CN217751500U

CN217751500U - Bearing pad and robot

Info

Publication number: CN217751500U
Application number: CN202122601393.XU
Authority: CN
Inventors: 谭浩志
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-11-08
Anticipated expiration: 2031-10-27

Abstract

The utility model provides a bearing pad and robot, this bearing structure include the body, the body have openly and with the openly relative back, the back has the boss, the bearing pad is used for tiling pass through when the robot body is last the back will the storage tank covers just the boss is used for holding in the storage tank, the boss is equipped with the opening and is located positive recess, the recess is used for holding the object, the bearing pad still is equipped with elasticity butt structure and is used for the butt the object is in order to restrict the object is in the recess internal motion. The carrying pad and the robot can be used for transferring containers with different sizes.

Description

Bearing pad and robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a bearing pad and a robot.

Background

Robots, including catering robots, distribution robots, building robots, etc., function to transport objects from one location to another. The objects conveyed by the robot include liquid food materials such as drinks and beverages besides dishes. Liquid food materials are usually contained in containers such as bottles, cups, jars and the like, and the containers have higher gravity centers than bowls, dishes and the like and are easy to pour in the transportation process. In order to avoid such containers from toppling over, the robot is designed to have a receiving groove for receiving the container. Generally, the storage tank size of seting up on the robot is fixed, and the size of the bottle of splendid attire liquid food material, cup, jar etc. for example diameter etc. have the size usually, and when the size of container was less than the size of storage tank, the container still had the possibility of empting, and the commonality of current storage tank is not enough, is difficult to the not unidimensional container of adaptation.

Disclosure of Invention

An object of the embodiment of the application is to provide a bearing pad and a robot to solve the technical problem that the robot in the prior art is difficult to adapt to containers with different sizes.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

the utility model provides a bearing pad for place on the robot body of robot, at least one storage tank has been seted up on the robot body, bearing pad includes the body, the body have the front and with the front relative back, the back has the boss, bearing pad is used for tiling pass through when the robot body is last the back will the storage tank covers just the boss is used for holding in the storage tank, the boss is equipped with the opening and is located positive recess, the recess is used for holding the object, bearing pad still is equipped with elasticity butt structure and is used for the butt the object is in order to restrict the object is in the recess internal motion.

In one embodiment, the elastic abutment structure is an elastic abutment piece, which includes a fixed end fixedly connected with the body and a free end extending toward the center of the opening.

In one embodiment, the fixed end is located at the opening.

In one embodiment, one surface of the elastic abutting sheet, which faces away from the groove, is coplanar with the front surface of the body.

In one embodiment, the number of the elastic abutment pieces is at least two, and at least two of the elastic abutment pieces are spaced around the opening.

In one embodiment, the fixed end is located on an inner wall of the recess.

In one embodiment, the resilient abutment tab is triangular, trapezoidal or semi-circular.

In one embodiment, the number of the bosses is multiple, wherein the heights of at least two bosses are different, and the depths of the corresponding grooves are also different.

In one embodiment, the bearing pad is an integrally formed silicone piece.

The robot comprises a robot body and a bearing pad, wherein the robot body is provided with at least one accommodating groove, and the bearing pad is arranged on the robot body; the bearing pad is used for being placed on the robot body.

The application provides a bearing structure and robot's beneficial effect lies in: this bearing pad includes: the bearing pad is horizontally paved on the robot body, the accommodating groove is covered by the bearing pad through the back surface, the boss is used for being accommodated in the accommodating groove, the boss is provided with a groove with an opening positioned on the front surface, and the groove can be used for accommodating an object so as to limit the movement range of the object within a smaller range; one end of the elastic abutting structure is fixedly connected with the groove, the other end of the elastic abutting structure is abutted against the object, and the elastic abutting structure is used for limiting the object to move in the groove under the condition of abutting against the object; when the object to be conveyed is a container, the elastic abutting structure abuts against the outer wall surface of the container to limit the movement of the container in the horizontal direction, and the elastic abutting structure has elasticity, so that when the object is containers with different sizes, the elastic abutting structure can abut against the outer wall surface of the container; in addition, under the combined action of gravity and the bearing capacity of the bottom wall of the groove, the movement of the container in the vertical direction is limited, so that the container with different sizes can be kept stable in the transportation process by using the bearing pad, the container is prevented from being toppled, and the liquid in the container is effectively prevented from being splashed easily.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a load-bearing pad according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a body according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a robot provided in an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

100. a load-bearing pad; 110. a body; 111. a front side; 112. a groove; 113. an opening; 114. a bottom wall; 120. an elastic abutting structure; 200. a robot; 210. a robot body; 211. a connecting member; 212. a walking member.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be constructed in operation as a limitation of the application.

Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The bearing pad and the robot provided by the embodiment of the application are now described.

As shown in fig. 1 and fig. 2, an embodiment of the present application provides a bearing pad 100, where the bearing pad 100 is used to be placed on a robot body, and the robot body is provided with at least one accommodating groove, and the bearing pad 100 includes: a body 110 and a resilient abutment structure 120.

The body 110 has a front surface 111 and a back surface opposite to the front surface 111, the back surface has a boss, the pad 100 is used for covering the receiving groove through the back surface when being tiled on the robot body, and the boss is used for being received in the receiving groove. Specifically, the boss and the accommodating groove can be in small clearance fit or interference fit. The body 110 has a recess 112 formed therein, the recess 112 can be disposed on the boss, and the body 110 has a front surface 111, and an opening 113 of the recess 112 is located on the front surface 111, i.e. the recess 112 is formed by the front surface 111 being recessed inward. The recess 112 may be used to receive an object, such as a container of wine bottles, cups, etc. Specifically, the recess 112 may be used to accommodate a portion of the object, i.e. the height of the object is higher than the recess 112, in a state that the recess 112 accommodates the object, the portion of the object is located in the recess 112, and another portion of the object extends out of the opening 113 of the recess and is located outside the recess. In particular, the center of gravity of the object may be located within the groove 112 to ensure that the object does not topple over under the support of the side walls of the groove 112. The groove 112 may limit the range of motion of the object, as the object's motion within the groove 112 is blocked by the side walls of the groove; the size of the recess 112 may be set to a larger size since the recess 112 needs to fit a variety of different sized objects, and in the case of a cylindrical recess 112, the diameter of the recess 112 may be of a larger size. For example, the diameter of the groove 112 may be 1 to 10mm larger than the diameter of the largest object.

One end of the elastic abutting structure 120 is fixedly connected to the body 110, specifically, one end of the elastic abutting structure 120 may be fixedly connected to a position of the body 110 located in the groove 112 or close to the groove 112, the other end of the elastic abutting structure 120 is used for abutting against an object, and the elastic abutting structure 120 is used for limiting the object to move in the groove 112 when abutting against the object; since the elastic abutting structure 120 has elasticity, when the size of the object is within a certain range, for example, the width of the object in the horizontal direction is between 50mm and 200mm, the elastic abutting structure 120 can abut against the object to limit the movement of the object, so as to prevent the object from falling. Specifically, the elastic abutting structure 120 may apply an acting force to the object from a plurality of different directions to ensure that the object moves towards any direction, and the elastic abutting structure 120 has a corresponding portion to apply an acting force to the object to limit the movement of the object.

This bearing pad includes: the body is provided with a front face and a back face opposite to the front face, the back face is provided with a boss, the bearing pad covers the accommodating groove through the back face when being tiled on the robot body, the boss is used for being accommodated in the accommodating groove, the boss is provided with a groove with an opening positioned on the front face, and the groove can be used for accommodating an object so as to limit the movement range of the object within a smaller range; one end of the elastic abutting structure is fixedly connected to the groove, the other end of the elastic abutting structure is abutted to the object, and the elastic abutting structure is used for limiting the object to move in the groove under the condition of being abutted to the object; when the object to be transported is a container, the elastic abutting structure abuts against the outer wall surface of the container to limit the movement of the container in the horizontal direction, and the elastic abutting structure has elasticity, so that when the object is containers with different sizes, the elastic abutting structure can abut against the outer wall surface of the container; in addition, under the combined action of gravity and the bearing capacity of the bottom wall of the groove, the movement of the container in the vertical direction is limited, so that the bearing pad can ensure that the containers with different sizes are kept stable in the transportation process to prevent the containers from toppling over, and the liquid in the containers is effectively prevented from being splashed.

In some embodiments of the present application, the elastic abutment structure 120 may be an elastic abutment piece, i.e. the elastic abutment structure 120 is a sheet-like structure. The resilient abutment structure 120 may include a fixed end fixedly connected to the body 110 and a free end extending toward the center of the recess 112. The fixed end of the resilient abutment structure 120 may be disposed at the opening 113 of the recess 112. The free end of the resilient abutment structure 120 is adapted to abut against the portion of the object located at the opening 113 of the recess 112.

In some embodiments of the present application, the elastic abutting structure 120 may be made of silicon rubber, or other materials with elasticity, and the plurality of elastic abutting pieces in the elastic abutting structure 120 may be integrally formed with the body. The fixed end of the elastic abutment structure 120 is fixed to the front surface 111 of the body 110. Utilize the body 110 can provide the support for the position of elasticity butt structure 120 to prevent that elasticity butt structure 120 from connecting the position of the one end of body 110 and taking place the skew, make elasticity butt structure 120 can have sufficient elastic force to exert on the object, and can ensure that overall structure's height is lower, in order to practice thrift the space that occupies. In other embodiments, the fixed end of the resilient abutment structure 120 may also be fixed to the inner wall of the recess 112.

In some embodiments of the present application, the resilient abutment structure 120 comprises a plurality of teeth that are annularly distributed around the opening 113. Specifically, the number of the tooth-like structures may be any number greater than 2, for example, the number may be 8, 9, 10, 11, 12, and the like. Each tooth-like structure extends from the edge of the opening 113 to the center of the opening 113, and a gap is formed between two opposite openings 113 to ensure that an object can be inserted into the groove 112 through the opening 113.

In some embodiments of the present application, the tooth-like structure may be triangular, trapezoidal, or semi-circular. When the tooth-shaped structure is triangular, the position of the bottom edge of the triangle is the fixed end of the tooth-shaped structure; when the tooth-shaped structure is trapezoidal, the position of the bottom edge of the trapezoid is a fixed end of the tooth-shaped structure; when the tooth-shaped structure is semicircular, the position of the semicircular straight line side is the fixed end of the tooth-shaped structure.

In some embodiments of the present application, there are also gaps between adjacent tooth-like structures. To reserve a space for the deformation of the tooth-shaped structure, so that the tooth-shaped structure can be smoothly deformed to continue elastic potential energy, and an object can be smoothly placed into the groove 112.

In some embodiments of the present application, the grooves 112 may be disposed in a plurality, and the adjacent grooves 112 are spaced apart from each other to ensure that the adjacent grooves 112 do not affect each other. Each groove 112 corresponds to one elastic abutting structure 120, so that the position stability of an object can be guaranteed by the corresponding elastic abutting structure 120 when the object is placed in any one groove 112.

In some embodiments of the present application, each recess 112 has a bottom wall 114, the bottom wall 114 being located at a side of the recess 112 facing away from the opening 113, the bottom wall 114 being adapted to carry an object. When an object is placed in the groove 112, the bottom of the object is attached to the bottom wall 114, so that the bottom wall 114 is used to carry the object, and the side wall of the object is attached to the elastic abutting structure 120, so that the side wall of the object is abutted by the elastic abutting structure 120.

In some embodiments of the present application, the number of grooves 112 is multiple, wherein the depth of a portion of the grooves 112 is less than the depth of another portion of the grooves 112. Specifically, the depth of the groove 112 is the distance between the opening 113 of the groove 112 and the bottom wall 114 of the groove 112. In the case of carrying objects of a greater height, a deeper groove 112 may be selected; in the case of carrying shallow depth objects, shallow depth grooves 112 may be selected; thus, objects with different sizes can be guaranteed to be loaded by the corresponding grooves 112.

As shown in fig. 3, the present application also provides a robot 200, the robot 200 including: a robot body 210 and the above-mentioned load-bearing pad 100.

The robot body 210 is connected to the carrying pad 100 to drive the carrying pad 100 to move. Specifically, the robot body 210 is provided with a receiving groove for receiving a boss on the bearing pad 100. Specifically, the boss and the accommodating groove can be in small clearance fit, so that the boss is placed in the accommodating groove conveniently; the bosses and the accommodating groove can be in interference fit, so that the relative position of the bearing pad 100 can be kept stable in the moving process of the robot body 210. Through the control to robot 210, can utilize robot 210 to drive the motion of bolster 100, and then drive the object motion that is born by bolster 100, under this object is the container's the circumstances, this robot 200 can be for the robot of food transportation, utilizes this robot 200 to transport the container that contains hot water.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The utility model provides a bearing pad for place on the robot of robot, at least one storage tank has been seted up on the robot, its characterized in that, bearing pad includes:

the body is provided with a front surface and a back surface opposite to the front surface, and the back surface is provided with a boss which is used for being accommodated in the accommodating groove when the bearing pad is placed on the robot body; the boss is provided with a groove with an opening positioned on the front surface, and the groove is used for accommodating an object;

an elastic abutting structure for abutting the object to limit the object from moving in the groove.

2. The load cushion of claim 1, wherein the resilient abutment structure is a resilient abutment tab comprising a fixed end fixedly connected to the body and a free end extending toward the center of the opening.

3. The load cushion of claim 2, wherein the fixed end is located at the opening.

4. The load cushion of claim 3, wherein a face of the resilient abutment tab facing away from the recess is coplanar with a front face of the body.

5. The load pad of claim 3, wherein the number of the resilient abutment tabs is two or more, and the two or more resilient abutment tabs are spaced around the opening.

6. The load pad of claim 2, wherein the fixed end is located on an inner wall of the recess.

7. The load pad of claim 2, wherein the resilient abutment tab is triangular, trapezoidal, or semi-circular.

8. The load pad of claim 1, wherein the number of bosses is two or more, wherein at least two bosses have different heights and the corresponding grooves have different depths.

9. The load cushion of claim 1, wherein the load cushion is an integrally formed piece of silicone.

10. A robot, characterized in that, comprising a robot body provided with at least one accommodating groove, and a bearing pad which is arranged on the robot body and is as claimed in any one of the claims 1 to 9;

the bearing pad is used for being placed on the robot body.