CN217195354U - Distribution robot - Google Patents

Abstract

The utility model belongs to the technical field of the smart machine, especially, relate to a delivery robot, include: a body; the placing assembly is used for placing a vessel; the hinge assembly is used for hinging the placing assembly on the machine body; the limiting assembly is arranged on the machine body and used for limiting the upper limit position of the placing assembly towards the swinging of the machine body. Use the technical scheme of the embodiment of the utility model the liquid food of placing on the supporter of delivery robot has been solved and has met the barrier and take place the problem that the overflow spills that inclines easily when scram at the delivery robot.

Description

Distribution robot

Technical Field

The utility model belongs to the technical field of the smart machine, especially, relate to a delivery robot.

Background

At present, a restaurant increasingly uses an intelligent delivery robot to provide food delivery service for customers, so that intelligent service is realized, and the labor cost of the restaurant is reduced. When the delivery robot delivers the meal, the meal is placed on the storage rack of the delivery robot, and the meal can be completely delivered. For liquid meals (such as beverages or soups), the liquid meals placed on the rack of the dispensing robot are prone to tipping over when the dispensing robot encounters an obstacle and comes to a sudden stop.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a delivery robot aims at solving the liquid food article of placing on delivery robot's supporter and meets the barrier and take place to incline easily when scram and spill the problem that spills at the delivery robot.

In order to achieve the above object, the utility model adopts the following technical scheme: a dispensing robot, comprising: a body; the placing assembly is used for placing a vessel; the hinge assembly is used for hinging the placing assembly on the machine body; the limiting assembly is arranged on the machine body and used for limiting the upper limit position of the placing assembly towards the swinging of the machine body.

Optionally, the hinge assembly comprises a first connecting portion, a second connecting portion, a pin shaft and a joint bearing, the pin shaft penetrates through a bearing inner ring of the joint bearing, the pin shaft and the bearing inner ring of the joint bearing rotate synchronously relative to a bearing outer ring of the joint bearing, one end of the first connecting portion is fixedly connected with the pin shaft, the other end of the first connecting portion is connected with the placement assembly, one end of the second connecting portion is connected with the machine body, and the other end of the second connecting portion is connected with the bearing outer ring of the joint bearing.

Optionally, one end of the first connecting portion connected to the pin shaft is provided with two opposite and spaced lifting lugs, the two lifting lugs are respectively fixedly connected to two ends of the pin shaft, and the joint bearing is located between the two lifting lugs.

Optionally, the dispensing robot further comprises a damping structure connected between the body and the hinge assembly, the damping structure being configured to provide a damping force to the pin when the pin rotates relative to the bearing outer race of the joint bearing.

Optionally, the damping structure includes a damping mount and a damping member, the damping mount is fixedly connected to the body, and the damping member is connected to the damping mount and the pin.

Optionally, the damping member is provided with a first transfer end, a second transfer end and a damping connection portion, two ends of the damping connection portion are respectively and fixedly connected with the first transfer end and the second transfer end, the first transfer end is fixedly connected with the damping mounting seat, and the second transfer end is fixedly connected with an end of the pin shaft.

Optionally, the limiting assembly comprises a limiting fork, the limiting fork has a mounting end and a forked end, the mounting end is connected to the body, and the forked end is used for limiting the upper limit position of the first connecting portion relative to the second connecting portion towards the body swing.

Optionally, the limiting assembly further comprises a mounting beam, the mounting beam is fixedly connected to the body, and the mounting end is rotatably connected to the mounting beam through a pivot pin.

Optionally, the spacing subassembly still includes buffer spring, and buffer spring's first end is connected with installation roof beam or fuselage, and buffer spring's second end is connected between installation end and forked end, and buffer spring is used for providing buffering elasticity to spacing fork when spacing fork swings towards the fuselage along with first connecting portion.

Optionally, the buffer spring is an extension spring; alternatively, the buffer spring is a compression spring.

The utility model discloses following beneficial effect has at least:

use the embodiment of the utility model provides a delivery robot when delivering liquid food (like delivery hot water article, beverage, drinks etc.), adopt household utensils with liquid food splendid attire back, place the household utensils on placing the subassembly, the traveling system operation of delivery robot is marchd, when the delivery robot runs into the barrier and scram, then place the subassembly and pass through the fuselage swing of articulated subassembly for the delivery robot, that is to say, place on placing the subassembly household utensils also simultaneously along with placing the relative fuselage swing of subassembly, and, under the effect of the surface tension of liquid food, liquid can keep in the household utensils steadily and not overflow and spill out. And, in order to avoid placing the subassembly and collide with the fuselage, consequently, this delivery robot has set up spacing subassembly, places the subassembly through spacing subassembly restriction towards the wobbling upper limit position of fuselage to eliminate and place the possibility that subassembly and fuselage collide, ensured that the liquid food in the household utensils can not spill over.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following descriptions are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a schematic mechanical diagram of a dispensing robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a placement component and a hinge component in a distribution robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of the connection between the second connection portion and the joint bearing of the delivery robot according to the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. a body; 11. a rack; 12. a body portion; 13. a chassis; 14. a head portion; 131. a traveling system; 20. placing the component; 30. a hinge assembly; 31. a first connection portion; 311. lifting lugs; 32. a second connecting portion; 33. a pin shaft; 34. a knuckle bearing; 341. a bearing inner race; 342. a bearing outer race; 40. a limiting component; 41. a limiting fork; 411. an installation end; 412. a forked end; 42. mounting a beam; 43. a buffer spring; 44. a roller pin; 50. a damping structure; 51. a damping mounting seat; 52. a damping member; 521. a first transition end; 522. a second transition end; 523. a damping connection portion; 60. an adapter plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being 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", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; 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 according to specific situations by those skilled in the art.

As shown in fig. 1 to 3, a dispensing robot provided by an embodiment of the present invention includes a body 10, a placing component 20, a hinge component 30 and a limiting component 40, wherein the placing component 20 is used for placing a vessel (not shown) containing liquid, specifically, the vessel may be a bowl, a bottle or a cup, may be an open vessel, or may be a closed vessel, which is not limited herein, the hinge component 30 is used for connecting the placing component 20 to the body 10, the limiting component 40 is installed on the body 10, and the limiting component 40 is used for limiting an upper limit position of the placing component 20 swinging towards a wall surface of a body portion 12 of the body 10.

Use the embodiment of the utility model provides a when delivery robot delivers liquid food (like delivery hot water article, beverage, drinks etc.), adopt household utensils with liquid food splendid attire back, place the household utensils on placing component 20, delivery robot's traveling system 131 operation is marchd, when delivery robot runs into the barrier and when scramming, then place component 20 through articulated component 30 for delivery robot's fuselage 10 swing, that is to say, place on placing component 20 household utensils also along with placing component 20 and swing relative fuselage 10 simultaneously, and, under the effect of the surface tension of liquid food, liquid can keep in the household utensils steadily and do not spill.

In a specific scene, in the walking process of the distribution robot, due to the requirements of starting, obstacle avoidance, stopping and the like, the distribution robot can be decelerated, accelerated or turned, and the distribution robot is hinged with the body 10 of the robot through the hinge assembly 30, so that the placement assembly 20 and the distribution robot can rotate at least with one degree of freedom, and when the distribution robot is decelerated, accelerated or turned, the placement assembly 20 drives a vessel to continuously shake relative to the distribution robot under the action of inertia, namely, the liquid is spilled from the vessel due to the fact that work is done without overcoming the inertia.

Compare among the prior art directly place the household utensils in distribution robot's tray, when distribution robot slows down, because the household utensils have slowed down, and liquid can continue to remove because inertia to make the condition that liquid spills out very easily, the utility model discloses a scheme, when distribution robot is slowing down suddenly or accelerating, the household utensils because with distribution robot articulated, can not be along with distribution robot sudden deceleration or acceleration, consequently, household utensils and liquid are whole still to keep synchronous motion, thereby can not appear following condition: the vessel decelerates or accelerates too fast, while the liquid decelerates or accelerates slower, and the two do not match and spill.

And, when the placing member 20 is swung excessively with respect to the body 10 by the hinge member 30, the placing member 20 collides against the wall surface of the body portion 12 of the body 10, thereby causing the liquid in the vessel to spill out. In order to prevent the placing module 20 from colliding with the wall surface of the body 12 of the main body 10, the dispensing robot is provided with the limiting module 40, and the limiting module 40 limits the upper limit position of the placing module 20 swinging towards the body 12 of the main body 10, so that the possibility of collision between the placing module 20 and the wall surface of the body 12 of the main body 10 is eliminated, and the liquid food in the dish is ensured not to spill out.

As shown in fig. 2 and 3, the hinge assembly 30 includes a first connecting portion 31, a second connecting portion 32, a pin 33, and a joint bearing 34 (the joint bearing 34 is also commonly referred to as a fisheye bearing, which not only has the capability of relative rotation between a bearing inner ring 341 and a bearing outer ring 342 of a general bearing, but also enables the bearing inner ring 341 to deflect within a certain angle range with respect to the bearing outer ring 342 along the direction of the central axis of the bearing inner ring 341). During specific assembly, the pin 33 penetrates through the bearing inner ring 341 of the joint bearing 34, the pin 33 and the bearing inner ring 341 of the joint bearing 34 synchronously rotate relative to the bearing outer ring 342 of the joint bearing 34, the pin 33 and the bearing inner ring 341 can be assembled together in an interference fit manner, the pin 33 and the bearing inner ring 341 can also be assembled together in a key connection manner, or the pin 33 and the bearing inner ring 341 can also be rotatably assembled. In this embodiment, the bodies of the first connecting portion 31 and the second connecting portion 32 are rigid straight rods, one end of the first connecting portion 31 is fixedly connected to the pin 33, the other end of the first connecting portion 31 is connected to the placement component 20, one end of the second connecting portion 32 is connected to the body 10, and the other end of the second connecting portion 32 is connected to the bearing outer ring 342 of the joint bearing 34. After the connection is completed, the placement module 20 is hung on the body 10, and the vessel containing the liquid food is placed on the placement module 20 and travels along with the delivery robot, so that the liquid food is delivered to the destination. When the distribution robot meets a large-volume obstacle and is suddenly stopped, the placing assembly 20 swings back and forth around the axis of the pin shaft 33 relative to the bearing outer ring 342; when the delivery robot encounters an obstacle with a small volume to perform obstacle crossing movement, the delivery robot generates left-right jolting, which in turn causes left-right deflection of the placement member 20 along the direction of the central axis of the bearing inner race 341. In this way, no matter whether the placing assembly 20 swings back and forth relative to the bearing outer ring 342 or swings left and right relative to the bearing outer ring 342, the liquid meal in the vessel can be kept stable in the vessel without spilling out due to the liquid surface tension of the liquid meal in the vessel and the inertia relative to the body 10.

As shown in fig. 1, the main body 12 of the body 10 is mounted on a chassis 13, and a traveling system 131 is mounted on the bottom of the chassis 13. The body 10 of the distribution robot is provided with a shelf 11, and dishes are placed on the shelf 11 when the distribution robot performs distribution work. In this embodiment, as shown in fig. 1 and 2, the second connecting portion 32 is fixedly connected to the bottom of the article holding frame 11 through the adapter plate 60, and after the assembly is completed, the placing assembly 20 hangs below the article holding frame 11.

In an embodiment of the present invention, a head 14 (as shown in fig. 1) is disposed on the body 10, and the hinge assembly 30 is directly connected to the head 14, that is, the placing assembly 20 is suspended from the body 10 via the hinge assembly 30 and the head 14.

In order to conveniently and rapidly assemble the first connecting portion 31 and the pin 33, as shown in fig. 2, two opposite and spaced lifting lugs 311 are disposed at one end of the first connecting portion 31 connected to the pin 33, and the two lifting lugs 311 are fixedly connected to two ends of the pin 33, respectively. In this embodiment, the pin 33 and the bearing inner race 341 are assembled to rotate relatively, and during the assembly, the through holes of the bearing inner race 341 are directly aligned with the through holes of the two lifting lugs 311, then the pin 33 is inserted through the through holes of the two lifting lugs 311 and the bearing inner race 341, and then is mounted on the end of the pin 33 by using a snap ring, so as to prevent the pin 33 from falling out. And, the knuckle bearing 34 is located between the two lifting lugs 311, so that the balance of the suspension of the placement component 20 on the fuselage 10 is better.

As shown in fig. 2, the dispensing robot further includes a damping structure 50, and a part of the kinetic energy of the placing assembly 20 swinging relative to the body 10 is converted into the thermal internal energy of the damping structure 50 by using the damping structure 50, so as to reduce the swinging amplitude of the placing assembly 20 relative to the body 10, and simultaneously, the intensity of the placing assembly 20 starting to swing relative to the body 10 can be reduced, so as to achieve the purpose of keeping the liquid food in the vessel stable and not spilling. In this embodiment, a damping structure 50 is connected between the body 10 and the hinge assembly 30, the damping structure 50 being configured to provide a damping force to the pin 33 when the pin 33 rotates relative to the bearing outer race 342 of the joint bearing 34.

Specifically, damping structure 50 includes damping mount 51 and damping piece 52, and damping mount 51 fixed connection is on fuselage 10, and damping piece 52 connects damping mount 51 and round pin 33, and like this, when placing subassembly 20 and carry out the in-process of rocking, a part of kinetic energy of placing subassembly 20 converts into the heat internal energy of damping piece 52 to reduce the amplitude of oscillation of placing subassembly 20 for fuselage 10. More specifically, the damping member 52 is provided with a first transfer end 521, a second transfer end 522 and a damping connection portion 523, and two ends of the damping connection portion 523 are respectively and fixedly connected with the first transfer end 521 and the second transfer end 522, wherein the damping connection portion 523 is a flexible material member. During assembly, the first adaptor end 521 is fixedly connected with the damping mounting seat 51 through a screw, and the second adaptor end 522 is fixedly connected with the end of the pin shaft 33 through a screw. When the distribution robot suddenly stops due to a large-size obstacle, the placement component 20 swings back and forth relative to the bearing outer ring 342 around the axis of the pin shaft 33, the pin shaft 33 drives the second connection end 522 to twist around the axis of the pin shaft 33 relative to the first connection end 521, that is, the damping connection portion 523 is deformed in a twisting manner, so that the swing kinetic energy of the placement component 20 is converted into the heat internal energy of the damping connection portion 523; similarly, when the dispensing robot encounters an obstacle with a small volume and performs obstacle crossing movement, the placement component 20 swings left and right along the direction of the central axis of the bearing inner race 341, and the pin 33 drives the damping connection portion 523 to deform in a distortion manner in the plane of the axis of the pin 33, so that the swing kinetic energy of the placement component 20 is converted into the thermal internal energy of the damping connection portion 523.

As shown in fig. 2, the limiting assembly 40 includes a limiting fork 41, and the upper limit position of the placing assembly 20 swinging relative to the machine body 10 is limited by the limiting fork 41. Specifically, the check fork 41 has a mounting end 411 and a forked end 412, the mounting end 411 being attached to the body 10. When the placing member 20 swings to the upper limit position with respect to the main body 10, the first connecting portion 31 enters the forked end 412, so that the first connecting portion 31 is restricted from continuing to swing toward the wall surface of the main body portion 12 of the main body 10, that is, the forked end 412 is used for restricting the upper limit position of the swing of the first connecting portion 31 toward the wall surface of the main body portion 12 of the main body 10 with respect to the second connecting portion 32.

In one possible embodiment, the mounting end 411 is fixedly attached to the fuselage 10. In another possible embodiment, the position-limiting assembly 40 further comprises a mounting beam 42, the mounting beam 42 is fixedly connected to the body 10, and the mounting end 411 is rotatably connected to the mounting beam 42 via a pivot pin 44, such that when the first connecting portion 31 enters the forked end 412, the position-limiting fork 41 further reduces the swing kinetic energy of the placing assembly 20 as the first connecting portion 31 continues to swing at a certain angle, so that the liquid food in the dish is kept more stable without spilling out.

As shown in fig. 2, in the present embodiment, the position limiting assembly 40 further includes a buffer spring 43, a first end of the buffer spring 43 is connected to the mounting beam 42 or the body 10, a second end of the buffer spring 43 is connected between the mounting end 411 and the forked end 412, and the buffer spring 43 is used for providing a buffer elastic force to the position limiting fork 41 when the position limiting fork 41 swings with the first connecting portion 31 toward the wall surface of the body portion 12 of the body 10. Specifically, the buffer spring 43 is an extension spring, one end of the extension spring is connected to the mounting beam 42, the other end of the extension spring is connected to the position-limiting fork 41, and when the position-limiting fork 41 continues to swing along with the first connecting portion 31, the extension spring is stretched to generate a return elastic force, which not only can slow down the swing speed of the first connecting portion 31, but also can cooperate with the damping structure 50 to further reduce the swing amplitude of the first connecting portion 31, thereby avoiding the placement component 20 from colliding with the wall surface of the body portion 12 of the body 10. Or, the buffer spring 43 is a compression spring, one end of the compression spring is connected to the body 10, the other end of the compression spring is connected to the position-limiting fork 41, and when the position-limiting fork 41 continuously swings with the first connecting portion 31, the compression spring is compressed to generate a return elastic force, which not only can slow down the swing speed of the first connecting portion 31, but also can cooperate with the damping structure 50 to further reduce the swing amplitude of the first connecting portion 31, thereby avoiding the placement component 20 from colliding with the wall surface of the body portion 12 of the body 10.

Or in a possible embodiment, a damping ring is provided on the rotating shaft pin 44 (i.e., a damping spring is replaced by a damping ring), and during the swinging process of the position-limiting fork 41 along with the first connecting portion 31, the damping ring applies a damping force, which not only can slow down the swinging speed of the first connecting portion 31, but also can cooperate with the damping structure 50 to further reduce the swinging amplitude of the first connecting portion 31, so as to avoid the placing assembly 20 from colliding with the wall surface of the body portion 12 of the body 10.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A dispensing robot, comprising:

a body;

a placement assembly for placing a vessel;

the hinge assembly is used for hinging the placing assembly on the machine body;

the limiting assembly is installed on the machine body and used for limiting the upper limit position of the placing assembly towards the swinging of the machine body.

2. The dispensing robot of claim 1,

the hinge assembly comprises a first connecting portion, a second connecting portion, a pin shaft and a joint bearing, the pin shaft penetrates through a bearing inner ring of the joint bearing, the pin shaft and the bearing inner ring of the joint bearing are opposite to each other, a bearing outer ring of the joint bearing synchronously rotates, one end of the first connecting portion is fixedly connected with the pin shaft, the other end of the first connecting portion is connected with the placing assembly, one end of the second connecting portion is connected with the machine body, and the other end of the second connecting portion is connected with the bearing outer ring of the joint bearing.

3. The dispensing robot of claim 2,

one end of the first connecting portion connected with the pin shaft is provided with two lifting lugs which are opposite and spaced, the two lifting lugs are fixedly connected with the two ends of the pin shaft respectively, and the joint bearing is located between the two lifting lugs.

4. The dispensing robot of claim 3,

the distribution robot further comprises a damping structure, the damping structure is connected between the machine body and the hinged components, and the damping structure is used for providing damping force for the pin shaft when the pin shaft rotates relative to the bearing outer ring of the joint bearing.

5. The dispensing robot of claim 4,

the damping structure comprises a damping mounting seat and a damping piece, the damping mounting seat is fixedly connected to the machine body, and the damping piece is connected with the damping mounting seat and the pin shaft.

6. The dispensing robot of claim 5,

the damping part is provided with a first switching end, a second switching end and a damping connecting part, two ends of the damping connecting part are fixedly connected with the first switching end and the second switching end respectively, the first switching end is fixedly connected with the damping mounting seat, and the second switching end is fixedly connected with the end part of the pin shaft.

7. Dispensing robot according to any of the claims 2-6,

the limiting assembly comprises a limiting fork, the limiting fork is provided with a mounting end and a fork-shaped end, the mounting end is connected to the machine body, and the fork-shaped end is used for limiting the first connecting portion to be relative to the second connecting portion to face the upper limit position of the machine body in a swinging mode.

8. The dispensing robot of claim 7,

the limiting assembly further comprises an installation beam, the installation beam is fixedly connected to the machine body, and the installation end is rotatably connected with the installation beam through a rotating shaft pin.

9. The dispensing robot of claim 8,

spacing subassembly still includes buffer spring, buffer spring's first end with the installation roof beam or the fuselage is connected, buffer spring's second end is connected the installation end with between the forked end, buffer spring is used for spacing fork is followed first connecting portion orientation to spacing fork provides buffering elasticity during the fuselage swing.

10. The dispensing robot of claim 9,

the buffer spring is an extension spring; or, the buffer spring is a compression spring.

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