CN218614066U

CN218614066U - Tray mechanism and delivery robot

Info

Publication number: CN218614066U
Application number: CN202121317630.3U
Authority: CN
Inventors: 陈焕昌; 何源
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2020-12-31
Filing date: 2021-06-11
Publication date: 2023-03-14
Anticipated expiration: 2031-06-11
Also published as: WO2022144033A1; CN215920467U

Abstract

The utility model discloses a tray mechanism and delivery robot, include: the cantilever beam is used for bearing the tray; the cantilever beam includes: the first beam is used for being directly and fixedly connected with the tray; the second beam is arranged in the direction far away from the tray and is spaced from the first beam, and the spacing distance between the first beam and the second beam is the height of the cantilever beam; the height of the cantilever beam decreases from one end to the other. By the mode, when the tray is stressed, the vertical downward force can be resolved into an oblique downward component force, so that the bearing force and the stability of the tray mechanism are greatly improved.

Description

Tray mechanism and delivery robot

Technical Field

The application relates to the technical field of robots, in particular to a tray mechanism and a distribution robot.

Background

With the popularization of indoor mobile robots in the market, mobile robots have been gradually applied to mass service scenes (e.g., indoor scenes such as restaurants, hotels, office buildings, etc.) to provide delivery services to customers, and such mobile robots are generally referred to as delivery robots.

The dispensing robot generally uses a tray fixed on a robot body to support the articles to be dispensed, however, the existing dispensing robot is prone to fail to dispense some heavy articles due to insufficient stability of the tray, so that the articles dispensed by the dispensing robot are very limited.

SUMMERY OF THE UTILITY MODEL

The application aims at providing a good tray mechanism of stability.

The application provides a tray mechanism, includes: the cantilever beam is used for bearing the tray;

the cantilever beam includes:

the first beam is used for being directly and fixedly connected with the tray;

the second beam is arranged in the direction far away from the tray and is spaced from the first beam, and the spacing distance between the first beam and the second beam is the height of the cantilever beam;

the height of the cantilever beam decreases from one end to the other.

In one embodiment, the cantilever beam further comprises more than 1 positioning lug, and the positioning lug protrudes out of the height direction of the cantilever beam;

more than 1 positioning lug is arranged at one end of the first beam and/or one end of the second beam at the same side;

the height of the cantilever beam is gradually reduced from one end provided with the positioning lug to the direction far away from the positioning lug.

In one embodiment, the positioning lug comprises a first positioning lug and a second positioning lug;

the first positioning lug is arranged at one end of the first beam, and the second positioning lug is arranged at one end of the second beam.

In one embodiment, the cantilevered beam further comprises a stiffening rib disposed between the first beam and the second beam.

In one embodiment, the tray mechanism further comprises a connecting seat, one end of the connecting seat is used for being fixed on an external object, and the other end of the connecting seat is used for being matched with the positioning lug, so that the tray mechanism can be fixed in a hanging mode relative to the external object.

In one embodiment, the connection socket includes: the fixing plate and the positioning seat body are arranged on the fixing plate; the fixing plate is used for being fixed on the external object, a containing hole is formed in the positioning seat body, and the positioning convex block is contained in the containing hole when being matched with the connecting seat.

In one embodiment, an avoiding groove is further formed between the reinforcing rib and the positioning lug, and the avoiding groove is used for avoiding the hole wall of the accommodating hole close to one side of the cantilever beam when the positioning lug is accommodated in the accommodating hole.

In one embodiment, more than 1 positioning seat body is sequentially arranged on the fixing plate along the vertical direction.

In one embodiment, the first beam is provided with more than 1 first fixing positions along the length direction thereof, the tray is provided with more than 1 second fixing positions, and more than 1 first fixing positions are in one-to-one correspondence with and fixedly connected with more than 1 second fixing positions.

In one embodiment, the first beam is linear and the second beam is arcuate or linear.

The application also provides a delivery robot, including: the distribution robot comprises a robot body and the tray mechanism;

the tray mechanism is fixed on the distribution robot body in a suspension mode.

According to the tray mechanism and the distribution robot provided by the application, the cantilever beam of the bearing tray is set to be of a structure with gradually changed height, so that when the tray is stressed, a vertical downward force can be resolved into a downward component force, and the bearing force and the stability of the tray mechanism are greatly improved. And then make the tray mechanism can realize single-end fixed.

Drawings

Fig. 1 is a perspective view of a dispensing robot provided in one embodiment;

FIG. 2 is a schematic diagram of a part of a dispensing robot according to an embodiment;

FIG. 3 is an exploded view of FIG. 2;

FIG. 4 is an enlarged view of a portion of FIG. 3 at C;

FIG. 5 is a perspective view of a dispensing robot provided in accordance with another embodiment;

fig. 6 is a schematic view of the structure of the cantilever beam of fig. 3.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

The distribution robot comprises a distribution robot body, wherein the distribution robot body comprises a supporting mechanism, and a connecting seat is arranged on the supporting mechanism; the delivery robot further comprises a tray mechanism, the tray mechanism comprises a tray and a cantilever beam, the tray is fixedly connected to the cantilever beam, one end of the cantilever beam can be detachably connected to the connecting seat, the tray can be detachably connected to the delivery robot, and the delivery robot is simple in structure and convenient to operate. The distribution robot is mainly used for providing distribution service for customers in restaurants, office buildings and hotels, the tray is used for bearing articles to be distributed, and the articles to be distributed are moved to the customers through the movement of the distribution robot body.

Referring to fig. 1 and 2, a dispensing robot according to an embodiment includes a dispensing robot body 10 and a tray mechanism 30. The distribution robot body 10 includes a support mechanism 20 and a traveling mechanism 11, and the support mechanism 20 is provided with a connecting seat 23.

The delivery robot body 10 includes a navigation system that can perform autonomous navigation, an anti-collision system that can perform an anti-collision function, and an interaction system that interacts with a user. The traveling mechanism 11 may be used to power traveling of the mobile robot body 10.

The support mechanism 20 includes a base plate 21 and a support frame 22. The bottom plate 21 is fixed on the running mechanism 11 of the distribution robot body 10, the support frame 22 is fixed on the bottom plate 21 along the vertical direction, and the connecting seat 23 is fixed on the support frame 22.

The tray mechanism 30 includes a tray 31 and a cantilever beam 32, and the cantilever beam 32 is used for carrying the tray 31. One end of the cantilever beam 32 is detachably connected to the connecting seat 23, and the tray 31 is fixedly connected to the cantilever beam 32. So, fix tray 31 and cantilever beam 32 on cantilever beam 32 and form integral tray mechanism 30, tray mechanism 30 passes through the one end detachable connection of cantilever beam 32 and takes shape suspension type fixed mode on connecting seat 23, realizes detachable the connection with supporting mechanism 20, and then the operator of being convenient for dismantles tray 31.

Specifically, referring to fig. 3 and 4, the connecting seat 23 includes a fixing plate 231 and a positioning seat 232. Wherein the fixing plate 231 is fixed on the supporting frame 22, and the positioning seat 232 is disposed on the fixing plate 231. The positioning base 232 has an accommodating hole 233 formed therein, and the accommodating hole 233 specifically penetrates through the positioning base 232 along the height direction of the positioning base 232. One end of the cantilever beam 32 is provided with more than 1 positioning lug 33, and the positioning lug 33 protrudes out of the height direction of the cantilever beam 32. The positioning projections 33 are received in the receiving holes 233, so that the tray mechanism 30 and the dispensing robot body 10 are coupled together to perform the dispensing service.

It is understood that in one embodiment, connecting seat 23 may also belong to tray mechanism 30, and the attribution of connecting seat 23 is not strictly limited as long as connecting seat 23 is used to cooperate with positioning projection 33, so that tray mechanism 30 can be suspended and fixed relative to robot body 10.

In one embodiment, a through hole 234 is further formed on the positioning base 232, and the through hole 234 penetrates through the width direction of the positioning base 232 and is communicated with the accommodating hole 233. Correspondingly, the positioning protrusion 33 is further provided with a threaded hole, and after the positioning protrusion 33 is received in the receiving hole 233, the through hole 234 provided on the positioning seat body 232 is coaxial with the threaded hole 331 provided on the positioning protrusion 33. In this way, the tray mechanism 30 can be more stably coupled to the dispensing robot body 10 by the screw passing through the through hole 234 and being screwed in the screw hole 331.

In this embodiment, the aforementioned screw is a quick-release screw, that is, the tray mechanism 30 further includes a quick-release screw, the quick-release screw includes a handle and a stud fixed on the handle, a thread on the stud is adapted to the threaded hole 331 on the positioning protrusion 33, and the quick-release screw passes through the through hole 234 on the positioning seat 232 and is screwed in the threaded hole 331 on the positioning protrusion 33, so that the cantilever beam 32 and the connecting seat 23 are connected in a more stable and detachable manner. It will be appreciated that the screw may be a conventional screw, and that screwing the screw into the threaded hole 331 with other tools may achieve the same fixing effect, except that the quick release screw is not convenient for installation and removal.

In this embodiment, each fixing plate 231 is provided with two positioning seat bodies 232, and the two positioning seat bodies 232 are vertically spaced from each other. It is understood that, in other embodiments, a common side surface may be disposed at the side edge of the two positioning seat bodies 232, so that the two positioning seat bodies 232 are integrally formed.

In the present embodiment, the number of the trays 31 is 2, and each tray 31 corresponds to two cantilever beams 32 and two connecting seats 23. Two connecting seats 23 are fixed on the supporting frame 22 at the same height, so that the tray 31 is ensured to be in a horizontal state, and the articles to be dispensed are ensured to be stably placed on the tray 31.

It will be appreciated that in other embodiments, it is only required that the number of trays is at least 1, and each tray 31 corresponds to at least 1 cantilever beam and at least 1 connecting seat, and the number of the trays is not strictly limited. Namely, 1 cantilever beam or a plurality of cantilever beams can be correspondingly arranged on each tray. Similarly, each cantilever beam may correspond to 1 connecting seat, or a plurality of cantilever beams may share 1 connecting seat for connection. For example, when each tray is provided with one cantilever beam, the cantilever beam may be disposed at the middle position of the lower surface of the tray, one connecting seat corresponding to the cantilever beam may be disposed at the middle position of the supporting frame, and when each tray is provided with a plurality of cantilever beams, the plurality of cantilever beams may be uniformly disposed at the lower surface of the tray; when a plurality of cantilever beams share 1 connecting seat, the connecting seat may be provided in a structure extending in a direction parallel to the surface of the tray and perpendicular to each of the cantilever beams.

In one embodiment, the tray 31 may be provided with a positioning structure for positioning the articles to be dispensed to prevent the articles to be dispensed from shifting and falling.

In one embodiment, the support frame 22 is disposed in a vertical direction, which is a height direction of the dispensing robot body 10 in normal use. The cantilever beam 32 is a strip-shaped structure, the height direction of the cantilever beam 32 is the direction of the height of the mobile robot body 10 when the tray is horizontally connected to the mobile robot body 10, the positioning bump 33 protrudes out of the height direction of the cantilever beam 32, and the height direction is the vertical direction. In one embodiment, the height of the cantilever beam 32 gradually decreases from its connection with the positioning lug 33 in a direction away from the positioning lug 33.

In one embodiment, the cantilever beam 32 comprises a first beam 325 and a second beam 326, wherein the first beam 325 is directly contacted and fixedly connected with the tray 31, the first beam 325 is linear, the second beam 326 is arc-shaped, and the second beam is spaced from the first beam 325 in a direction away from the tray. The first beam 325 is spaced from the second beam 326 by the height of the cantilever beam, and the height of the cantilever beam 32 decreases from one end to the other. That is, the first beam 325 is spaced from the second beam 326 by a greater distance on one end than the other end of the height of the cantilevered beam 32 as a whole.

In alternative embodiments, the first beam 325 is directly attached to the tray 31 and may have other shapes, and the second beam 326 may have a straight shape or other shapes, such as a combination of curved and straight segments.

The distance between the second beam 326 and the first beam 325 decreases from one end of the cantilever beam 32 to the other end, and specifically, may gradually decrease from one end to the other end, and may be divided into a plurality of stages from one end to the other end, that is, a stage including a gradually decreasing distance and a stage including a gradually constant distance are not limited herein.

In one embodiment, more than 1 positioning protrusion is disposed at the same side of the first beam 325 and/or the second beam 326, and the height of the cantilever beam gradually decreases from the end where the positioning protrusion is disposed to the direction away from the positioning protrusion, where the decrease may be linear or non-linear, and is not limited herein. Specifically, in the present embodiment, the positioning protrusion 33 includes a first positioning protrusion disposed at one end of the first beam 325 and a second positioning protrusion disposed at one end of the second beam 326.

In order to ensure the connection strength between the cantilever beam 32 and the positioning bump 33, a reinforcing rib 34 is further arranged between the first beam 325 and the second beam, and the cantilever beam 32 and the reinforcing rib 34 are both designed in a hollow manner, so that the overall weight can be effectively reduced.

In this embodiment, a triangular or strip-shaped reinforcing rib 34 is further included, wherein one side of the triangular reinforcing rib is connected to the positioning protrusion 33, the other side is connected to the cantilever beam 32, and the length of the side of the reinforcing rib 43 connected to the cantilever beam 32 is greater than the length of the side connected to the positioning protrusion 33. The length of the side surface connected to the cantilever beam 32 can be set to be two times, three times, etc. the length of the side surface connected to the positioning projection 33, so that the stability of the cantilever beam 32 can be effectively enhanced. It will be appreciated that in other embodiments the triangular shaped stiffener is directly integral with the cantilever beam 32, which corresponds to the second beam being shaped to approximate an arch.

In one embodiment, an avoiding groove 332 is further disposed between the positioning protrusion 33 and the reinforcing rib 34, and after the positioning protrusion 33 is received in the receiving hole 233 of the positioning base 23, the avoiding groove 233 is close to the hole wall of the cantilever beam 32.

In one embodiment, two positioning seat bodies 232 are disposed on the fixing plate 231, and the two positioning seat bodies 232 are sequentially spaced apart from each other along the height direction of the fixing plate 231. Correspondingly, two positioning protrusions 33 are arranged at one end of the cantilever beam 33 corresponding to the two positioning seat bodies 232, and the two positioning protrusions 33 are also arranged at intervals. The distance between the two positioning seat bodies 232 can ensure that the two positioning bumps 33 move into the corresponding positioning seat bodies 232 without interfering with each other.

During assembly, the positioning protrusion 33 is inserted in parallel above the corresponding receiving hole 233, a gap is formed between the receiving hole 233 and the positioning protrusion 33, and then the positioning protrusion is received in the receiving hole 233 along a vertical direction until being matched in place, so that the through hole 234 formed in the positioning seat body 232 is coaxial with the threaded hole 331 formed in the positioning protrusion 33, and the installation gap is minimum. The quick release screw is then threaded through the through hole 234 and into the threaded hole 331, so that the cantilever beam 32 is firmly fixed.

In one embodiment, the support frame 22 further comprises: two support rods 221 and a connecting rod 222, the support rods 221 and the connecting rod 222 are preferably made of section bars. The bottom ends of the support rods 221 are fixed on the bottom plate 21, and the two ends of the connecting rod 222 are respectively connected to the top ends of the two support rods 221. The two connecting seats 23 are provided, and the two connecting seats 23 are respectively fixed on the supporting rod 221 at the same height.

In this embodiment, the supporting structure 20 further includes: two fixing seats 24, two fixing seats 24 are fixed on bottom plate 21, and the bottom of two bracing pieces 221 is fixed on two fixing seats 25 through modes such as welding, bolted connection respectively.

In an embodiment, the cantilever beam 32 is provided with a plurality of first fixing locations 321 along the length direction thereof, the tray 31 is provided with a plurality of second fixing locations 311, all the first fixing locations 321 correspond to all the second fixing locations 311 in one-to-one manner, and the first fixing locations 321 and the second fixing locations 311 corresponding to each other in one-to-one manner are fixedly connected. It is understood that in other embodiments, the number of the first fixed bits 321 and the second fixed bits 311 is guaranteed to be more than 1.

In one embodiment, the first fixing locations 321 are threaded holes disposed on the cantilever beam 32, the second fixing locations 311 are through holes disposed on the tray 31, and the first fixing locations 321 and the second fixing locations 311 are fixedly connected by fasteners (screws). Meanwhile, in order to ensure the flatness of the surface of the tray 31, the second fixing position 311 may be set as a counter bore.

As shown in fig. 4, a dispensing robot is provided for another embodiment, and the same places as those of the above embodiment are not repeated herein, and the main difference is that the tray mechanism further includes a recycling bin 50 for placing the articles to be recycled or placing some light weight articles which are easy to be displaced, and it is understood that this is only an example and there is no limitation on the articles placed in the recycling bin 50.

It is understood that when the tray machine 30 is regarded as a separate structure, the dispensing robot body 10 can be regarded as an external object.

In summary, in the tray mechanism and the dispensing robot provided in this embodiment, the cantilever beam of the carrying tray is set to have a gradually changing height structure, so that when the tray is stressed, a vertical downward force can be resolved into a downward component force, and thus, the bearing force and the stability of the tray mechanism are greatly improved.

The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended to limit the present application to the details thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.

Claims

1. The tray mechanism is characterized by comprising a tray and a cantilever beam, wherein the cantilever beam is used for bearing the tray;

the cantilever beam includes:

the first beam is used for being directly and fixedly connected with the tray;

the height of the cantilever beam decreases from one end to the other.

2. The tray mechanism of claim 1 wherein the cantilever beam further comprises more than 1 positioning protrusion protruding in the height direction of the cantilever beam;

3. The tray mechanism of claim 2 wherein the locating tab comprises a first locating tab and a second locating tab;

4. The tray mechanism of claim 2 wherein the cantilevered beam further comprises a stiffening rib disposed between the first beam and the second beam.

5. The tray mechanism of claim 4 further comprising a connecting base, one end of the connecting base being adapted to be secured to an external object and the other end of the connecting base being adapted to engage the locating tab so that the tray mechanism may be secured in suspended relation to the external object.

6. The tray mechanism of claim 5 wherein the connecting base comprises: the fixing plate and the positioning seat body are arranged on the fixing plate; the fixing plate is used for being fixed on the external object, a containing hole is formed in the positioning seat body, and the positioning convex block is contained in the containing hole when being matched with the connecting seat.

7. The tray mechanism according to claim 6, wherein an avoiding groove is further provided between the reinforcing rib and the positioning protrusion, and the avoiding groove is configured to avoid a hole wall of the accommodating hole on a side close to the cantilever beam when the positioning protrusion is accommodated in the accommodating hole.

8. The tray mechanism as claimed in claim 6, wherein more than 1 of said positioning bases are sequentially disposed on said fixing plate along a vertical direction.

9. The tray mechanism according to claim 1, wherein the first beam is provided with more than 1 first fixing positions along the length direction thereof, the tray is provided with more than 1 second fixing positions, and more than 1 first fixing positions and more than 1 second fixing positions are in one-to-one correspondence and fixedly connected.

10. The tray mechanism of claim 1 wherein the first beam is linear and the second beam is arcuate or linear.

11. A dispensing robot, characterized in that the dispensing robot comprises a robot body and a tray mechanism according to any one of claims 1-10;