CN215395252U

CN215395252U - Modular it makes an uproar tray mechanism and delivery robot to fall

Info

Publication number: CN215395252U
Application number: CN202121616547.6U
Authority: CN
Inventors: 何林; 刘贤林; 唐旋来
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2022-01-04
Anticipated expiration: 2031-07-16

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a combined noise-reducing floating tray mechanism and a distribution robot. The floating tray mechanism comprises a base plate, a distribution robot and a floating tray, wherein the base plate is arranged on the distribution robot, a movable contact part is arranged on the base plate, and a rolling cushion layer is arranged on the movable contact part; the movable contact part is arranged on the movable contact part, the movable contact part is provided with a plurality of movable contact parts, and the movable contact part is provided with a plurality of movable contact parts; a movable connection part for connecting the movable plate and the base plate at intervals; and the energy consumption medium is arranged between the movable disk and the substrate so as to reduce the movement inertia of the movable disk. The movable contact part enables the movable disc to horizontally move relative to the substrate, and the added rolling cushion layer and the sliding cushion layer greatly reduce noise and shock.

Description

Modular it makes an uproar tray mechanism and delivery robot to fall

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a combined noise-reducing floating tray mechanism and a distribution robot.

Background

With the rapid development of robotics, robots are increasingly used, for example, welcome robots, meal delivery robots, educational robots, biomimetic robots, and the like. The robot is a machine device which automatically executes work, can receive human commands, can run a pre-programmed program, and can act according to principles formulated by artificial intelligence technology. With the emphasis of national macro strategy, the research of mobile robots in China has entered the unprecedented period. Various mobile 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, a tray of the robot is fixedly mounted on the robot, and the fluid goods distributed by the robot are prone to spilling out due to sudden shaking when the robot suddenly stops or accelerates.

Therefore, a combined noise-reducing floating tray mechanism and a dispensing robot are needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a combined noise-reduction floating tray mechanism and a distribution robot.

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

the application first provides a modular unsteady tray mechanism of making an uproar falls, includes:

the base plate is arranged on the distribution robot, a movable contact part is arranged on the base plate, and a rolling cushion layer is arranged on the movable contact part;

the movable contact part is arranged on the movable contact part, the movable contact part is provided with a plurality of movable contact parts, and the movable contact part is provided with a plurality of movable contact parts;

a movable connection part for connecting the movable plate and the base plate at intervals;

and the energy consumption medium is arranged between the movable disk and the substrate so as to reduce the movement inertia of the movable disk.

As one preferable technical solution, the movable contact portion includes a universal ball and a ball holder, the ball holder is detachably mounted at the contact hole, the universal ball is rollably mounted on the ball holder and serves as a sliding fulcrum protruding from the substrate, the lower surface of the movable plate is provided with the sliding pad layer, the sliding pad layer is slidably supported on the universal ball and further forms a point-surface contact with the substrate, and the rolling pad layer is disposed between the universal ball and the ball holder.

As a preferable technical solution, the sliding pad layer includes a soft pad layer and a hard pad layer, the soft pad layer is laid on the lower surface of the movable plate, the hard pad layer is laid on the surface of the soft pad layer, and the sliding pad layer is in contact with the universal ball through the hard pad layer; the rolling cushion layer surrounds the contact surface between the universal ball and the ball holder, and the rolling cushion layer and the soft cushion layer comprise foam or sponge or rubber.

As a preferred technical solution, a movable limiting area is arranged on the substrate, the movable connecting portion is arranged under the substrate, the connecting end of the movable connecting portion penetrates through the movable limiting area and is connected to the movable disc, a connecting fulcrum is formed at the joint of the connecting end and the movable disc, the connecting fulcrum follows the movable disc to move horizontally in the movable limiting area, a movable interval is formed between the movable connecting portion and the substrate, and the movable disc can vibrate up and down in a limited position relative to the substrate through the movable connecting portion.

As one preferable technical solution, the middle positions of the two sides of the base plate are respectively provided with a limiting through hole, the movable limiting area is formed by the inner wall range of the opening of the limiting through hole, the movable connecting part is arranged on the two sides of the base plate in a spanning manner, and the connecting end of the movable connecting part is movably arranged in the limiting through hole and connected with the lower surface of the movable disc to form the connecting fulcrum.

As an optimized technical scheme, the movable connecting part comprises limiting strips, the limiting strips are arranged on the lower surface of the base plate in a spanning mode at intervals, collision bodies are arranged at two ends of the limiting strips respectively and freely arranged at the limiting through holes, and the movable plate is fixedly connected with the collision bodies through bolts.

As one preferable technical solution, the energy consumption introduction includes a plurality of elastic pulling members uniformly distributed around the substrate, and the elastic pulling members are connected between the moving plate and the substrate, so that the moving plate can reciprocate relative to the substrate and return to an initial position.

As a preferable technical solution, a soft cushion layer is disposed on the upper surface of the movable tray for placing goods to be delivered.

As a preferable technical solution, a protective shell is disposed on a lower surface of the substrate to cover and protect the movable contact portion, the movable connection portion, and the energy consuming medium.

The utility model also provides a distribution robot, which comprises a robot bracket, a robot tray and any one of the combined noise-reducing floating tray mechanisms, wherein the robot tray is supported on the robot bracket at two sides, the base plate is arranged on the robot tray, and the upper surface of the movable tray is used for placing goods to be distributed.

The combined noise-reducing floating tray mechanism has the beneficial effects that:

the movable plate can horizontally move relative to the substrate through the movable contact part; through the rolling cushion layer and the sliding cushion layer, the hard cushion is in contact with the universal ball to ensure that the friction force is small enough, and the soft cushion has the functions of greatly reducing noise and vibration; through the movable connecting part, the movable connecting part is used for connecting the movable disc and the base, and the movable position of the movable disc is effectively limited. Wherein, two movable limiting areas are set on the substrate, so that the movable disc can move within the range of 30mm of the radius of a single side; the limiting holes are matched with the limiting strips to realize limiting in front, back, left, right, up and down directions, and secondary shaking/vibration/collision is avoided. Furthermore, the movable plate can move along with the inertia of goods, and provides larger deceleration buffer for the goods (particularly fluid goods) on the tray through the energy consumption medium in the moving process, so that the damage of the fluid goods and the liquid sprinkling are effectively avoided.

Drawings

FIG. 1 is a schematic top view of the combined noise reducing floating tray mechanism of the present invention;

FIG. 2 is a schematic bottom view of the combined noise reducing floating tray mechanism of the present invention;

FIG. 3 is a schematic view of an exploded structure of the combined noise-reducing floating tray mechanism of the present invention;

FIG. 4 is a schematic view of the structure of FIG. 2 with the protective shell removed;

FIG. 5 is a schematic cross-sectional view corresponding to F-F in FIG. 4;

fig. 6 is an enlarged schematic view corresponding to H in fig. 5.

FIG. 7 is a schematic cross-sectional view corresponding to G-G of FIG. 4;

FIG. 8 is an enlarged schematic view corresponding to I in FIG. 7;

fig. 9 is a schematic view of the overall structure of the combined noise-reducing floating tray mechanism of the present application after being mounted to a dispensing robot.

Reference numbers in the figures:

1. a substrate; 2. a movable tray; 3. connecting a fulcrum; 4. a ball holder; 5. an elastic pull member; 6. a universal ball; 7. a soft cushion layer; 8. a protective shell plate; 9. a limiting through hole; 10. a limiting strip; 11. a collision body; 12. a bolt; 13. a soft cushion layer; 14. a hard cushion layer; 15. rolling the cushion layer;

90. a combined noise reduction floating tray mechanism; 97. a robot support; 98. goods; 99. a robot tray; 100. and a delivery robot.

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 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.

Further, a separate tray mechanism is proposed in the prior art, but the sliding noise is likely to occur between the tray and the substrate in the mechanism due to small vibration, which reduces the user experience.

First, this embodiment first proposes an implementable protection scheme of the floating tray mechanism:

as shown in fig. 1 to 3, the present embodiment provides a combined noise reduction floating tray mechanism, including a substrate 1, configured to be placed on a distribution robot, where the substrate 1 is provided with a movable contact portion and a movable limiting region, and a rolling cushion layer is disposed inside the movable contact portion; the movable tray 2 is used for placing goods to be delivered, the movable tray 2 is erected on the movable contact part and can horizontally move relative to the substrate 1, and a sliding cushion layer is arranged between the movable tray and the movable contact part; the movable connecting part is arranged below the base plate 1, a connecting end of the movable connecting part penetrates through the movable limiting area and is connected to the movable disc 2, a connecting fulcrum 3 is formed at the connecting part of the connecting end and the movable disc 2, the connecting fulcrum 3 horizontally moves in the movable limiting area along with the movable disc 2, a movable interval is formed between the movable connecting part and the base plate 1, and the movable disc 2 can vibrate up and down in a limited position relative to the base plate 1 through the movable connecting part; and an energy consuming medium provided between the movable disk 2 and the substrate 1 to reduce the movement inertia of the movable disk 2.

In this embodiment, the movable plate 2 is horizontally movable relative to the substrate 1 by the movable contact portion; the hard cushion is contacted with the universal ball through the rolling cushion layer and the sliding cushion layer to ensure that the friction force is small enough, and the soft cushion plays a role in reducing noise and vibration; the movable connecting part is used for connecting the movable disc 2 with the substrate 1 and forming effective limit in the left-right direction from front to back, and the movable disc 2 is effectively prevented from being separated from the substrate 1 or from being subjected to secondary vibration collision; then, when the robot shakes or suddenly stops or accelerates, under the combined action of the movable contact part and the energy consumption medium, greater deceleration buffer is provided for goods (particularly fluid goods) on the tray, and damage to the fluid goods and spilling of liquid are effectively avoided.

For fully adapting to the application environment requirement, whole tray mechanism that floats can be not equidimension shape, and in this embodiment, removal dish 2 and base plate 1 preferred are square or rectangle structure, and like this, whole mechanism can present great area, the more goods of bearing.

Hereinafter, each component of the floating tray mechanism and the structural connection relationship thereof will be described in detail.

As shown in fig. 3, the upper surface of the moving plate 2 is provided with a soft cushion 7 for placing goods to be delivered. In addition, a protective shell plate 8 is arranged on the lower surface of the substrate 1 to cover and protect the movable contact part, the movable connecting part and the energy dissipation medium.

As shown in fig. 3 and 4, the energy consumption introduction part includes a plurality of elastic pulling members 5 uniformly distributed around the substrate 1, and the elastic pulling members 5 are connected between the moving plate 2 and the substrate 1, so that the moving plate 2 can reciprocate relative to the substrate 1 and return to an initial position. Preferably, the elastic pulling member 5 is a spring, a tension spring or a gradual-change damping spring, and the elastic coefficient of the elastic pulling member 5 is about 0.012N/mm.

Further, as shown in fig. 4 and 5, the movable contact portion is detachably disposed around the substrate 1. Specifically, the contact hole site has been seted up around base plate 1, the activity contact site includes universal ball 6 and ball socket 4, ball socket 4 detachably install in the contact hole site, universal ball 6 can install with rolling on the ball socket 4 and as protrusion in the slip fulcrum of base plate 1, removal dish 2 slides to prop up to be located on the universal ball 6 and then with base plate 1 forms point-to-surface contact. The universal ball 6 is selected to fully ensure the omnibearing relative horizontal displacement of the movable disc 2 and the base plate 1.

As shown in fig. 5 and 6, the sliding pad layer is disposed on the lower surface of the movable plate and slidably supported on the universal ball, and the rolling pad layer 15 is disposed between the universal ball and the ball holder.

Specifically, the sliding pad layer comprises a soft pad layer 13 and a hard pad layer 14, the soft pad layer 13 is laid on the lower surface of the moving disk, the hard pad layer 14 is laid on the surface of the soft pad layer 13, and the hard pad layer 14 is in contact with the universal ball; the rolling cushion layer 15 surrounds the contact surface between the universal ball and the ball holder, and the rolling cushion layer 15 and the soft cushion layer 13 comprise foam or sponge or rubber.

As shown in fig. 3 and 4, in this embodiment, the middle positions of two sides of the substrate 1 are respectively provided with a limiting through hole 9, the movable limiting region is formed by the inner wall range of the opening of the limiting through hole 9, the movable connecting portion is spanned on two sides of the substrate 1, and the connecting end of the movable connecting portion is respectively movably inserted into the limiting through hole 9 and connected with the lower surface of the movable disc 2 to form the connecting fulcrum 3.

Referring to fig. 7 and 8, the movable connecting portion includes a limiting strip 10, the limiting strip 10 is disposed on the lower surface of the substrate 1 at intervals, collision bodies 11 are disposed at two ends of the limiting strip 10, the collision bodies 11 are freely disposed at the limiting through holes 9, and the movable plate 2 is fastened to the collision bodies 11 through bolts 12.

Preferably, the collision body 11 is a buffer ring, and the position of the hole center and the hole diameter of the limiting through hole 9 can be preset and adjusted to change the range of the movable limiting area.

In reference, the range of the motion limiting area is that the maximum single-side movable distance is 10mm to 50mm, and preferably, the moving range is set to about 30mm, so that the shock absorption effect of general weight objects (such as cupped beverages) is ensured, and the obstacle avoidance effect of the robot is not influenced.

Thus, in the tray mechanism of the present embodiment, the universal ball 6 is used to realize the horizontal relative movement in point-surface contact, the elastic pulling member 5 is used to reduce the movement inertia of the movable tray 2, the limit hole is used to cooperate with the limit strip 10 to effectively limit the movable tray 2 in the front-back, up-down, left-right directions, and the protective shell plate is used to protect each component on the substrate 1. Compare in current tray structure, this application has formed one kind and has used combination formula and spacing to improve the tray mechanism that floats of key point.

In practical application, as shown in fig. 9, the whole tray mechanism can be mounted on the brackets at both sides of the robot by the mounting structures at both sides of the substrate 1, instead of the tray on the original robot; or, the whole tray mechanism can be placed on a robot tray, and the substrate 1 can be placed stably, can be connected and fixed with the tray, and can not be fixed. After the stable placement, the goods can be placed on the upper surface of the moving tray 2. Therefore, when the robot shakes or suddenly stops or suddenly accelerates, the base plate 1 and the robot change the motion state together, the moving disc 2 and the goods move together through inertia, no matter inertia is carried out in any direction, in the moving process of the moving disc 2, the elastic traction piece 5 generates gradually changed traction force due to the deformation degree, and further, the larger the moving distance is, the larger the generated traction force is, so that the inertia kinetic energy of the moving disc 2 and the goods is fully reduced through the elastic traction piece 5, and due to the deformation restoring capacity of the elastic traction piece 5, the moving disc 2 finally restores to the initial position.

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

on the basis of the first embodiment, in order to adapt to the traction of the circular moving disk 2, the present embodiment proposes another connection form of the elastic traction members, which is different from the first embodiment in that three elastic traction members 5 arranged along three directions are uniformly distributed between the moving disk 2 and the base plate 1.

Due to the variation of this connection form, it should be easily understood by those skilled in the art that a specific illustration is not given in this embodiment. However, it is clear that this form of connection of the present embodiment, compared to the first embodiment, eliminates the need for an elastic pulling member 5 and achieves the same pulling effect, especially corresponding to the circular tray mechanism.

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

In a third embodiment, another connection structure between the movable plate, the energy-consuming medium, and the substrate is provided:

on the basis of the first embodiment, the present embodiment changes the connection form between the moving plate 2 and the base plate 1, and the difference from the first embodiment is that in the present embodiment, the moving plate 2 is directly placed on the base plate 1, and the energy consuming medium includes a friction plate or a damping structure, which are respectively disposed on the contact surfaces of the moving plate 2 and the base plate 1 to form surface-to-surface contact, and the friction plate or the damping structure forms the moving component and reduces the sliding inertia of the moving plate 2.

Due to the variation of this connection form, it should be easily understood by those skilled in the art that a specific illustration is not given in this embodiment. However, it is obvious that this arrangement can increase the contact surface between the movable disk 2 and the base plate 1, and compared to the first embodiment, this embodiment not only omits the universal ball 6 and the elastic pulling member 5, but also provides another energy consuming medium, which can also achieve effective damping of the movable disk 2. It is seen that the structure is simpler and more convenient, and the application effect is also favorable.

In a fourth embodiment, this embodiment further proposes a preferred set protection scheme for the tray mechanism:

as shown in fig. 1 to 3, the present embodiment provides a combined noise reduction floating tray mechanism, including a substrate 1, configured to be placed on a distribution robot, where the substrate 1 is provided with a movable contact portion and a movable limiting region, and a rolling cushion layer is disposed inside the movable contact portion; the movable tray 2 is used for placing goods to be delivered, the movable tray 2 is erected on the movable contact part and can horizontally move relative to the substrate 1, and a sliding cushion layer is arranged between the movable tray and the movable contact part; the movable connecting part is arranged below the base plate 1, a connecting end of the movable connecting part penetrates through the movable limiting area and is connected to the movable disc 2, a connecting fulcrum 3 is formed at the connecting part of the connecting end and the movable disc 2, the connecting fulcrum 3 horizontally moves in the movable limiting area along with the movable disc 2, a movable interval is formed between the movable connecting part and the base plate 1, and the movable disc 2 can vibrate up and down in a limited position relative to the base plate 1 through the movable connecting part; and an energy consuming medium provided between the movable disk 2 and the substrate 1 to reduce the movement inertia of the movable disk 2. In this embodiment, the movable plate 2 is horizontally movable relative to the substrate 1 by the movable contact portion; the movable connecting part is used for connecting the movable disc 2 with the substrate 1 and forming effective limit in the left-right direction from front to back, and the movable disc 2 is effectively prevented from being separated from the substrate 1 or from being subjected to secondary vibration collision; then, when the robot shakes or suddenly stops or accelerates, under the combined action of the movable contact part and the energy consumption medium, greater deceleration buffer is provided for goods (particularly fluid goods) on the tray, and damage to the fluid goods and spilling of liquid are effectively avoided. For fully adapting to the application environment requirement, whole tray mechanism that floats can be not equidimension shape, and in this embodiment, removal dish 2 and base plate 1 preferred are square or rectangle structure, and like this, whole mechanism can present great area, the more goods of bearing. As shown in fig. 3, the upper surface of the moving plate 2 is provided with a soft cushion 7 for placing goods to be delivered. In addition, a protective shell plate 8 is arranged on the lower surface of the substrate 1 to cover and protect the movable contact part, the movable connecting part and the energy dissipation medium. The energy consumption introduction comprises a plurality of elastic traction pieces 5 which are uniformly distributed on the periphery of the substrate 1, wherein the elastic traction pieces 5 are connected between the movable disc 2 and the substrate 1, and then the movable disc 2 can reciprocate relative to the substrate 1 and return to an initial position. Preferably, the elastic pulling member 5 is a spring, a tension spring or a gradual-change damping spring, and the elastic coefficient of the elastic pulling member 5 is about 0.012N/mm. Further, as shown in fig. 4 and 5, the movable contact portion is detachably disposed around the substrate 1. Specifically, the contact hole site has been seted up around base plate 1, the activity contact site includes universal ball 6 and ball socket 4, ball socket 4 detachably install in the contact hole site, universal ball 6 can install with rolling on the ball socket 4 and as protrusion in the slip fulcrum of base plate 1, removal dish 2 slides to prop up to be located on the universal ball 6 and then with base plate 1 forms point-to-surface contact. The universal ball 6 is selected to fully ensure the omnibearing relative horizontal displacement of the movable disc 2 and the base plate 1. As shown in fig. 5 and 6, the sliding pad layer is disposed on the lower surface of the movable plate and slidably supported on the universal ball, and the rolling pad layer 15 is disposed between the universal ball and the ball holder. Specifically, the sliding pad layer comprises a soft pad layer 13 and a hard pad layer 14, the soft pad layer 13 is laid on the lower surface of the moving disk, the hard pad layer 14 is laid on the surface of the soft pad layer 13, and the hard pad layer 14 is in contact with the universal ball; the rolling cushion layer 15 surrounds the contact surface between the universal ball and the ball holder, and the rolling cushion layer 15 and the soft cushion layer 13 comprise foam or sponge or rubber. As shown in fig. 3 and 4, in this embodiment, the middle positions of two sides of the substrate 1 are respectively provided with a limiting through hole 9, the movable limiting region is formed by the inner wall range of the opening of the limiting through hole 9, the movable connecting portion is spanned on two sides of the substrate 1, and the connecting end of the movable connecting portion is respectively movably inserted into the limiting through hole 9 and connected with the lower surface of the movable disc 2 to form the connecting fulcrum 3. Referring to fig. 7 and 8, the movable connecting portion includes a limiting strip 10, the limiting strip 10 is disposed on the lower surface of the substrate 1 at intervals, collision bodies 11 are disposed at two ends of the limiting strip 10, the collision bodies 11 are freely disposed at the limiting through holes 9, and the movable plate 2 is fastened to the collision bodies 11 through bolts 12. Preferably, the collision body 11 is a buffer ring, and the position of the hole center and the hole diameter of the limiting through hole 9 can be preset and adjusted to change the range of the movable limiting area. In reference, the range of the motion limiting area is that the maximum single-side movable distance is 10mm to 50mm, and preferably, the moving range is set to about 30mm, so that the shock absorption effect of general weight objects (such as cupped beverages) is ensured, and the obstacle avoidance effect of the robot is not influenced.

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 the fifth embodiment, the present invention further provides a product application scheme of the tray mechanism:

as shown in fig. 9, the present embodiment further provides a delivery robot 100, which includes a robot support 97, a robot tray 99, and any one of the above-mentioned combined noise-reducing floating tray mechanisms 90, wherein the robot tray 99 is supported on the robot support 97, the substrate 1 is flatly placed on the robot tray 99, and the upper surface of the moving tray 2 is used for placing goods 98 to be delivered.

Therefore, the combined noise-reducing floating tray mechanism enables the distribution robot to effectively avoid (fluid) goods from spilling in the distribution process.

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

1. A modular unsteady tray mechanism of making an uproar falls, its characterized in that includes:

2. The combined noise-reducing floating tray mechanism according to claim 1, wherein the movable contact portion is detachably disposed around the substrate, contact hole sites are disposed around the substrate, the movable contact portion includes a universal ball and a ball socket, the ball socket is detachably mounted at the contact hole sites, the universal ball is rollably mounted on the ball socket and serves as a sliding fulcrum protruding from the substrate, the sliding cushion layer is disposed on a lower surface of the movable tray and slidably supported on the universal ball to form a point-surface contact with the substrate, and the rolling cushion layer is disposed between the universal ball and the ball socket.

3. The combined noise reducing floating tray mechanism according to claim 2, wherein the sliding pad layer comprises a soft pad layer and a hard pad layer, the soft pad layer is laid on the lower surface of the movable plate, the hard pad layer is laid on the surface of the soft pad layer, and the hard pad layer is in contact with the universal ball; the rolling cushion layer surrounds the contact surface between the universal ball and the ball holder, and the rolling cushion layer and the soft cushion layer comprise foam or sponge or rubber.

4. The combined noise-reducing floating tray mechanism according to claim 1, wherein a movable limiting region is disposed on the base plate, the movable connecting portion is disposed under the base plate, a connecting end of the movable connecting portion penetrates through the movable limiting region and is connected to the movable tray, a connecting fulcrum is formed at a connecting position of the connecting end and the movable tray, the connecting fulcrum moves horizontally along with the movable tray in the movable limiting region, a movable gap is formed between the movable connecting portion and the base plate, and the movable tray can vibrate up and down in a limited position relative to the base plate through the movable connecting portion.

5. The combined noise-reducing floating tray mechanism according to claim 4, wherein the middle positions of the two sides of the base plate are respectively provided with a limiting through hole, the inner wall range of the opening of the limiting through hole forms the movable limiting region, the movable connecting portions are arranged on the two sides of the base plate in a spanning manner, and the connecting ends of the movable connecting portions are respectively movably arranged in the limiting through holes and connected with the lower surface of the movable tray to form the connecting pivot.

6. The combined noise-reducing floating tray mechanism according to claim 5, wherein the movable connecting portion comprises a limiting strip, the limiting strip is disposed on the lower surface of the base plate in a spanning manner at intervals, two ends of the limiting strip are respectively provided with a collision body, the collision bodies are freely disposed at the limiting through holes, and the movable tray is tightly connected with the collision bodies.

7. The combined noise-reducing floating tray mechanism according to any one of claims 1 to 6, wherein the energy-consuming medium includes a plurality of elastic pulling members uniformly distributed around the base plate, the elastic pulling members are connected between the movable tray and the base plate, and the movable tray can reciprocate relative to the base plate and return to an initial position.

8. The combined noise-reducing floating tray mechanism according to any one of claims 1 to 6, wherein the upper surface of the movable tray is provided with a soft cushion layer for placing goods to be delivered.

9. The combined noise reducing floating tray mechanism according to any one of claims 1 to 6, wherein a protective shell is provided on the lower surface of the base plate to cover and protect the movable contact portion, the movable connecting portion and the energy dissipating medium.

10. A delivery robot, characterized in that, including robot support, robot tray and according to any claim 1 to 9 combination formula of making an uproar unsteady tray mechanism falls, robot tray props up and locates both sides on the robot support, the base plate is located on the robot tray, the upper surface of removal dish is used for placing the goods that need the delivery.