CN215395250U - Floating tray parallel device and robot - Google Patents
Floating tray parallel device and robot Download PDFInfo
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- CN215395250U CN215395250U CN202121593692.7U CN202121593692U CN215395250U CN 215395250 U CN215395250 U CN 215395250U CN 202121593692 U CN202121593692 U CN 202121593692U CN 215395250 U CN215395250 U CN 215395250U
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Abstract
The utility model belongs to the technical field of robots, and particularly relates to a floating tray parallel device which is used for being installed on a robot in a matching mode and bearing goods in a floating mode. The utility model converts the vibration of the tray into horizontal sliding through the guide component and the parallel sliding component which do not interfere with each other, and the shock absorption effect is better.
Description
Technical Field
The utility model belongs to the technical field of robots, and relates to a floating tray parallel device and a robot.
Background
With the rapid development of robotics, robots are increasingly used, for example, welcome robots, meal delivery robots, educational robots, biomimetic robots, and the like. The robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to principles formulated by artificial intelligence technology. With the emphasis of national macro strategy, the research of mobile robots in China has entered the unprecedented period. Various mobile 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 distribution, if a robot distributes some fluid goods (such as catering soups or beverages) generally, as a tray of the robot is fixedly mounted on the robot, the fluid goods distributed by the robot can be easily spilled due to sudden shaking when the robot vibrates, or suddenly stops or accelerates.
Therefore, a floating tray parallel device and a robot are needed to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a floating tray parallel device and a robot.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a floating tray parallel arrangement at first for the adaptation is installed and is floated and bear the goods in going up and float in the robot, and floating tray parallel arrangement includes basement unit and upper strata year thing dish, be equipped with the direction subassembly of mutual noninterference on the basement unit floats, the surface of the basement unit that floats is equipped with parallelly connected slip subassembly, each link of parallelly connected slip subassembly slides respectively and locates different positions on the direction subassembly, and then, parallelly connected slip subassembly can the slip of freely slowing down on the plane that the direction subassembly formed, upper strata year thing dish movable cover is located on the basement unit and with parallelly connected slip subassembly is connected.
As a preferred technical scheme, the basement unit includes the bottom mounting panel, the direction subassembly is located in the circumference of bottom mounting panel, parallelly connected slip subassembly is located the middle part position of bottom mounting panel and self can actuate with absorbing shock, and then, the upper strata is carried the thing dish and is passed through parallelly connected slip subassembly speed reduction slide in on the direction subassembly.
As one preferable technical solution, the plurality of guide assemblies are respectively disposed around the bottom mounting plate, the parallel sliding assembly includes a central pivot and a connecting section extending out of the central pivot along different directions, the central pivot can slide along the connecting section synchronously, the outer end of the connecting section is connected with the guide assembly in a sliding manner, and the upper-layer loading tray cover is disposed on the bottom mounting plate and connected with the central pivot.
As a preferred technical solution, the guiding assembly includes a plurality of guide rails respectively disposed at the peripheral edge of the bottom mounting plate, each guide rail is provided with a sliding block, the parallel sliding assembly includes a center seat serving as a center pivot, at least two sliding shafts are respectively movably disposed in two directions of the center seat in a penetrating manner to serve as the connecting section, the center seat can synchronously slide along the two sliding shafts, two ends of a single sliding shaft are respectively connected to the two opposite sliding blocks, and the lower surface of the upper-layer object carrying plate is fixedly connected to the center seat.
As a preferable technical solution, two of the guide rails are parallel to each other, and two of the adjacent guide rails are perpendicular to each other.
As a preferable technical solution, the outer two ends of the sliding shaft are respectively provided with a damping element, and the damping element abuts against the central seat formed by the sliding of the sliding block in an elastic abutting manner.
As a preferable technical solution, the damping element is a rubber pad, a spring, a damper, a foamed silica gel, a sponge, or an air bag.
As a preferable technical solution, the two sliding shafts are arranged to intersect each other vertically and do not interfere with each other.
As a preferred technical solution, a universal ball is disposed at the bottom of the central seat and rolls against the surface of the bottom mounting plate through the universal ball.
The utility model also provides a robot, which comprises a machine body frame, a robot tray and any one of the floating tray parallel devices, wherein the floating tray parallel device is arranged on the robot tray.
The floating tray parallel device has the beneficial effects that:
1) according to the utility model, through the guide component and the parallel sliding component which do not interfere with each other, the vibration of the tray is converted into horizontal plane sliding, and the damping effect is better;
2) the device adopts a parallel connection mode, so that the stability and the service life of the damping tray are improved and effectively ensured, and particularly, if the damping tray cannot slide in a single direction, the normal sliding in the other direction is not influenced;
3) the shock absorption element can absorb and consume kinetic energy converted from the vibration energy to the maximum extent, so that the shock absorption and buffering effects are achieved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the floating tray parallel device of the present invention;
FIG. 2 is a schematic structural diagram of a base unit in the floating tray parallel device of the present invention;
FIG. 3 is a schematic diagram of the construction of the parallel slide assembly of the floating tray parallel arrangement of the present invention;
FIG. 4 is a schematic diagram of a first operation state of the floating tray parallel device according to the present invention;
FIG. 5 is a schematic diagram of a second operation state of the floating tray parallel device according to the present invention;
FIG. 6 is another schematic view of the parallel sliding assembly of the floating tray parallel device of the present invention;
fig. 7 is a schematic structural view of the floating tray parallel device of the utility model mounted on the robot.
Reference numbers in the figures:
100. a floating tray parallel device;
2. an upper tray;
3. a bottom mounting plate;
4. a guide assembly;
40. a guide rail;
42. a slider;
5. a sliding component;
50. a center seat;
52. a slide shaft;
54. a universal ball;
6. a shock absorbing element;
99. a base unit;
98. a fuselage frame;
97. a robot tray.
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 utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The 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 device/module, which can effectively decelerate and buffer the goods to be delivered on the original tray, and ensure that the delivered goods (especially fluid) will not shake and spill.
Further, in the prior art, even if there is a similar tray mechanism capable of achieving buffering and shock absorption, its transmission structure is often in series, that is, when the transmission member in a certain direction is damaged, the whole tray mechanism may not move normally. This is also a problem to be solved.
First, this embodiment first proposes an implementable protection scheme for a floating tray parallel device:
FIG. 1 is a schematic diagram of the overall structure of the floating tray parallel device of the present invention; fig. 2 is a schematic structural diagram of a base unit in the floating tray parallel device of the present invention.
As shown in fig. 1 and fig. 2, in the present embodiment, a floating tray parallel device 100 is provided, which is adapted to be installed on a robot to carry goods in a floating manner, the floating tray parallel device 100 includes a base unit 99 and an upper layer carrying tray 2 (in a transparent state in fig. 1), a guiding component 4 that does not interfere with each other is disposed on the floating base unit 99, a parallel sliding component 5 is disposed on a surface of the floating base unit 99, each connecting end of the parallel sliding component 5 is slidably disposed on the guiding component 4 at different positions, further, the parallel sliding component 5 can freely slide on a plane formed by the guiding component 4 at a reduced speed, and the upper layer carrying tray 2 is movably covered on the base unit 99 and connected with the parallel sliding component 5.
In this embodiment, the upper loading tray 2 can move in the horizontal plane relative to the base unit 99 in a parallel connection manner and effectively buffer and stop, so that (fluid) goods to be delivered can be placed on the upper loading tray 2 of the floating tray device 100, when the robot suddenly stops or accelerates, the goods drive the upper loading tray 2 to move along with the parallel sliding assembly 5 under the inertia effect, greater deceleration buffer is provided for the goods (particularly the fluid goods) on the tray, and damage of the fluid goods and liquid scattering are effectively avoided.
Further, as shown in fig. 2, the base unit 99 includes a bottom mounting plate 3, the guiding component 4 is disposed on the circumference of the bottom mounting plate 3, the parallel sliding component 5 is disposed at the middle position of the bottom mounting plate 3 and has a damping unit to perform damping action, and the upper tray 2 slides on the guiding component 4 through the parallel sliding component 5 in a decelerating manner.
From the material selection, the parallel sliding assembly 5 of the present embodiment can select any one of the existing mechanical assemblies which are connected in parallel and have sliding capability, so that the parallel sliding assembly 5 can drive the upper layer carrying tray 2 to synchronously slide in at least two crossed directions.
Specifically, in this embodiment, as shown in fig. 2, the plurality of guide assemblies 4 are respectively disposed around the bottom mounting plate 3, the parallel sliding assembly 5 includes a central pivot and a connecting section extending out of the central pivot along different directions, the central pivot can slide along the connecting section synchronously, the outer end of the connecting section is connected to the guide assemblies 4 in a sliding manner, and the upper layer loading tray 2 is covered on the bottom mounting plate 3 and connected to the central pivot.
The guide assembly 4 includes a plurality of guide rails 40 respectively disposed at the peripheral edges of the bottom mounting plate 3, and a slider 42 is disposed on each guide rail 40.
Fig. 3 is a schematic structural diagram of a parallel sliding assembly in the floating tray parallel device of the present invention.
As shown in fig. 3, the parallel sliding assembly 5 includes a center base 50 serving as the center pivot, at least two sliding shafts 52 are movably disposed in two directions of the center base 50 to serve as the connecting sections, the center base 50 can synchronously slide along the two sliding shafts 52, two ends of a single sliding shaft 52 are respectively connected to the two opposite sliding blocks 42, and the lower surface of the upper layer loading tray 2 is fixedly connected to the center base 50.
Preferably, two opposite guide rails 40 are parallel to each other, and two adjacent guide rails 40 are perpendicular to each other. The two sliding shafts 52 are arranged in a crisscross manner up and down and do not interfere with each other, so that even if a single sliding shaft 52 is damaged and cannot slide, the other sliding shaft 52 is not influenced by the sliding shaft, the central seat 5 can be at least ensured to move in a certain direction, and in addition, the damaged sliding shaft 52 can be conveniently and independently detached and replaced.
In order to sufficiently absorb shock and cushion, the outer ends of the sliding shaft 52 are respectively provided with a shock absorbing element 6 to form a shock absorbing unit, and the shock absorbing element 6 abuts against the sliding block 42 to elastically interfere with the sliding center seat 50. Preferably, the damping element 6 is a rubber pad, a spring, a damper, a foamed silicone rubber, a sponge or an air bag.
FIG. 4 is a schematic diagram of a first operation state of the floating tray parallel device according to the present invention; FIG. 5 is a schematic diagram of a second operation state of the floating tray parallel device according to the present invention.
Therefore, as shown in fig. 4 and 5, when the robot moves in an obstacle crossing or sudden stop or acceleration process, the center seat 50 can synchronously slide to the upper right position and the lower left position of the bottom mounting plate 3 along the two sliding shafts 52 until the center seat collides with the shock-absorbing element 6, so that the upper-layer loading plate 2 is continuously subjected to the deformation resistance of the shock-absorbing element 6, and an effective deceleration buffer is formed until the robot slowly stops, thereby effectively avoiding the spilling of fluid goods and remarkably improving the distribution quality and the user experience of the robot.
In a second embodiment, this embodiment proposes another protection scheme for a floating tray device:
the present embodiment provides a further preferable structural improvement of the parallel sliding module 5 on the basis of the first embodiment, which is different from the first embodiment in that,
as shown in fig. 6, in this embodiment, the bottom lower surface of the central seat 50 is provided with a universal ball and is rolled against the surface of the bottom mounting plate 3 through the universal ball 54.
Thus, the universal ball 54 is added to increase the moving support force of the center seat 50, rather than being slidably supported by the slide shaft 52.
Other structures are basically the same as those of the first embodiment, and thus are not described herein. The embodiment is used as an optimized structural improvement for field workers to freely select.
In a third embodiment, this embodiment further proposes a preferred set protection scheme for the floating tray parallel device:
FIG. 1 is a schematic diagram of the overall structure of the floating tray parallel device of the present invention; fig. 2 is a schematic structural diagram of a base unit in the floating tray parallel device of the present invention. As shown in fig. 1 and fig. 2, in this embodiment, a floating tray parallel device 100 is provided, which is adapted to be installed on a robot to carry goods in a floating manner, the floating tray parallel device 100 includes a base unit 99 and an upper layer carrying tray 2, a guiding component 4 that is not interfered with each other is disposed on the floating base unit 99, a parallel sliding component 5 is disposed on a surface of the floating base unit 99, each connecting end of the parallel sliding component 5 is slidably disposed on the guiding component 4 at different positions, further, the parallel sliding component 5 can freely slide on a plane formed by the guiding component 4 at a reduced speed, and the upper layer carrying tray 2 is movably covered on the base unit 99 and connected with the parallel sliding component 5. In this embodiment, the upper loading tray 2 can move in the horizontal plane relative to the base unit 99 in a parallel connection manner and effectively buffer and stop, so that (fluid) goods to be delivered can be placed on the upper loading tray 2 of the floating tray device 100, when the robot suddenly stops or accelerates, the goods drive the upper loading tray 2 to move along with the parallel sliding assembly 5 under the inertia effect, greater deceleration buffer is provided for the goods (particularly the fluid goods) on the tray, and damage of the fluid goods and liquid scattering are effectively avoided. Further, as shown in fig. 2, the base unit 99 includes a bottom mounting plate 3, the guiding component 4 is disposed on the circumference of the bottom mounting plate 3, the parallel sliding component 5 is disposed at the middle position of the bottom mounting plate 3 and can perform damping action, and further, the upper tray 2 slides on the guiding component 4 through the parallel sliding component 5 in a decelerating manner. From the material selection, the parallel sliding assembly 5 of the present embodiment can select any one of the existing mechanical assemblies which are connected in parallel and have sliding capability, so that the parallel sliding assembly 5 can drive the upper layer carrying tray 2 to synchronously slide in at least two crossed directions. Specifically, in this embodiment, as shown in fig. 2, the plurality of guide assemblies 4 are respectively disposed around the bottom mounting plate 3, the parallel sliding assembly 5 includes a central pivot and a connecting section extending out of the central pivot along different directions, the central pivot can slide along the connecting section synchronously, the outer end of the connecting section is connected to the guide assemblies 4 in a sliding manner, and the upper layer loading tray 2 is covered on the bottom mounting plate 3 and connected to the central pivot. The guide assembly 4 includes a plurality of guide rails 40 respectively disposed at the peripheral edges of the bottom mounting plate 3, and a slider 42 is disposed on each guide rail 40. Fig. 3 is a schematic structural diagram of a parallel sliding assembly in the floating tray parallel device of the present invention. As shown in fig. 3, the parallel sliding assembly 5 includes a center base 50 serving as the center pivot, at least two sliding shafts 52 are movably disposed in two directions of the center base 50 to serve as the connecting sections, the center base 50 can synchronously slide along the two sliding shafts 52, two ends of a single sliding shaft 52 are respectively connected to the two opposite sliding blocks 42, and the lower surface of the upper layer loading tray 2 is fixedly connected to the center base 50. Preferably, two of the guide rails 40 are parallel to each other, two adjacent guide rails 40 are perpendicular to each other, and the two slide shafts 52 are disposed crosswise and do not interfere with each other. In order to sufficiently absorb shock and cushion, the outer ends of the sliding shaft 52 are respectively provided with a shock absorbing element 6, and the shock absorbing elements 6 abut against the sliding block 42 to elastically collide with the center seat 50 which slides. Preferably, the damping element 6 is a rubber pad, a spring, a damper, a foamed silicone rubber, a sponge or an air bag. FIG. 4 is a schematic diagram of a first operation state of the floating tray parallel device according to the present invention; FIG. 5 is a schematic diagram of a second operation state of the floating tray parallel device according to the present invention. Therefore, as shown in fig. 4 and 5, when the robot moves in an obstacle crossing or sudden stop or acceleration process, the center seat 50 will synchronously slide to the upper right position and the lower left position of the bottom mounting plate 3 along the two sliding shafts 52, and the upper tray 2 is continuously subjected to the deformation resistance of the damping element 6, so as to form effective deceleration buffer until slowly stopping, thereby effectively avoiding the spilling of fluid goods and significantly improving the distribution quality and user experience of the robot.
This implementation provides a collection of all the preferred modes of the first embodiment, which facilitates implementation in the field as the best collection mode.
In a fourth embodiment, the present invention further provides a product application scheme of a floating tray parallel device:
as shown in fig. 7, the present embodiment further provides a robot 101, which includes a body frame 98, a robot tray 97, and any one of the floating tray parallel devices 100, where the floating tray parallel device 100 is disposed on the robot tray 97.
In practical application, the inertia reduction buffer transportation of the fluid goods can be realized only by stably placing the whole floating tray parallel device 100 on the robot tray 97.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a floating tray parallel arrangement for the adaptation is installed on the robot and is floated and bear the weight of goods, its characterized in that, floating tray parallel arrangement includes basement unit and upper strata year thing dish, be equipped with the direction subassembly that mutually does not interfere on the basement unit, the surface of basement unit is equipped with parallelly connected slip subassembly, each link of parallelly connected slip subassembly slides respectively and locates different positions on the direction subassembly, and then, parallelly connected slip subassembly can freely slow down the slip on the plane that the direction subassembly formed, upper strata year thing dish movable cover is located on the basement unit and with parallelly connected slip subassembly is connected.
2. The floating tray parallel arrangement of claim 1, wherein the base unit comprises a bottom mounting plate, the guiding component is disposed on the circumference of the bottom mounting plate, the parallel sliding component is disposed on the middle position of the bottom mounting plate and can perform damping action, and further, the upper loading tray slides on the guiding component in a deceleration way through the parallel sliding component.
3. The parallel device for the floating trays according to claim 2, wherein a plurality of the guiding components are respectively arranged around the bottom mounting plate, the parallel sliding components comprise a central fulcrum and a connecting section extending out of the central fulcrum along different directions, the central fulcrum can synchronously slide along the connecting section, the outer end of the connecting section is connected with the guiding components in a sliding manner, and the upper loading tray is covered on the bottom mounting plate and connected with the central fulcrum.
4. The parallel device for the floating trays according to claim 3, wherein the guiding assembly comprises a plurality of guide rails respectively disposed at the peripheral edge of the bottom mounting plate, each guide rail is provided with a sliding block, the parallel sliding assembly comprises a center seat serving as the center fulcrum, at least two sliding shafts are movably disposed in two directions of the center seat respectively and serve as the connecting sections, the center seat can synchronously slide along the two sliding shafts, two ends of a single sliding shaft are respectively connected to the two opposite sliding blocks, and the lower surface of the upper tray is fixedly connected to the center seat.
5. The floating tray parallel arrangement of claim 4, wherein opposing guide rails are parallel to each other and adjacent guide rails are perpendicular to each other.
6. The parallel device of claim 4, wherein the outer ends of the sliding shaft are respectively provided with a damping element, and the damping elements are abutted against the sliding blocks to elastically interfere with the central seat which slides.
7. The floating tray parallel arrangement of claim 6, wherein the shock absorbing element is a rubber pad, a spring, a damper, a foamed silicone, a sponge, or an air bag.
8. The floating tray parallel device according to claim 4, wherein the two sliding shafts are arranged to cross each other up and down without interfering with each other.
9. The floating tray parallel arrangement of claim 4, wherein a universal ball is provided at a bottom of the center seat and rolls against a surface of the bottom mounting plate through the universal ball.
10. A robot comprising a fuselage airframe, a robot tray, and a floating tray parallel arrangement as claimed in any one of claims 1 to 9, the floating tray parallel arrangement being provided on the robot tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121593692.7U CN215395250U (en) | 2021-07-14 | 2021-07-14 | Floating tray parallel device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121593692.7U CN215395250U (en) | 2021-07-14 | 2021-07-14 | Floating tray parallel device and robot |
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| CN215395250U true CN215395250U (en) | 2022-01-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734481A (en) * | 2022-03-03 | 2022-07-12 | 上海高仙自动化科技发展有限公司 | Tray shock mitigation system and delivery robot |
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2021
- 2021-07-14 CN CN202121593692.7U patent/CN215395250U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734481A (en) * | 2022-03-03 | 2022-07-12 | 上海高仙自动化科技发展有限公司 | Tray shock mitigation system and delivery robot |
| CN114734481B (en) * | 2022-03-03 | 2024-05-17 | 上海高仙自动化科技发展有限公司 | Tray damping system and distribution robot |
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