CN217728741U

CN217728741U - Distribution robot

Info

Publication number: CN217728741U
Application number: CN202220145585.6U
Authority: CN
Inventors: 王海昕; 马源
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-11-04
Anticipated expiration: 2032-01-19

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 joint assembly comprises a first connecting part, a second connecting part and a spherical hinge structure, the spherical hinge structure comprises a fixed seat, a closing cover and a ball head, the ball head is rotatably arranged in the spherical cavity, part of the ball head protrudes from the middle through hole and is fixedly connected with one end of the second connecting part, one end of the first connecting part is fixedly connected with the fixed seat, the other end of the first connecting part is connected with the machine body, and the other end of the second connecting part is connected with the placing assembly; and the buffering component is used for providing buffering force for the second connecting part when the second connecting part moves relative to the first connecting part through the spherical hinge structure. Use this technical scheme to solve among the prior art when transporting liquid meal article, when the delivery robot meets the barrier or turns, the liquid meal article of placing on the supporter spill the problem of going out easily.

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 distribution robot distributes the meal, the meal can be completely delivered only by placing the meal on a storage rack of the distribution robot; for liquid meals (such as drinks or soups), placed on the rack of the dispensing robot, the liquid meals are easily spilled out when the dispensing robot encounters an obstacle or turns.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a delivery robot, when aiming at solving transportation liquid food article among the prior art, when the delivery robot meets the barrier or turns, the liquid food article of placing on the supporter spills the problem that goes out easily.

In order to achieve the purpose, the utility model adopts the technical proposal that: a dispensing robot, comprising:

the device comprises a machine body and an anti-spilling device; wherein, spill prevention device includes:

the placing assembly is used for placing a vessel;

the joint assembly comprises a first connecting part, a second connecting part and a spherical hinge structure, the spherical hinge structure comprises a fixed seat, a closing cover and a ball head, the closing cover is connected with the fixed seat to form a ball socket cavity, the closing cover is provided with a middle through hole, the ball head is rotatably arranged in the ball socket cavity, part of the ball head protrudes from the middle through hole and is fixedly connected with one end of the second connecting part, one end of the first connecting part is fixedly connected with the fixed seat, the other end of the first connecting part is connected with the machine body, and the other end of the second connecting part is connected with the placing assembly so as to enable the placing assembly to be hung on the machine body;

the buffering assembly, the one end of buffering assembly is connected in the fuselage, and the other end of buffering assembly is connected in the second connecting portion, and the buffering assembly is used for providing the cushion force to the second connecting portion when the second connecting portion passes through the relative first connecting portion motion of ball pivot structure to reduce the motion range of the relative first connecting portion of second connecting portion.

Optionally, the buffering assembly comprises at least two tension springs, one end of each tension spring is connected to the second connecting portion, the at least two tension springs are arranged around the second connecting portion at intervals, the other end of each tension spring is connected to the machine body, and each tension spring is in a pre-tightening stretching state when the placing assembly is suspended along the direction of the plumb line of the placing assembly.

Optionally, the number of the tension springs is four, and the four tension springs are evenly spaced around the second connecting portion.

Optionally, the spill prevention device further comprises a rotating structure, the placement component is connected with the second connecting portion through the rotating structure, and the placement component can rotate around the axis of the second connecting portion relative to the machine body through the rotating structure.

Optionally, the rotating structure includes a rotating shaft, a rotating sleeve and a rotating bearing, the rotating shaft is fixedly connected with a collar of the rotating shaft, the rotating sleeve is fixedly connected with a race of the rotating bearing, one of the rotating shaft and the rotating sleeve is connected with the placing component, and the other of the rotating shaft and the rotating sleeve is connected with the second connecting portion.

Optionally, the slew bearing is a thrust bearing or a tapered roller bearing.

Optionally, the spill prevention device further comprises an adapter member, and the first connecting portion is detachably connected to the body through the adapter member.

Optionally, the adapting member includes a mounting slider and a chute member, the first connecting portion is connected to one of the mounting slider and the chute member, the other of the mounting slider and the chute member is connected to the body, and the mounting slider and the chute member are detachably assembled.

Optionally, the adapter member further comprises a locking member detachably connected to the mounting slider and/or the chute member, the locking member for preventing the mounting slider from being disengaged from the chute member.

Optionally, place the subassembly and include tray, protective shroud and arc pole, the first end of arc pole and the edge connection of tray, protective shroud detachably connects in the arc pole, and the tray is located the below of protective shroud, and the second end of arc pole is connected to on the second connecting portion, and the vertical projection of the hookup location of the second end of arc pole on the tray coincides with the center of tray.

The utility model discloses following beneficial effect has at least:

use the embodiment of the utility model provides an anti-overflow spills device assembly and carries out delivery beverage or hot water etc. on the delivery robot, at the in-process of delivery robot walking, run into bulky barrier and scram or run into little volume barrier and hinder when jolting more when the delivery robot, owing to place the fuselage that the subassembly passes through joint subassembly and is connected to the delivery robot, therefore, under inertia's effect, it takes the household utensils to still advance for the fuselage of delivery robot to place the subassembly, and because the buffering subassembly provides the cushion force to the second connecting portion, make the range of motion of placing the subassembly for the fuselage obtain reducing, liquid in the household utensils keeps stable in the household utensils under self surface tension's effect simultaneously, therefore liquid can not spill.

Drawings

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

Fig. 1 is a schematic view of an assembly structure of a distribution robot according to an embodiment of the present invention;

fig. 2 is an exploded view of an anti-spill device in a dispensing robot according to an embodiment of the present invention;

fig. 3 is an exploded view of a ball hinge structure in an anti-spilling device of a dispensing robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. a body; 11. a storage tray; 12. a body portion; 13. a chassis; 131. a traveling mechanism; 14. a head portion;

100. an anti-spilling device;

20. placing the component; 21. a tray; 22. a retainer; 23. an arcuate bar;

30. a joint assembly; 31. a first connection portion; 32. a second connecting portion; 33. a spherical hinge structure; 331. a fixed seat; 332. closing the cover; 333. a ball head; 334. a ball socket cavity; 335. a middle through hole;

40. a buffer assembly; 41. a tension spring;

50. a rotating structure; 51. a rotating shaft; 52. a rotating sleeve; 53. a rotating bearing; 531. a shaft ring; 532. a seat ring;

60. a changeover member; 61. installing a sliding block; 62. a chute member; 63. a locking member; 64. 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 by referring to the drawings are exemplary intended 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," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more than two of the feature. In the description of the present invention, "at least two" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

An embodiment of the utility model provides a delivery robot for carry out food delivery work in places such as dining room, hotel, club, deliver cooked food, liquid food to appointed place. As shown in fig. 1, the dispensing robot includes a body 10 and an overflow preventing device 100, the body 10 includes a chassis 13, a body 12 and a traveling mechanism 131, the traveling mechanism 131 is assembled at the bottom of the chassis 13, the traveling mechanism 131 is used for carrying the entire dispensing robot to travel along a predetermined route to reach a designated place, the body 12 is assembled on the chassis 13, a storage tray 11 is arranged on the body 12, dishes are placed on the storage tray 11, when liquid meals need to be dispensed, the liquid meals are contained in vessels, and then the vessels are placed by the overflow preventing device 100. The vessel can be a bowl, a bottle or a cup, an open vessel or a closed vessel, which are not limited herein.

As shown in fig. 2, the spill prevention device 100 includes a placement component 20, a joint component 30 and a buffer component 40, wherein the joint component 30 includes a first connecting portion 31, a second connecting portion 32 and a ball hinge structure 33, and as shown in fig. 3, the ball hinge structure 33 includes a fixing base 331, a closing cover 332 and a ball head 333. When the storage device is assembled, the closing cover 332 is connected to the fixing base 331 to form a socket cavity 334, the closing cover 332 is provided with a middle through hole 335, the ball head 333 is rotatably arranged in the socket cavity 334, a part of the ball head 333 protrudes from the middle through hole 335 and is fixedly connected with one end of the second connecting portion 32, one end of the first connecting portion 31 is fixedly connected with the fixing base 331, the other end of the first connecting portion 31 is connected with the body 10 (specifically, the first connecting portion 31 can be connected with the bottom of the storage tray 11, or the top of the body 12 away from the chassis 13 is provided with the head 14, as shown in fig. 1, the first connecting portion 31 can also be connected with the head 14), and the other end of the second connecting portion 32 is connected with the placement component 20, so that the placement component 20 is hung on the body 10, and the placement component 20 is used for placing the storage device. And one end of the buffer assembly 40 is connected to the body 10, the other end of the buffer assembly 40 is connected to the second connecting portion 32, and the buffer assembly 40 is configured to provide a buffer force to the second connecting portion 32 when the second connecting portion 32 moves relative to the first connecting portion 31 through the ball hinge structure 33, so as to reduce the movement amplitude of the second connecting portion 32 relative to the first connecting portion 31.

During the process of dispensing liquid by the dispensing robot, the liquid can be contained in the vessel, the vessel containing the liquid is placed on the placing component 20, and the traveling mechanism 131 of the dispensing robot, which is assembled on the chassis 13, is started to travel, so that the overflow preventing device is synchronously advanced, and the liquid is conveyed to the destination. During the walking process of the dispensing robot, when the dispensing robot encounters a large-volume obstacle and stops suddenly or encounters a small-volume obstacle and surmounts, because the placing component 20 is connected to the machine body 10 through the joint component 30, the placing component 20 still advances relative to the dispensing robot with the vessel under the action of the motion inertia, and the liquid in the vessel is kept stable in the vessel and cannot spill out under the action of the surface tension of the liquid in the vessel.

And, during the movement of the placement member 20 relative to the body 10 through the ball-and-socket structure 33 of the joint member 30 (the movement may be a reciprocating swing in the forward direction of the cleaning robot with only one degree of freedom, or a back and forth swing in a tapered region with at least two degrees of freedom), since the buffer member 40 provides a buffer force to the second connection portion 32, the kinetic energy of the placement member 20 moving with the vessel relative to the body 10 is converted into the elastic potential energy of the buffer member 40. This results in a reduced amplitude of movement of the placement module 20 relative to the body 10, and a reduced amplitude of sloshing of the liquid in the vessel (even without the liquid fluctuating all the time), so that the liquid does not spill out of the vessel.

Therefore, use the utility model discloses the spill prevention device that embodiment provided assembles and carries out distribution beverage or hot water etc. on the delivery robot, in the in-process of delivery robot walking, when the delivery robot meets bulky obstacle and scram or meets small-size obstacle and hinder the time of jolting more, owing to place subassembly 20 and be connected to the fuselage 10 of delivery robot through joint component 30, consequently, under the effect of inertia of moving, place subassembly 20 and take the household utensils still to advance for the fuselage 10 of delivery robot, and because buffer component 40 provides the cushion force to second connecting portion 32, make the range of motion of placing subassembly 20 for fuselage 10 obtain reducing, the liquid in the household utensils keeps stable in the household utensils under self surface tension's effect simultaneously, therefore liquid can 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 is connected with the body 10 of the robot through the joint component 30, so that the placing component 20 and the distribution robot can rotate at least with one degree of freedom through the spherical hinge structure 33 of the joint component 30, and when the distribution robot is decelerated, accelerated or turned, the placing component 20 drives the utensil to continuously shake relative to the distribution robot under the action of inertia, namely, the liquid is spilled out of the utensil without overcoming the inertia and doing work.

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 move 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 be through joint subassembly 30 assembly together, can not be along with distribution robot suddenly slow down or accelerate, consequently, household utensils and liquid whole still keep synchronous motion, thereby can not appear following the condition: the vessel decelerates or accelerates too fast, while the liquid decelerates or accelerates slower, and the two do not match and spill.

And to the catering field, liquid distribution belongs to the whole pain point in the industry all the time, the utility model discloses a set up exquisite structure, spill rate that can effectual reduction liquid distribution has extremely practicality.

As shown in fig. 2, the buffering assembly 40 of the spill prevention device includes at least two extension springs 41, one end of each extension spring 41 is connected to the second connecting portion 32 (specifically, the ends of the at least two extension springs 41 are connected to the second connecting portion 32 around the same circumference of the second connecting portion 32), and the at least two extension springs 41 are arranged at intervals around the second connecting portion 32, the other end of each extension spring 41 is connected to the body 10, and each extension spring 41 is in a pre-tensioned state when the placement assembly 20 is suspended in the direction of its vertical line.

In the embodiment of the present invention, the number of the tension springs 41 is four, and four tension springs 41 are uniformly spaced around the second connecting portion 32, preferably, the straight line of the two opposite tension springs 41 is parallel to the advancing direction of the distribution robot, and the straight line of the other two opposite tension springs 41 is perpendicular to the advancing direction of the distribution robot. When the placement module 20 is moved relative to the fuselage 10 by means of the ball joint structure 33, for example: when the dispensing robot suddenly stops, suddenly accelerates or suddenly retreats, the placing assembly 20 swings back and forth relative to the machine body 10 through the spherical hinge structure 33, at this time, two tension springs 41 arranged along the direction parallel to the advancing direction of the dispensing robot mainly provide a buffering force to the second connecting part 32, and the other two tension springs 41 provide a buffering force to the second connecting part 32 in an auxiliary manner; when the dispensing robot encounters an obstacle with a small size to perform an obstacle crossing movement or a turning, the placement member 20 swings left and right with respect to the body 10 through the ball hinge structure 33, and at this time, two tension springs 41 arranged mainly in a direction perpendicular to the advancing direction of the dispensing robot provide a damping force to the second connection portion 32, and the other two tension springs 41 provide a damping force to the second connection portion 32 in an auxiliary manner.

As shown in fig. 2, the spill prevention device 100 further includes a rotating structure 50, the placement module 20 is connected to the second connecting portion 32 through the rotating structure 50, and the placement module 20 is rotatable relative to the body 10 about an axis of the second connecting portion 32 through the rotating structure 50. Thus, when the dispensing robot performs obstacle crossing movement and bumps left and right or turns, the placing component 20 can horizontally rotate relative to the second connecting part 32 through the rotating structure 50 under the action of torque acting force, and the placing component 20 simultaneously moves relative to the machine body 10 through the spherical hinge structure 33, and the two components are matched, so that the liquid in the vessel cannot rotate relative to the vessel, and further the liquid is stably kept in the vessel without overflowing.

Specifically, the rotating structure 50 includes a rotating shaft 51, a rotating sleeve 52 and a rotating bearing 53, the rotating shaft 51 is fixedly connected with a collar 531 of the rotating shaft 51, the rotating sleeve 52 is fixedly connected with a race 532 of the rotating bearing 53, and the collar 531 rotates relative to the race 532. One of the rotary shaft 51 and the rotary sleeve 52 is connected to the placement member 20, and the other of the rotary shaft 51 and the rotary sleeve 52 is connected to the second connecting portion 32. As shown in fig. 2, the spill prevention device of the embodiment of the present invention is connected to the placement member 20 through the rotation shaft 51, and the rotation sleeve 52 is connected to the second connection portion 32.

Preferably, the rotary bearing 53 is a thrust bearing or a tapered roller bearing. The number of the rotary bearings 53 is even, and when the rotary bearings are assembled, any two rotary bearings 53 form one set, and the axial force directions of the two rotary bearings 53 in the same set are opposite.

As shown in fig. 2, the spill prevention device 100 further includes an adapter member 60, and the first connecting portion 31 is detachably connected to the body 10 through the adapter member 60, so that the spill prevention device is conveniently disassembled and assembled by a worker, and the work efficiency of replacing and maintaining the spill prevention device is improved.

Specifically, the adapter member 60 includes adapter plate 64, installation slider 61 and chute piece 62, in the embodiment of the utility model, first connecting portion 31 is connected to installation slider 61 through adapter plate 64 on, and chute piece 62 is connected to fuselage 10 on, and installation slider 61 and chute piece 62 detachably assemble, mutually support through installation slider 61 and chute piece 62, reach quick assembly disassembly, change anti-spilling device's mesh. In the second embodiment, the mounting slider 61 is fixed on the adapter plate 64, that is, the mounting slider 61 is connected with the first connecting portion 31 through the adapter plate 64; the chute member 62 is fixedly mounted to the body 12 (or, in another embodiment, the chute member 62 is connected to the body 10 by a connecting bolt, and the mounting slider 61 is directly screwed to the first connecting portion 31). When the spill prevention device is disassembled and replaced, the installation sliding block 61 slides into the sliding groove of the sliding groove piece 62, so that the spill prevention device can be assembled on the body part 12, and correspondingly, the installation sliding block 61 slides out of the sliding groove piece 62, so that the spill prevention device can be disassembled from the body part 12 conveniently and quickly.

In order to prevent the mounting slider 61 from being disengaged from the chute member 62, therefore, the changeover member 60 further includes a locking member 63, the locking member 63 being detachably attached to the mounting slider 61 and/or the chute member 62, the locking member 63 serving to prevent the mounting slider 61 from being disengaged from the chute member 62. Specifically, the locking member 63 is a bolt, and a bolt hole adapted to the bolt is formed in the chute member 62. After the installation sliding block 61 is slid into the sliding groove of the sliding groove piece 62, the bolt is inserted into the bolt hole, and the bolt can block the installation sliding block 61 from being separated from the sliding groove of the sliding groove piece 62. When the spill prevention device needs to be disassembled and replaced, the plug pin is firstly pulled out from the plug pin hole, and the mounting sliding block 61 can slide out of the sliding groove piece 62, so that the disassembly is completed.

As shown in fig. 1 and fig. 2, the placing assembly 20 includes a tray 21, a retainer 22 and an arc rod 23, a first end of the arc rod 23 is connected to an edge of the tray 21, the retainer 22 is detachably connected to the arc rod 23, the tray 21 is located below the retainer 22, a second end of the arc rod 23 is connected to the second connecting portion 32, and a vertical projection of a connecting position of the second end of the arc rod 23 on the tray 21 coincides with a center of the tray 21. The placement assembly 20 is adapted to place a cylindrical cup (i.e., a vessel with a narrow bottom and a high center of gravity), contain a liquid food (e.g., a beverage or a drink) in the cylindrical cup, and then place the cylindrical cup on the tray 21 after passing through the retainer 22. The retainer 22 protects the cylindrical cup during the travel of the dispensing robot, and prevents the cylindrical cup from falling from the tray 21.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.

Claims

1. A dispensing robot, comprising:

a placement assembly for placing a vessel;

the joint assembly comprises a first connecting part, a second connecting part and a spherical hinge structure, the spherical hinge structure comprises a fixed seat, a closing cover and a ball head, the closing cover is connected with the fixed seat to form a ball socket cavity, the closing cover is provided with a middle through hole, the ball head is rotatably arranged in the ball socket cavity, part of the ball head protrudes from the middle through hole and is fixedly connected with one end of the second connecting part, one end of the first connecting part is fixedly connected with the fixed seat, the other end of the first connecting part is connected with the machine body, and the other end of the second connecting part is connected with the placing assembly, so that the placing assembly is hung on the machine body;

the buffering assembly, the one end of buffering assembly connect in the fuselage, the other end of buffering assembly connect in the second connecting portion, the buffering assembly be used for the second connecting portion pass through the ball pivot structure is relative during the motion of first connecting portion to the second connecting portion provide the cushion effect, in order to reduce the second connecting portion is relative the motion range of first connecting portion.

2. The dispensing robot of claim 1,

the buffer assembly comprises at least two tension springs, one ends of the tension springs are connected to the second connecting portion, the at least two tension springs are arranged around the second connecting portion at intervals, the other ends of the tension springs are connected to the machine body, and the tension springs are in a pre-tightening stretching state when the placement assembly is suspended in the direction of the plumb line of the placement assembly.

3. The dispensing robot of claim 2,

the number of extension springs is four, four the extension spring centers on the even interval arrangement of second connecting portion.

4. The dispensing robot of claim 1,

the spill-proof device further comprises a rotating structure, the placement component is connected with the second connecting portion through the rotating structure, and the placement component can rotate around the axis of the second connecting portion through the rotating structure relative to the machine body.

5. The dispensing robot of claim 4,

the rotating structure comprises a rotating shaft, a rotating sleeve and a rotating bearing, the rotating shaft is fixedly connected with a shaft ring of the rotating shaft, the rotating sleeve is fixedly connected with a seat ring of the rotating bearing, one of the rotating shaft and the rotating sleeve is connected with the placing assembly, and the other of the rotating shaft and the rotating sleeve is connected with the second connecting portion.

6. The dispensing robot of claim 5,

the rotating bearing is a thrust bearing or a tapered roller bearing.

7. The dispensing robot of claim 5,

the spill prevention device further comprises an adapter member, and the first connecting portion is detachably connected to the machine body through the adapter member.

8. The dispensing robot of claim 7,

the adapter component comprises a mounting sliding block and a sliding groove piece, the first connecting part is connected to one of the mounting sliding block and the sliding groove piece, the other of the mounting sliding block and the sliding groove piece is connected to the machine body, and the mounting sliding block and the sliding groove piece are detachably assembled.

9. The dispensing robot of claim 8,

the adapting member further comprises a locking member detachably connected to the mounting slider and/or the chute member, the locking member being for preventing the mounting slider from being disengaged from the chute member.

10. Dispensing robot according to any of the claims 1-9,

place the subassembly and include tray, protective shroud and arc pole, the first end of arc pole with the edge connection of tray, protective shroud detachably connect in the arc pole, the tray is located the below of protective shroud, the second end of arc pole is connected to on the second connecting portion, the hookup location of the second end of arc pole is in vertical projection on the tray with the center coincidence of tray.