for the field work personnel to choose for use.

Drawings

Fig. 1 is a schematic perspective view of a first embodiment of a floating tray mechanism according to the present invention;

FIG. 2 is a schematic bottom view of the structure of FIG. 1;

FIG. 3 is a schematic front view of the structure corresponding to FIG. 1;

FIG. 4 is an enlarged schematic view corresponding to C in FIG. 3;

FIG. 5 is a schematic cross-sectional view corresponding to A-A in FIG. 2;

FIG. 6 is a schematic cross-sectional view corresponding to B-B in FIG. 5;

fig. 7 is a schematic perspective view of a second embodiment of the floating tray mechanism of the present invention;

FIG. 8 is a schematic bottom view of the structure corresponding to FIG. 7;

FIG. 9 is a schematic front view of the structure corresponding to FIG. 7;

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

FIG. 11 is a schematic cross-sectional view corresponding to A-A in FIG. 8;

FIG. 12 is a schematic cross-sectional view corresponding to B-B in FIG. 11;

fig. 13 is a schematic perspective view of a third embodiment of the floating tray mechanism according to the present invention;

FIG. 14 is a bottom view of the structure corresponding to FIG. 13;

FIG. 15 is a schematic cross-sectional view corresponding to A-A in FIG. 14;

FIG. 16 is a schematic cross-sectional view corresponding to B-B in FIG. 15;

fig. 17 is a schematic perspective view of a fourth embodiment of the floating tray mechanism according to the present invention;

FIG. 18 is a bottom view of the structure corresponding to FIG. 17;

FIG. 19 is a schematic elevation view of the structure corresponding to FIG. 17;

FIG. 20 is an enlarged schematic view corresponding to C in FIG. 19;

fig. 21 is a schematic perspective view of the robot with the floating tray mechanism according to the present invention.

Reference numbers in the figures:

1. a tray;

2. a mounting frame; 20. mounting a support plate; 22. a floating mounting hole; 24. a rebound mounting opening; 26. a limiting clamping block; 28. a cavity groove; 29. a ring sleeve;

3. a floating contact portion; 30. a ball holder; 32. a universal ball; 34. a shock absorbing cushion layer;

4. a traction rebound part; 40. a connecting shaft body; 42. a rebound cushion layer; 44. a flange cover; 46. a strip of elastic material;

100. a floating tray mechanism; 102. a fuselage frame.

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, detachably 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 meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. 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 tray of the robot provided in the prior art is generally fixedly installed on the robot, and when the fluid goods dispensed by the robot suddenly stops or accelerates, the fluid goods may easily spill due to sudden shaking, and the dispensing quality of the robot may be affected due to the problem. In order to solve the above problem, the present embodiment provides a floating tray mechanism/module, which can effectively buffer the goods to be delivered on the original tray, and ensure that the delivered goods (especially fluid) will not shake and spill.

The application improves the direction, as shown in fig. 1 to 20, a tray mechanism 100 floats includes tray 1 and mounting bracket 2, mounting bracket 2 support in tray 1 is for installing in the robot frame, be equipped with floating contact part 3 and pull resilience portion 4 on the mounting bracket 2, floating contact part 3 includes the slip fulcrum, tray 1 slides to prop up to locate on the slip fulcrum and can be relative mounting bracket 2 slows down the translation, pull resilience portion 4 and include the resilience fulcrum, tray 1 with the initial position that the resilience fulcrum is connected and can be replied to the translation.

The mounting frame 2 comprises a mounting support plate 20 arranged below the tray 1 in a supporting mode, the sliding fulcrum is in point-surface contact or surface-surface contact with the tray 1, and the rebounding fulcrum is in traction connection with the tray 1.

Of course, the floating contact portion 3 and the pulling resilient portion 4 may be mounted on the lower surface of the tray 1 (the structure may be reversed, and is not limited to being mounted on the mounting frame 2), so that the upper surface of the mounting frame 2 is in sliding contact with the lower surface of the tray 1.

Hereinafter, different embodiments (examples) will be given of how the floating contact portion 3 and the pulling spring portion 4 form the sliding fulcrum and the spring fulcrum, respectively.

Example one

As shown in fig. 1 to 6, in the present embodiment, a floating tray mechanism 100 is provided, wherein the mounting bracket 2 includes a mounting support plate 20 supported below the tray 1, the floating contact portion 3 adopts a spherical sliding fulcrum to form a point-surface contact with the tray 1, the pulling resilient portion 4 adopts a cylindrical resilient fulcrum to pull the tray 1, the mounting support plate 20 is provided with a floating mounting hole 22 and a resilient mounting hole 24, the floating contact portion 3 is detachably mounted in the floating mounting hole 22, and the pulling resilient portion 4 is detachably mounted in the resilient mounting hole 24.

As shown in fig. 1 and 2, the two mounting plates 20 are respectively supported at two sides of the tray 1, the floating mounting holes 22 are respectively formed at two ends of each mounting plate 20, and the rebound mounting opening 24 is formed in the middle of each mounting plate 20 (between the two floating mounting holes 22).

Further, in order to prevent the tray from being detached from the mounting stay 20 due to a large shock, in the present embodiment, as shown in fig. 1 and 2, the tray 1 is tightly pressed against the mounting stay 20 by the restraining clip. Specifically, the limiting clamping piece is a limiting clamping block 26, the limiting clamping block 26 is fixedly arranged on the lower surface of the tray 1, the limiting clamping block 26 comprises a horizontally extending clamping opening section, a clamping opening gap is formed between the clamping opening section and the tray 1, the clamping opening section is clamped below the installation support plate 20, and the tray 1 is clamped on the installation support plate 2 through the clamping opening gap.

In the present embodiment, specifically, as shown in fig. 3 and 4, the floating contact portion 3 includes a ball holder 30 and a ball gimbal 32, the ball holder 30 is mounted in the floating mounting hole 22 in a snap-fit manner, the ball gimbal 32 is mounted on the ball holder 30 in a rolling manner and serves as the sliding fulcrum protruding from the mounting plate 20, and the tray 1 is slidably supported on the ball gimbal 32. Of course, the ball holder 30 and the universal ball 32 of the present invention may be mounted on the lower surface of the tray 1, and may be mounted on the mounting plate 20, and may also be configured to slide the tray 1 and the mounting frame 2 relative to each other.

Further, as shown in fig. 4, a shock absorbing pad layer 34, preferably a rubber pad or a sponge pad, is disposed at a contact portion between the lower surface of the tray 1 and the universal ball 32.

In the embodiment, the tray 1 is supported on the universal ball 32, and then forms a sliding assembly relationship of point-surface contact with the mounting support plate 20, so that the tray 1 moves together with the fluid goods in a buffering manner relative to the robot under the inertia effect, and the fluid goods are prevented from spilling out of the tray 1. Meanwhile, the shock absorbing pad 34 can effectively reduce the noise generated by hard friction or vertical vibration between the tray 1 and the universal ball 32.

On the other hand, in order to gradually reduce the inertia of the tray 1 and the fluid goods and return to the initial position, the present application also makes a further structural improvement to the traction resilient portion 4.

In the present embodiment, as shown in fig. 2, 5 and 6, the traction resilient part 4 includes an elastic traction member, one end of the elastic traction member is movably mounted to the resilient mounting opening 24 (as shown in fig. 6), and the other end of the elastic traction member is connected to the lower surface of the tray 1. The elastic traction piece can be an integral component or a detachable assembly component.

Further, as shown in fig. 5, the elastic pulling element includes a connecting shaft body 40 and a resilient pad 42, the connecting shaft body 40 serves as the resilient fulcrum, one end of the connecting shaft body 40 is movably disposed at the resilient mounting opening 24, the other end of the connecting shaft body 40 is fixedly connected to the lower surface of the tray 1, and the resilient pad 42 is sandwiched between the resilient mounting opening 24 and the connecting shaft body 40. Preferably, the resilient cushion 42 can be made of foam rubber, foam silica gel, sponge or air bag, which has good elasticity and forms large deformation damping, so as to better damp vibration and inertia shake.

In order to install and set the traction rebound part 4, a cavity groove 28 is fixedly installed at the rebound installation opening 24, the connection shaft body 40 is movably arranged in the cavity groove 28 and connected to the tray 1, the rebound cushion 42 is annularly arranged between the connection shaft body 40 and the inner wall of the cavity groove 28, the rebound cushion 42 is pressed and deformed along with the movement of the connection shaft body 40 until the deformation is recovered, and the tray 1 is recovered to the initial position of the movement through the rebound cushion 42.

With this, when at present tray 1 and fluid goods receive inertial movement back, can continuously receive the elastic traction who pulls resilience portion 4, progressively reduce inertial kinetic energy to because elastic deformation's recovery, tray 1 finally still can reply initial position, can not change the centre of gravity shakiness of placing because of inertia, avoid the goods to place.

In order to conveniently draw materials, assemble and disassemble and change, in the embodiment, the single structural part is an existing product which can be taken, and the assembling form and the connecting mode are convenient to operate and implement on site.

Example two

On the basis of the first embodiment, as shown in fig. 7 to 12, the present embodiment provides another structure of the mounting bracket 2 and the pulling resilient part 4.

One of the different improvements from the first embodiment is that, as shown in fig. 7, 8 and 12, two mounting plates 20 are respectively supported on two sides of the pallet 1, and a plurality of floating mounting holes 22 are respectively arranged on each mounting plate 20 at intervals (near the edge), as shown in fig. 9 and 10, a universal ball 32 is still arranged at the position of each floating mounting hole 22 as a sliding fulcrum; and both ends of each mounting plate 20 are respectively provided with one rebound mounting opening 24, namely, the traction rebound part 4 is respectively arranged at four vertex angles.

The second difference from the first embodiment is that, as shown in fig. 8 and 11, a ring sleeve 29 is fixedly installed at the resilient installation opening 24, a flange 44 is installed at one end of the connection shaft body 40, the connection shaft body 40 is movably inserted into the ring sleeve 29, the resilient cushion 42 is annularly installed between the connection shaft body 40 and the inner wall of the ring sleeve 29, the flange 44 is covered on one end of the ring sleeve 29 in an abutting manner, and the other end of the connection shaft body 40 is penetrated out from the other end of the ring sleeve 29 and fixedly connected to the lower surface of the pallet 1. In this way, a traction spring back 4 of another design is formed.

Other structural arrangements are basically the same as those in the first embodiment, and are not described herein.

In the embodiment, the flange cover 44 is additionally arranged on the connecting shaft body 40 to limit the vibration separation of the tray 1 relative to the mounting frame 2, so that the limit clamping block 26 arranged on the lower surface of the tray 1 in the first embodiment is omitted; and, the traction rebound parts 4 positioned at four vertex angles can generate better rebound traction force for the tray 1, so that the buffering and inertia reduction effects are better.

EXAMPLE III

On the basis of the first embodiment, as shown in fig. 13 to 16, the present embodiment provides the mounting frame 2 in another structural form.

The difference between the first embodiment and the second embodiment is that in this embodiment, a whole block of the mounting plate 20 is disposed under the tray 1, the center of the mounting plate 20 is provided with at least one resilient mounting opening 24, and a plurality of floating mounting holes 22 are uniformly distributed around the resilient mounting opening 24. Preferably, only one traction rebound part 4 is arranged at the center of the mounting plate 20, and the floating contact parts 3 of the three universal balls 32 are uniformly distributed around the traction rebound part 4.

Other structural arrangements are basically the same as those in the first embodiment, and are not described herein.

In this embodiment, as the equivalent alternative form of the first embodiment, the overall structure is simpler and easier for field personnel to select.

Example four

On the basis of the first embodiment, as shown in fig. 17 to 20, the present embodiment provides another structural form of the mounting bracket 2 and the pulling resilient part 4.

The difference from the first embodiment is that, in this embodiment, specifically, the pulling resilient portion 4 uses a strip-shaped elastic material 46 as the resilient fulcrum, one end of the elastic material 46 is fixedly connected to the lower surface of the mounting support plate 20, the other end of the elastic material 46 is fixedly connected to the lower surface of the tray 1, and the tray 1 is pulled and pressed simultaneously by the elastic material 46. Preferably, the elastic material 46 is a tension spring or a bent elastic rubber.

Therefore, the simple strip-shaped elastic material 46 replaces the disc-shaped traction rebound part 4 in the first embodiment, the rebound mounting opening 24 does not need to be formed in the mounting frame 2, the limiting clamping block 26 is not arranged on the lower surface of the tray 1, and the overall structure is greatly simplified. Other structural arrangements are basically the same as those in the first embodiment, and are not described herein.

In this way, the strip of elastic material 46 can provide a resilient force when the tray 1 is floating; moreover, because the fixed end of the strip-shaped elastic material 46 on the tray 1 is higher than the fixed end on the mounting support plate 20, the elastic material 46 can also apply a downward pulling force to the tray 1, and the tray 1 is prevented from shaking upwards to be separated.

EXAMPLE five

As shown in fig. 21, the present embodiment provides a robot, which includes a body frame 102 and the floating tray mechanism 100 described in any one of the above, wherein the floating tray mechanism 100 is detachably mounted between the body frames 102 on both sides through the mounting frame 2.

The floating tray mechanism 100 of the present application can be directly mounted to the body of an existing robot as a separate mounting module, even if directly stacked on the tray of the existing robot.

The robot has the advantages that the phenomenon that fluid goods spill out of the tray is avoided, and the distribution quality is high.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. 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 with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (16)

1. The utility model provides a tray mechanism floats, its characterized in that, includes tray and mounting bracket, the mounting bracket support in the tray is in order to supply to install in the robot frame, be equipped with the contact site that floats on the mounting bracket, the contact site that floats includes the slip fulcrum, the tray slides to prop up to locate spherically form point-to-surface contact and can be relative between on the slip fulcrum the mounting bracket translation that slows down, the mounting bracket is including propping up to locate the installation extension board under the tray, the tray pass through spacing clamping piece chucking and press cover in on the installation extension board.

2. The floating tray mechanism according to claim 1, wherein a pulling resilient part is arranged on the mounting frame, the pulling resilient part comprises a resilient fulcrum, the tray is connected with the resilient fulcrum and can return to an initial position of translation, and a pulling connection is formed between the resilient fulcrum and the tray.

3. The floating tray mechanism of claim 2, wherein the limiting clamping member is a limiting clamping block, the limiting clamping block is fixedly arranged on the lower surface of the tray, the limiting clamping block comprises a horizontally extending clamping opening section, a clamping opening gap is formed between the clamping opening section and the tray, the clamping opening section is clamped under the installation support plate, and the tray is clamped on the installation frame through the clamping opening gap.

4. The floating tray mechanism according to claim 2, wherein the pulling resilient part is made of a strip-shaped elastic material, one end of the elastic material is fixedly connected to the lower surface of the mounting support plate, the other end of the elastic material is fixedly connected to the lower surface of the tray, and the elastic material is used as the resilient fulcrum and the limiting clamping piece to pull and press the tray simultaneously.

5. The floating tray mechanism of claim 4 wherein the resilient material is a tension spring or a bent resilient rubber.

6. The floating tray mechanism of claim 2 wherein the mounting plate has a floating mounting hole and a rebound mounting hole, the floating contact portion is detachably mounted in the floating mounting hole, and the traction rebound portion is detachably mounted in the rebound mounting hole.

7. The floating tray mechanism of claim 6, wherein the floating contact portion comprises a ball socket and a ball gimbal, the ball socket is mounted in the floating mounting hole in a snap fit manner, the ball gimbal is rotatably mounted on the ball socket and serves as the sliding fulcrum protruding from the mounting plate, and the tray sliding fulcrum is disposed on the ball gimbal.

8. The floating tray mechanism of claim 7 wherein the contact between the lower surface of the tray and the universal ball is provided with a shock absorbing cushion.

9. The floating tray mechanism of claim 6 wherein the traction resilient portion comprises an elastic traction member, one end of the elastic traction member is movably mounted to the resilient mounting opening, and the other end of the elastic traction member is connected to the lower surface of the tray.

10. The floating tray mechanism according to claim 9, wherein the elastic pulling member comprises a connecting shaft body and a resilient cushion layer, the connecting shaft body is used as the resilient fulcrum, one end of the connecting shaft body is movably arranged in the resilient mounting opening, the other end of the connecting shaft body is fixedly connected with the lower surface of the tray, and the resilient cushion layer is clamped between the resilient mounting opening and the connecting shaft body.

11. The floating tray mechanism according to claim 10, wherein a cavity groove is fixedly installed at the rebound installation opening, the connection shaft body is movably arranged in the cavity groove and connected to the tray, the rebound cushion is annularly arranged between the connection shaft body and the inner wall of the cavity groove, the rebound cushion deforms under pressure along with the movement of the connection shaft body until the deformation recovers, and the tray recovers to the initial position of the movement through the rebound cushion.

12. The floating tray mechanism according to claim 10, wherein the resilient mounting hole is fixedly installed with a ring sleeve, one end of the connecting shaft body is provided with a flange cover, the connecting shaft body is movably inserted into the ring sleeve, the resilient cushion layer is annularly arranged between the connecting shaft body and the inner wall of the ring sleeve, the flange cover is arranged at one end of the ring sleeve in an abutting and covering manner, the other end of the connecting shaft body is inserted out from the other end of the ring sleeve and is fixedly connected to the lower surface of the tray, and the flange cover is matched with the connecting shaft body to serve as the resilient fulcrum and the limit clamping member to simultaneously draw and press the tray.

13. The floating tray mechanism of claim 6, wherein two of the mounting plates are respectively supported at two sides of the tray, the floating mounting holes are respectively provided at two ends of each of the mounting plates, and the resilient mounting opening is provided at a middle position of each of the mounting plates.

14. The floating tray mechanism of claim 6 wherein a single piece of said mounting plate is positioned below said tray, said mounting plate having at least one said resilient mounting opening centrally disposed therein, a plurality of floating mounting holes being evenly distributed about said resilient mounting opening.

15. The floating tray mechanism of claim 6, wherein two of said mounting plates are respectively supported at two sides of said tray, a plurality of said floating mounting holes are respectively arranged at intervals on each of said mounting plates, and said resilient mounting openings are respectively provided at two ends of each of said mounting plates.

16. A robot comprising fuselage frames and a floating tray mechanism as claimed in any one of claims 1 to 15, said floating tray mechanism being detachably mounted between said fuselage frames on either side by said mounting brackets.

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