WO2022257982A1 - 浮动托盘机构及机器人 - Google Patents

浮动托盘机构及机器人 Download PDF

Info

Publication number
WO2022257982A1
WO2022257982A1 PCT/CN2022/097676 CN2022097676W WO2022257982A1 WO 2022257982 A1 WO2022257982 A1 WO 2022257982A1 CN 2022097676 W CN2022097676 W CN 2022097676W WO 2022257982 A1 WO2022257982 A1 WO 2022257982A1
Authority
WO
WIPO (PCT)
Prior art keywords
tray
floating
rebound
installation
traction
Prior art date
Application number
PCT/CN2022/097676
Other languages
English (en)
French (fr)
Inventor
何林
刘贤林
唐旋来
Original Assignee
上海擎朗智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海擎朗智能科技有限公司 filed Critical 上海擎朗智能科技有限公司
Publication of WO2022257982A1 publication Critical patent/WO2022257982A1/zh
Priority to US18/531,564 priority Critical patent/US20240102531A1/en

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle

Definitions

  • the present application relates to the field of mechanical technology, in particular to a floating tray mechanism and a robot.
  • robots are more and more widely used, for example, welcome robots, food delivery robots, educational robots, bionic robots and so on.
  • a robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, and act according to principles formulated by artificial intelligence technology.
  • the research on mobile robots in my country has entered an unprecedentedly popular period.
  • Various mobile robot chassis gradually come into people's sight.
  • there are various mobile robot chassis with suspensions which basically meet the functions, but there are still some deficiencies.
  • the current robot will inevitably encounter some obstacle-crossing or emergency obstacle avoidance situations, which will cause the robot to brake or accelerate suddenly.
  • the goods delivered by the robot will be relatively Move and leave the pallet, especially some fluid goods, such as soup or beverages for catering, etc., are usually spilled due to sudden braking, acceleration or bad road conditions of the robot.
  • the purpose of this application is to propose a floating tray mechanism and a robot to solve the problem that the goods are easily detached from the tray or the fluid goods are spilled when the robot delivers the goods.
  • the present application provides a floating tray mechanism, including a tray and a mounting frame, and the mounting frame supports the tray for installation on a robot frame;
  • the floating tray mechanism further includes a floating contact part and a traction rebound part, the floating contact part is provided on one of the mounting bracket and the tray, and the tray is movably supported by the floating contact part on the installation frame; the traction rebound part is configured to pull the tray back to the initial position of the translation when the tray translates relative to the installation frame.
  • the mounting frame is provided with the floating contact part and the traction rebound part, the floating contact part forms a point surface contact or surface contact with the tray, and the traction rebound part It is connected with the tray and can make the tray return to the initial position of translation through elastic force.
  • the floating contact part includes a sliding friction layer, and the sliding friction layer forms surface-to-surface contact with the tray.
  • the sliding friction layer is a Teflon plate and is fixedly installed on the upper surface of the installation frame, and the lower surface of the tray is slidably pressed on the Teflon plate.
  • the installation frame includes an installation support plate supporting the tray, and a floating installation hole is provided on the installation support plate;
  • the floating contact part includes a ball socket and a universal ball, and the ball socket clamps It is installed in the floating mounting hole, the universal ball is rollably mounted on the ball socket, and the tray is slidably supported on the universal ball.
  • a shock-absorbing pad is provided at the contact between the lower surface of the tray and the universal ball.
  • the traction rebound part includes a strip of elastic material, one end of the elastic material is fixedly connected to the lower surface of the mounting frame, and the other end of the elastic material is fixedly connected to the lower surface of the tray , pulling and compressing the pallet simultaneously through the elastic material.
  • the elastic material is a tension spring or bent elastic rubber.
  • the installation frame includes an installation support plate supporting the tray, and a rebound installation opening is provided on the installation support plate;
  • the traction rebound part includes an elastic puller, and the elastic puller One end is movably installed in the rebound installation opening, and the other end of the elastic pulling member is connected with the lower surface of the tray.
  • the installation frame includes an installation support plate supporting the tray, and the installation support plate is provided with a rebound installation opening;
  • the traction rebound part includes a connecting shaft body and a rebound pad layer, one end of the connecting shaft body is movably arranged in the rebound installation opening, and the other end is fixedly connected with the lower surface of the tray, and the rebound pad The layer is arranged between the resilient installation opening and the connecting shaft body.
  • a cavity groove is fixedly installed at the rebound installation opening, the end of the connecting shaft away from the tray is movably arranged in the cavity groove, and the rebound pad ring is arranged on the Between the connecting shaft body and the cavity inner wall of the cavity groove, the resilient pad layer is compressed and deformed with the movement of the connecting shaft body until the deformation recovers, and the tray recovers through the resilient pad layer to the initial position of the move.
  • a ring sleeve is fixedly installed at the rebound installation opening, the end of the connecting shaft body away from the tray passes through the ring sleeve and the connecting shaft body passes through the ring sleeve
  • One end of the cylinder is provided with a flange cover, the resilient cushion ring is provided between the connecting shaft body and the inner wall of the ring sleeve, and the flange cover is provided on the inner wall of the ring sleeve. one end.
  • the tray is provided with a rebound installation port
  • the traction rebound part includes a connecting shaft body and a rebound cushion layer, one end of the connecting shaft body is movably arranged in the rebound mounting port, and the other end It is fixedly connected with the installation frame, and the rebound cushion layer is arranged between the rebound installation opening and the connecting shaft body.
  • the floating contact part includes a ball socket and a universal ball rotatably mounted on the ball socket, and the ball socket is arranged on one of the mounting bracket and the tray , the other of the installation frame and the tray can move relative to the universal ball.
  • the floating contact portion includes a sliding friction layer disposed on one of the installation frame and the tray, and the other of the installation frame and the tray can be opposed to the sliding friction layer move.
  • the floating tray mechanism further includes a limit clamp, which is used to prevent the tray from detaching from the installation frame.
  • the limit clamping member is a limit clamp block, and the limit clamp block is fixed on the lower surface of the pallet, and the limit clamp block includes a horizontally protruding jaw section, the There is a jaw gap between the jaw section and the tray, the jaw section is clamped under the mounting support plate, and the tray restricts the installation frame through the jaw gap.
  • the floating contact portions are respectively provided on opposite sides of the tray, and the traction rebound portions are respectively provided on opposite sides of the tray.
  • the traction rebound part is provided corresponding to the middle position of the tray, and a plurality of floating contact parts are arranged at intervals around the traction rebound part.
  • a robot which includes a body frame and the above-mentioned floating tray mechanism, and the installation frame of the floating tray mechanism is installed on the body frame.
  • This application adds a floating contact part and a traction rebound part to the mounting structure (mounting frame) of the pallet to form a sliding fulcrum and a rebound fulcrum respectively, and supports and connects the pallet through these two fulcrums with different functions, so that The pallet is no longer fixed, but can float relative to the frame of the robot body. In this way, when the robot stops or accelerates suddenly, the pallet will have a buffer relative stroke and a relative stroke relative to the robot instead of a rigid sudden change. In this way, the inertial movement of the goods is greatly reduced, and the fluid goods will not spill out of the pallet , effectively guarantee the quality of robot delivery;
  • FIG. 1 is a schematic perspective view of the floating tray mechanism provided in the first embodiment of the present application
  • Fig. 2 is a schematic diagram of the structure corresponding to Fig. 1;
  • Fig. 3 is a front view structural diagram corresponding to Fig. 1;
  • Fig. 4 is a schematic diagram corresponding to the enlarged structure at C in Fig. 3;
  • Fig. 5 is a schematic diagram of a cross-sectional structure corresponding to A-A in Fig. 2;
  • Fig. 6 is a schematic cross-sectional structure corresponding to B-B in Fig. 5;
  • Fig. 7 is a schematic perspective view of the floating tray mechanism provided in the second embodiment of the present application.
  • Fig. 8 is a schematic diagram of the bottom structure corresponding to Fig. 7;
  • Fig. 9 is a front structural diagram corresponding to Fig. 7;
  • Fig. 10 is a schematic diagram of an enlarged structure corresponding to position C in Fig. 9;
  • Fig. 11 is a schematic diagram of a cross-sectional structure corresponding to A-A in Fig. 8;
  • Fig. 12 is a schematic cross-sectional structure corresponding to B-B in Fig. 11;
  • Fig. 13 is a schematic perspective view of the floating tray mechanism provided in the third embodiment of the present application.
  • Fig. 14 is a schematic bottom view corresponding to Fig. 13;
  • Fig. 15 is a front view structural diagram corresponding to Fig. 13;
  • Fig. 16 is a schematic diagram corresponding to the enlarged structure at point C in Fig. 15;
  • Fig. 17 is a schematic cross-sectional structural diagram corresponding to A-A in Fig. 14;
  • Fig. 18 is a schematic cross-sectional structural diagram corresponding to B-B in Fig. 17;
  • Fig. 19 is a schematic perspective view of the floating tray mechanism provided in the fourth embodiment of the present application.
  • Fig. 20 is a schematic bottom view corresponding to Fig. 19;
  • Fig. 21 is a schematic cross-sectional structural diagram corresponding to A-A in Fig. 20;
  • Fig. 22 is a schematic cross-sectional structure corresponding to B-B in Fig. 21;
  • Fig. 23 is a schematic perspective view of the floating tray mechanism provided in the fifth embodiment of the present application.
  • Fig. 24 is a schematic bottom view corresponding to Fig. 23;
  • Fig. 25 is a schematic front view corresponding to Fig. 23;
  • Fig. 26 is a schematic diagram corresponding to the enlarged structure at point C in Fig. 25;
  • Fig. 27 is a schematic perspective view of a robot equipped with a floating tray mechanism in the present application.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components.
  • connection can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components.
  • a first feature being "on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
  • “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
  • “Below”, “beneath” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
  • the pallet of the robot provided in the prior art is generally fixedly installed on the robot.
  • the fluid goods delivered by the robot stop suddenly or accelerate, they will easily spill due to sudden shaking. This kind of problem will cause the robot to deliver Quality suffers.
  • this embodiment provides a floating tray mechanism/module, which can effectively buffer the goods to be delivered on the original tray and ensure that the delivered goods (especially fluid) will not shake and spill.
  • the floating tray mechanism includes: a tray 1 and a mounting frame 2, the mounting frame 2 supports the tray 1 for installation on the robot frame;
  • the floating tray mechanism also includes a floating contact portion 3 and a traction rebound portion 4, the floating contact portion 3 is arranged on one of the mounting frame 2 and the tray 1, and the tray 1 is movably supported on the mounting frame 2 through the floating contact portion 3;
  • the pulling rebound part 4 is configured to pull the tray 1 back to the initial position of the translation when the tray 1 translates relative to the installation frame 2 .
  • the mounting frame 2 of the floating tray mechanism is installed on the robot, and the robot moves with the mounting frame 2 to deliver the goods supported on the pallet 1 .
  • the pallet 1 can be slidably supported on the mounting frame 2 through the floating contact part 3, when the robot For emergency stop, rapid acceleration, turning or uneven road, pallet 1 will have a relative buffer stroke relative to the robot due to inertia, that is, pallet 1 will slide relative to mounting frame 2, which can prevent the items on pallet 1 from having a large impact on pallet 1.
  • the inertial movement prevents the items from leaving the tray 1, especially for fluid items, which can prevent the fluid items from spilling out of the tray, and then the tray 1 is reversely reset by the traction rebound part 4.
  • the pallet 1 moves relative to the mounting frame 2 again, and then resets by pulling the rebounding portion.
  • the technical solution provided by the present application can greatly reduce the inertial movement of the item relative to the pallet when the robot delivers the goods, causing the item to leave the pallet, effectively ensuring the quality of the robot's delivery.
  • the mounting frame 2 is provided with a floating contact part 3 and a traction rebound part 4, and the floating contact part 3 forms a point-to-surface contact or a surface-to-surface contact with the tray 1, and the traction rebound part 4 and the tray 1 is connected and can make the tray 1 return to the initial position of translation through elastic force.
  • the mounting frame 2 includes a mounting support plate 20 supporting the tray 1, and a floating mounting hole 22 is provided on the mounting support plate 20;
  • the floating contact part 3 includes a ball socket 30 and a universal ball 32, and the ball socket 30
  • the universal ball 32 is rotatably mounted on the ball socket 30 and the tray 1 is slidably supported on the universal ball 32 (refer to Embodiment 1 described below).
  • a shock-absorbing pad is provided at the contact point between the lower surface of the tray 1 and the universal ball 32 to reduce the noise generated by rigid friction or up and down vibration between the tray 1 and the universal ball 32 .
  • the floating contact portion 3 includes a sliding friction layer, which forms a surface-to-surface contact with the tray 1 (refer to Embodiment 2 described below).
  • the sliding friction layer is a Teflon plate and is fixedly installed on the upper surface of the installation frame 2, and the lower surface of the tray 1 is slidably pressed on the Teflon plate.
  • the pulling rebound portion 4 can adopt various forms of structures, as long as the structure can pull the tray 1 to return to the original position.
  • the traction rebound part 4 includes a strip of elastic material 46, one end of the elastic material 46 is fixedly connected to the lower surface of the installation frame 2, and the other end of the elastic material 46 is fixedly connected to the lower surface of the tray 1, through
  • the elastic material 46 presses the installation frame 2 against the tray 1, and the tray 1 can be pulled and pressed simultaneously through the elastic material (refer to Embodiment 5 described below).
  • the elastic material 46 is a tension spring or bent elastic rubber.
  • the installation frame 2 includes an installation support plate 20 supporting the tray 1, and the installation support plate 20 is provided with a rebound installation opening 24; the traction rebound part 4 includes an elastic puller, and one end of the elastic puller is movable. Installed in the rebound installation opening 24 , the other end of the elastic pulling member is connected with the lower surface of the tray 1 .
  • the installation frame 2 includes an installation support plate 20 supporting the tray 1, and the installation support plate 20 is provided with a rebound installation opening 24;
  • the traction rebound part 4 includes a connecting shaft body 40 and a rebound pad 42, connected One end of the shaft body 40 is movably arranged in the rebound installation opening 24 , and the other end is fixedly connected with the lower surface of the tray 1 .
  • a cavity groove 28 is fixedly installed at the rebound installation port 24, and the end of the connecting shaft body 40 away from the tray 1 is movably arranged in the cavity groove 28, and the rebound pad layer 42 is arranged around the connection shaft body 40 and the Between the cavity inner walls of the cavity groove 28 , the resilient pad 42 is compressed and deformed with the movement of the connecting shaft 40 until the deformation recovers, and the tray 1 returns to the original position through the resilient pad 42 .
  • a ring sleeve 29 is fixedly installed at the rebound installation port 24, the end of the connecting shaft body 40 away from the tray 1 passes through the ring sleeve 29 and the end of the connecting shaft body 40 passing through the ring sleeve 29 is provided with
  • the flange cover 44 and the resilient cushion layer 42 are arranged between the connecting shaft body 40 and the inner wall of the ring sleeve 29 , and the flange cover 44 is provided on one end of the ring sleeve 29 to abut against and cover.
  • the tray 1 is provided with a rebound installation opening 24, and the traction rebound part 3 includes a connecting shaft body 40 and a rebound cushion layer 42, and one end of the connecting shaft body 40 is movably arranged in the rebound installation opening 24, The other end is fixedly connected with the installation frame 2 , and the rebound cushion layer 42 is arranged between the rebound installation opening 24 and the connecting shaft body 40 .
  • the floating contact part 3 includes a ball socket 30 and a universal ball 32 rotatably mounted on the ball socket 30, the ball socket 30 is arranged on one of the mounting frame 2 and the tray 1, The other of the mounting frame 2 and the tray 1 can move relative to the universal ball 32 . That is to say, the ball socket 30 on which the universal ball 32 is installed can be installed on the mounting frame 2 or on the tray 1 . Wherein, the ball socket 30 can be installed through the floating installation hole 22 as mentioned above, or can be installed in other ways (such as bolt fixing).
  • the floating contact portion 3 includes a sliding friction layer disposed on one of the mounting frame 2 and the tray 1 , and the other of the mounting frame 2 and the tray 1 is movable relative to the sliding friction layer.
  • the floating tray mechanism further includes a limiting clamp for preventing the tray 1 from detaching from the mounting frame 2 .
  • the limiting clamping member can prevent the pallet 1 from detaching from the mounting frame 2 upwards.
  • the limit clamping member is a limit clamp block 26, and the limit clamp block 26 is fixed on the lower surface of the tray 1.
  • the limit clamp block 26 includes a horizontally protruding jaw section, and the jaw section and the tray 1 There is a jaw gap between them, and the jaw section is clamped under the installation support plate 20, and then the tray 1 limits the installation frame 2 through the jaw gap, thereby preventing the tray 1 from detaching from the installation bracket 20.
  • floating contact parts 3 are respectively provided on opposite sides of the tray 1
  • traction rebound parts 4 are respectively provided on opposite sides of the tray 1 .
  • a traction rebound portion 4 is provided corresponding to the middle position of the tray 1 , and a plurality of floating contact portions 3 are arranged at intervals around the traction rebound portion 4 .
  • the core of the embodiment shown in Figures 1 to 26 is to provide a floating tray mechanism 100 including a tray 1 and a mounting frame 2, the mounting frame 2 is supported on the tray 1 for installation on a robot frame,
  • the mounting frame 2 is provided with a floating contact portion 3 and a traction rebound portion 4,
  • the floating contact portion 3 includes a sliding fulcrum, and the tray 1 is slidably supported on the sliding fulcrum and can be opposite to the mounting frame 2 Free translation
  • the traction rebound part 4 includes a rebound fulcrum
  • the tray 1 is connected with the rebound fulcrum and can return to the initial position of translation.
  • the installation frame 2 includes an installation support plate 20 arranged under the tray 1 , the sliding fulcrum forms point-to-surface contact or surface-to-surface contact with the tray 1 , and the rebound fulcrum forms a traction connection with the tray 1 .
  • the floating contact part 3 and the traction rebound part 4 can also be installed on the lower surface of the pallet 1 (the structure can be inverted, not limited to being installed on the mounting frame 2), so that the upper surface of the mounting frame 2 and the lower surface of the pallet 1 form a sliding contact.
  • a floating tray mechanism 100 is provided in this embodiment, wherein the installation frame 2 includes an installation support plate 20 supported under the tray 1, and the floating contact part 3 adopts The spherical sliding fulcrum further forms point-to-surface contact with the tray 1, the traction rebound part 4 adopts the column-shaped rebound fulcrum to further pull the tray 1, and the mounting support plate 20 is respectively provided with The floating installation hole 22 and the rebound installation opening 24 , the floating contact part 3 is detachably installed in the floating installation hole 22 , and the traction rebound part 4 is detachably installed in the rebound installation opening 24 .
  • the tray 1 is limited on the installation support plate 20 by a limiting clamp.
  • the limit clamping member is a limit clamp block 26, which is fixed on the lower surface of the tray 1, and the limit clamp block 26 includes a horizontally protruding jaw section, and the jaw section is connected to the pallet. There is a jaw gap between 1, and the jaw section is clamped under the mounting support plate 20 so that the tray 1 limits the installation frame 2 through the jaw gap, so that the tray 1 cannot be separated from the installation frame 2.
  • the floating contact portion 3 includes a ball socket 30 and a universal ball 32 , the ball socket 30 is clamped and installed in the floating mounting hole 22 , and the universal The ball 32 is rotatably mounted on the ball holder 30 and serves as a sliding fulcrum protruding from the mounting support plate 20 , and the tray 1 is slidably supported on the universal ball 32 .
  • the ball socket 30 and the universal ball 32 of the present application can also be installed on the lower surface of the tray 1, not limited to the installation on the support plate 20, and also can form a relative sliding between the tray 1 and the installation frame 2. .
  • a shock-absorbing pad 34 is provided at the contact point between the lower surface of the tray 1 and the universal ball 32 , preferably a rubber pad or a sponge pad.
  • the tray 1 is supported on the universal ball 32, and then forms a sliding assembly relationship of point-to-surface contact with the mounting support plate 20, so that the tray 1 moves relative to the robot with the fluid goods under the action of inertia, In this way, fluid goods are prevented from spilling out of the tray 1 .
  • the shock-absorbing cushion layer 34 can effectively reduce the noise generated by the hard friction between the tray 1 and the universal ball 32 or the up and down vibration.
  • the present application also makes further structural improvements to the traction rebound portion 4 .
  • the traction rebound part 4 includes an elastic puller, and one end of the elastic puller is movably installed in the rebound installation port 24 (as shown in FIG. 6), the other end of the elastic pulling member is connected to the lower surface of the tray 1 .
  • the elastic pulling member can be an integral component, or a detachable assembly component.
  • the elastic pulling member may be a rebound cylinder with one end connected to the tray 1 and the other end installed in the rebound installation opening 24 .
  • the elastic pulling member in this embodiment includes a connecting shaft body 40 and a rebound pad 42 , and one end of the connecting shaft body 40 is used as the rebound fulcrum by the connecting shaft body 40 .
  • the other end of the connection shaft 40 is fixedly connected to the lower surface of the tray 1 , and the rebound pad 42 is interposed between the rebound installation port 24 and the connection shaft 40 .
  • materials such as foamed rubber, foamed silica gel, sponge or airbags can be used for the resilient cushion layer 42. These materials have better elasticity and are formed with greater deformation damping, thus, vibration can be better attenuated and inertial shaking.
  • a cavity groove 28 is fastened to the rebound installation port 24, and the connecting shaft body 40 is movably arranged in the cavity groove 28 and connected to the tray 1.
  • the cushion layer 42 is arranged between the connecting shaft body 40 and the cavity inner wall of the cavity groove 28.
  • the resilient cushion layer 42 is compressed and deformed with the movement of the connecting shaft body 40 until the deformation recovers.
  • the tray 1 passes through the resilient cushion layer 42. Return to the original position of the move.
  • the individual structural parts are all available products, and the assembly form and connection method are convenient for on-site operation and implementation.
  • this embodiment proposes another structural form of the floating contact portion 3 .
  • Embodiment 1 The difference and improvement from Embodiment 1 is that, as shown in FIGS. 7 to 12 , the floating contact part 3 provided in this embodiment uses a sliding friction layer as the sliding fulcrum to form surface-to-surface contact with the tray 1 .
  • the sliding friction layer is a Teflon plate 36 and is fixedly installed on both ends of the upper surface of the mounting support plate 20, and the lower surface of the tray 1 slides Press and cover on the Teflon plate 36.
  • the sliding friction layer can also be made of materials such as nylon, not limited to tetrafluoroethylene (the king of plastics).
  • the tray 1 can bounce back and float in any direction in the horizontal plane relative to the robot frame, so that when the robot accelerates and decelerates, turns, and the road surface is uneven, the horizontal movement acceleration of the tray 1 is smoother and smaller, so that the container on the tray 1
  • the solution is not easy to spill; this float also has a damping effect, which can attenuate the amplitude of the float and reduce the sloshing of the solution in the container.
  • this embodiment proposes another structural form of the mounting frame 2 and the traction rebound portion 4 .
  • Embodiment 1 One of the differences and improvements from Embodiment 1 is that, as shown in Figure 13, Figure 14 and Figure 18, two mounting support plates 20 are respectively supported on both sides of the tray 1, and a plurality of floating mounting holes 22 are respectively arranged at intervals. On each mounting strut 20 (close to the edge position), as shown in Figure 15 and Figure 16, the position of each floating mounting hole 22 is still provided with a universal ball 32 as a sliding fulcrum; and the two ends of each mounting strut 20 One springback installation opening 24 is respectively provided, that is, one traction springback part 4 is respectively provided at the four vertices.
  • the second difference from Embodiment 1 is that, as shown in Figure 14 and Figure 17, a ring sleeve 29 is fixedly installed at the rebound installation port 24, and a flange cover 44 is provided at one end of the connecting shaft body 40 to connect
  • the shaft body 40 is movably mounted on the ring sleeve 29, the rebound cushion layer 42 is ring-mounted between the connecting shaft body 40 and the inner wall of the ring sleeve 29, and the flange cover 44 is abutted on one end of the ring sleeve 29,
  • the other end of the connecting shaft body 40 passes through the other end of the ring sleeve 29 and is fixedly connected to the lower surface of the tray 1 . In this way, another structural form of the traction rebound portion 4 is formed.
  • a flange cover 44 is added to the connecting shaft body 40 to limit the vibration separation of the tray 1 relative to the installation frame 2, thereby replacing the setting of the limit clamp block 26 on the lower surface of the tray 1 in the first embodiment; and , the traction rebound portion 4 located at the four top corners can generate better rebound traction to the pallet 1, so that the effect of cushioning and inertia reduction is better.
  • this embodiment provides another structural form of the mounting frame 2 .
  • Embodiment 1 The difference and improvement from Embodiment 1 is that in this implementation, a whole installation support plate 20 is arranged under the tray 1, and at least one rebound installation opening 24 is provided at the center of the installation support plate 20, and around the rebound installation opening 24 A plurality of floating mounting holes 22 are evenly distributed. Preferably, only one traction rebound portion 4 is provided at the center of the mounting support plate 20 , and three floating contact portions 3 with universal balls 32 are evenly distributed around the traction rebound portion 4 .
  • This embodiment as an equivalent replacement form of the first embodiment, makes the overall structure simpler and can be selected by field personnel.
  • this embodiment provides another structural form of the mounting frame 2 and the traction rebound portion 4 .
  • the traction rebound part 4 uses a strip-shaped elastic material 46 as the rebound fulcrum, and one end of the elastic material 46 is fixedly connected to the installation support.
  • the lower surface of the board 20 and the other end of the elastic material 46 are fixedly connected to the lower surface of the tray 1 , and the tray 1 is simultaneously pulled and compressed by the elastic material 46 .
  • the elastic material 46 is a tension spring or elastic rubber with two ends bent.
  • the strip-shaped elastic material 46 can provide resilience; 46 can also give the tray 1 a downward pulling force to prevent the tray 1 from vibrating upwards and breaking away.
  • the disk-shaped traction rebound part 4 in the first embodiment is replaced by this simple strip-shaped elastic material 46, so that the rebound installation opening 24 does not need to be opened on the mounting frame 2, and the installation under the tray 1 is omitted.
  • the limit clip 26 is arranged on the surface, which greatly simplifies the overall structure.
  • this embodiment provides a robot, including a body frame 102 and any floating tray mechanism 100 described above.
  • the floating tray mechanism 100 the two sides of the mounting frame 2 are respectively Installed on the frame 102 of the fuselage.
  • the installation frame 2 may be detachably installed on the fuselage frame 102 .
  • the fuselage frame 102 includes two opposite side walls, and the two sides of the installation frame 2 can be respectively installed on the corresponding side walls.
  • the floating tray mechanism 100 of the present application can be directly installed on the body of an existing robot as an independent installation module, even if it is directly stacked and installed on the tray of an existing robot.
  • This kind of robot does not have the phenomenon of fluid goods spilling out of the pallet, and the delivery quality is high.

Abstract

本申请公开了一种浮动托盘机构及机器人，其中，浮动托盘机构包括托盘以及安装架，安装架支承于所述托盘以供安装于机器人机架上，浮动托盘机构还包括浮动接触部和牵引回弹部，浮动接触部设置在安装架和托盘中的一者上，托盘通过浮动接触部可移动地支撑于安装架；牵引回弹部设置为在托盘相对安装架平移时能够牵引托盘回复至平移的初始位置。本申请通过在托盘的安装结构上增设浮动接触部以及牵引回弹部，使得托盘不再是固定不动，而是可相对机器人机身机架相对浮动。当机器人急停或急加速时，托盘会相对机器人有个缓冲相对行程和回复相对行程大大消减了货品的惯性移动，流体货品便不会洒出托盘。

Description

浮动托盘机构及机器人 技术领域
本申请涉及机械技术领域，尤其涉及一种浮动托盘机构及机器人。
背景技术
随着机器人技术的迅速发展，机器人应用越来越广泛，例如，迎宾机器人、送餐机器人以及教育机器人、仿生机器人等等。机器人是自动执行工作的机器装置，它可以接受人类指挥，也可以运行预先编排的程序，还可以依据人工智能技术制定的原则行动。随着国家宏观战略的重视，我国移动机器人的研究已经进入空前热门的时期。各种各样的移动机器人底盘逐渐地映入人们视线，在现有技术中，具有悬架的移动机器人底盘多种多样，已基本满足功能，但仍存在一些不足。
目前的机器人在配送过程中，不可避免地会遇到一些越障或紧急避障的情况，导致机器人整体会急刹车或加速，在此过程中，机器人配送的货品会相对于承托货品的托盘产生移动从而脱离托盘，尤其是一些流体货品，如餐饮的汤点或饮料等，通常会因机器人急刹车、加速或路况不好等情况导致洒出的情况。
因此，亟需一种机器人托盘机构及机器人，以解决上述技术问题。
发明内容
本申请的目的在于提出一种浮动托盘机构及机器人，以解决机器人配送货品时货品容易脱离托盘或流体货品洒出的问题。
为达此目的，本申请采用以下技术方案：
本申请提供一种浮动托盘机构，包括托盘以及安装架，所述安装架支承所述托盘以供安装于机器人机架上；
所述浮动托盘机构还包括浮动接触部和牵引回弹部，所述浮动接触部设置在所述安装架和所述托盘中的一者上，所述托盘通过所述浮动接触部可移动地支撑于所述安装架；所述牵引回弹部设置为在所述托盘相对所述安装架平移时能够牵引所述托盘回复至平移的初始位置。
可选地，所述安装架上设有所述浮动接触部以及所述牵引回弹部，所述浮动接触部与所述托盘之间形成点面接触或面面接触，所述牵引回弹部与所述托盘连接并能够通过弹力使得所述托盘回复至平移的初始位置。
可选地，所述浮动接触部包括滑动摩擦层，所述滑动摩擦层与所述托盘之间形成面面接触。
可选地，所述滑动摩擦层为特氟龙板且固定安装于所述安装架的上表面，所述托盘的下表面滑动压覆于所述特氟龙板上。
可选地，所述安装架包括支撑所述托盘的安装支板，所述安装支板上设置有浮动安装孔；所述浮动接触部包括球托座以及万向球，所述球托座卡设安装于所述浮动安装孔，所述万向球可滚动地安装于所述球托座上，所述托盘滑动支撑于所述万向球上。
可选地，所述托盘的下表面与所述万向球的接触处设有减震垫层。
可选地，所述牵引回弹部包括条状的弹性材料，所述弹性材料的一端固定连接于所述安装架的下表面，所述弹性材料的另一端固定连接于所述托盘的下表面，通过所述弹性材料同时牵引和压紧所述托盘。
可选地，所述弹性材料为拉簧或弯折的弹性橡胶。
可选地，所述安装架包括支撑所述托盘的安装支板，所述安装支板上设置有回弹安装口；所述牵引回弹部包括弹性牵拉件，所述弹性牵拉件的一端活动安装于所述回弹安装口，所述弹性牵拉件的另一端与所述托盘的下表面连接。
可选地，所述安装架包括支撑所述托盘的安装支板，所述安装支板上设置有回弹安装口；
所述牵引回弹部包括连接轴体以及回弹垫层，所述连接轴体的一端活动设于所述回弹安装口内，另一端与所述托盘的下表面固定连接，所述回弹垫层设置于所述回弹安装口与所述连接轴体之间。
可选地，所述回弹安装口处固定安装有空腔槽，所述连接轴体的远离所述托盘的一端活动设于所述空腔槽内，所述回弹垫层环设于所述连接轴体与所述空腔槽的空腔内壁之间，所述回弹垫层随所述连接轴体的移动而受压形变直至形变恢复，所述托盘通过所述回弹垫层回复至移动的初始位置。
可选地，所述回弹安装口处固定安装有环套筒，所述连接轴体的远离所述托盘的一端穿过所述环套筒且所述连接轴体的穿出所述环套筒的一端设有法兰盖，所述回弹垫层环设于所述连接轴体与所述环套筒的内壁之间，所述法兰盖抵接盖设于所述环套筒的一端。
可选地，所述托盘上设置有回弹安装口，所述牵引回弹部包括连接轴体以及回弹垫层，所述连接轴体的一端活动设于所述回弹安装口内，另一端与所述安装架固定连接，所述回弹垫层设置于所述回弹安装口与所述连接轴体之间。
可选地，所述浮动接触部包括球托座以及可滚动地安装于所述球托座上的万向球，所述球托座设置在所述安装架和所述托盘中的一者上，所述安装架和所述托盘中的另一者能够相对所述万向球移动。
可选地，所述浮动接触部包括设置在所述安装架和所述托盘中的一者上的滑动摩擦层，所述安装架和所述托盘中的另一者能够相对所述滑动摩擦层移动。
可选地，所述浮动托盘机构还包括限位夹紧件，用于防止所述托盘从所述安装架上脱离。
可选地，所述限位夹紧件为限位夹块，所述限位夹块固设于所述托盘的下表面，所述限位夹块包括水平伸出的夹口段，所述夹口段与所述托盘之间具有夹口间隙，所述夹口段卡设于所述安装支板下方，进而所述托盘通过所述夹口间隙限位所述安装架。
可选地，所述托盘的相对的两侧分别设置有所述浮动接触部，以及所述托盘的相对的两侧分别设置有所述牵引回弹部。
可选地，对应于所述托盘的中间位置设置有所述牵引回弹部，所述牵引回弹部周围间隔设置有多个所述浮动接触部。
根据本申请的另一方面，还提供一种机器人，包括机身机架以及如上所述的浮动托盘机构，所述浮动托盘机构的所述安装架安装于所述机身机架。
本申请提供的技术方案的有益效果包括：
1)本申请通过在托盘的安装结构(安装架)上增设浮动接触部以及牵引回弹部，以分别形成滑动支 点以及回弹支点，并通过这两个不同作用的支点承托连接托盘，使得托盘不再是固定不动，而是可相对机器人机身机架相对浮动。以此，当机器人急停或急加速时，托盘会相对机器人有个缓冲相对行程和回复相对行程而并非是硬性骤变，这样，大大消减了货品的惯性移动，流体货品便不会洒出托盘，有效的保证了机器人配送的质量；
2)本申请对于浮动接触部以及牵引回弹部的具体结构形式，给出了五种不同的可实施方式，其选材成本低，均可使得托盘顺利滑动并恢复至初始位置。
附图说明
图1是本申请中第一实施方式提供的浮动托盘机构的立体结构示意图；
图2是对应图1的仰视结构示意图；
图3是对应图1的正视结构示意图；
图4是对应图3中C处的放大结构示意图；
图5是对应图2中A-A处的剖视结构示意图；
图6是对应图5中B-B处的剖视结构示意图；
图7是本申请中第二实施方式提供的浮动托盘机构的立体结构示意图；
图8是对应图7的仰视结构示意图；
图9是对应图7的正视结构示意图；
图10是对应图9中C处的放大结构示意图；
图11是对应图8中A-A处的剖视结构示意图；
图12是对应图11中B-B处的剖视结构示意图；
图13是本申请中第三实施方式提供的浮动托盘机构的立体结构示意图；
图14是对应图13的仰视结构示意图；
图15是对应图13的正视结构示意图；
图16是对应图15中C处的放大结构示意图；
图17是对应图14中A-A处的剖视结构示意图；
图18是对应图17中B-B处的剖视结构示意图；
图19是本申请中第四实施方式提供的浮动托盘机构的立体结构示意图；
图20是对应图19的仰视结构示意图；
图21是对应图20中A-A处的剖视结构示意图；
图22是对应图21中B-B处的剖视结构示意图；
图23是本申请中第五实施方式提供的浮动托盘机构的立体结构示意图；
图24是对应图23的仰视结构示意图；
图25是对应图23的正视结构示意图；
图26是对应图25中C处的放大结构示意图；
图27是本申请中安装有浮动托盘机构的机器人的立体结构示意图。
附图标记：
1、托盘；2、安装架；20、安装支板；22、浮动安装孔；24、回弹安装口；26、限位夹块；28、空腔槽；29、环套筒；3、浮动接触部；30、球托座；32、万向球；34、减震垫层；36、特氟龙板；4、牵引回弹部；40、连接轴体；42、回弹垫层；44、法兰盖；46、弹性材料；100、浮动托盘机构；102、机身机架。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
现有技术中提供的机器人的托盘一般是固定安装在机器人上，当机器人所配送的流体货品急停或加速时就会因突然的晃动而容易洒出的问题，该种问题产生会导致机器人配送质量受到影响。为了解决上述问题，本实施例中提供了一种浮动托盘机构/模块，能够使需要配送的货品在原有的托盘上得到有效缓冲，保证所配送的货品(特别是流体)不会晃动洒出。
本申请提供一种浮动托盘机构，如图1-26所示，所述浮动托盘机构包括：包括托盘1以及安装架2，安装架2支承托盘1以供安装于机器人机架上；
浮动托盘机构还包括浮动接触部3和牵引回弹部4，浮动接触部3设置在安装架2和托盘1中的一者上，托盘1通过浮动接触部3可移动地支撑于安装架2；牵引回弹部4设置为在托盘1相对安装架2平移时能够牵引托盘1回复至平移的初始位置。
在应用时，该浮动托盘机构的安装架2安装于机器人，通过机器人带着安装架2移动，从而对托盘1上承托的货品进行配送。
本申请提供的技术方案，通过在托盘1和安装架2之间设置浮动接触部3以及牵引回弹部4，使得托 盘1能够通过浮动接触部3可滑动地支撑于安装架2上，当机器人急停、急加速、转弯或者路面不平时，托盘1会由于惯性相对机器人有个相对的缓冲行程，即托盘1相对安装架2滑动，这样可以防止托盘1上的物品相对于托盘1具有较大的惯性移动，从而防止物品脱离托盘1，尤其对于流体物品，可以避免流体物品洒出托盘，然后托盘1通过牵引回弹部4反向复位，在机器人再次出现急停、急加速转弯或者路面不平时等情况时，托盘1再次相对安装架2移动，然后再通过牵引回弹部复位。
因此，本申请提供的技术方案可以大大减少机器人在配送货物时物品相对于托盘的惯性移动而使得物品脱离托盘的情况，有效的保证了机器人配送的质量。
在一些实施例中，安装架2上设有浮动接触部3以及牵引回弹部4，所述浮动接触部3与托盘1之间形成点面接触或面面接触，牵引回弹部4与托盘1连接并能够通过弹力使得托盘1回复至平移的初始位置。
在一些实施例中，安装架2包括支撑托盘1的安装支板20，安装支板20上设置有浮动安装孔22；浮动接触部3包括球托座30以及万向球32，球托座30卡设安装于浮动安装孔22，万向球32可滚动地安装于球托座30上，托盘1滑动支撑于万向球32上(可参考如下所描述的实施例一)。
可选地，托盘1的下表面与万向球32的接触处设有减震垫层，以减少托盘1与万向球32之间的硬性摩擦或上下震动而产生的噪音。
在一些实施例中，浮动接触部3包括滑动摩擦层，滑动摩擦层与托盘1之间形成面面接触(可参考如下所描述的实施例二)。可选地，滑动摩擦层为特氟龙板且固定安装于安装架2的上表面，托盘1的下表面滑动压覆于特氟龙板上。
本申请提供的技术方案中，牵引回弹部4可以采用各种形式的结构，只要能够牵引托盘1使其回复至初始位置的结构均可。
在一些实施例中，牵引回弹部4包括条状的弹性材料46，弹性材料46的一端固定连接于安装架2的下表面，弹性材料46的另一端固定连接于托盘1的下表面，通过弹性材料46将安装架2压紧于托盘1，通过弹性材料可同时牵引和压紧托盘1(可参考如下描述的实施例五)。
可选地，所述弹性材料46为拉簧或弯折的弹性橡胶。
在一些实施例中，安装架2包括支撑托盘1的安装支板20，安装支板20上设置有回弹安装口24；牵引回弹部4包括弹性牵拉件，弹性牵拉件的一端活动安装于所述回弹安装口24，弹性牵拉件的另一端与托盘1的下表面连接。
在一些实施例中，安装架2包括支撑托盘1的安装支板20，安装支板20上设置有回弹安装口24；牵引回弹部4包括连接轴体40以及回弹垫层42，连接轴体40的一端活动设于回弹安装口24内，另一端与托盘1的下表面固定连接，回弹垫层42设置于回弹安装口24与连接轴体40之间。
可选地，回弹安装口24处固定安装有空腔槽28，连接轴体40的远离托盘1的一端活动设于空腔槽28内，回弹垫层42环设于连接轴体40与空腔槽28的空腔内壁之间，回弹垫层42随连接轴体40的移动而受压形变直至形变恢复，托盘1通过回弹垫层42回复至初始位置。
可选地，回弹安装口24处固定安装有环套筒29，连接轴体40的远离托盘1的一端穿过环套筒29且连接轴体40的穿出环套筒29的一端设有法兰盖44，回弹垫层42环设于连接轴体40与环套筒29的内壁 之间，法兰盖44抵接盖设于环套筒29的一端。
在一些实施例中，托盘1上设置有回弹安装口24，牵引回弹部3包括连接轴体40以及回弹垫层42，连接轴体40的一端活动设于回弹安装口24内，另一端与安装架2固定连接，回弹垫层42设置于回弹安装口24与连接轴体40之间。
在一些实施例中，浮动接触部3包括球托座30以及可滚动地安装于球托座30上的万向球32，球托座30设置在安装架2和托盘1中的一者上，安装架2和托盘1中的另一者能够相对万向球32移动。也就是说，安装有万向球32的球托座30可以安装在安装架2上，也可以安装在托盘1上。其中，球托座30可以通过如上所述的浮动安装孔22进行安装，也可以通过其它方式(例如螺栓固定)进行安装。
在一些实施例中，浮动接触部3包括设置在安装架2和托盘1中的一者上的滑动摩擦层，安装架2和托盘1中的另一者能够相对滑动摩擦层移动。
在一些实施例中，浮动托盘机构还包括限位夹紧件，用于防止托盘1从安装架2上脱离。在机器人晃动时或遇到路况不平等情况时，限位夹紧件可以防止托盘1向上脱离安装架2。
可选地，限位夹紧件为限位夹块26，限位夹块26固设于托盘1的下表面，限位夹块26包括水平伸出的夹口段，夹口段与托盘1之间具有夹口间隙，所述夹口段卡设于安装支板20下方，进而托盘1通过夹口间隙限位安装架2，从而可以防止托盘1脱离安装支架20。
本申请提供的技术方案中，浮动接触部3和牵引回弹部4的布置方式可以有多种，在此不限制。
在一些实施例中，在托盘1的相对的两侧分别设置有浮动接触部3，以及托盘1的相对的两侧分别设置有牵引回弹部4。
在一些实施例中，对应于托盘1的中间位置设置有牵引回弹部4，牵引回弹部4周围间隔设置有多个浮动接触部3。
下面参考图1-26详细描述本申请的具体实施例。
如图1至图26所示的实施例的核心在于，提供一种浮动托盘机构100包括托盘1以及安装架2，所述安装架2支承于所述托盘1以供安装于机器人机架上，所述安装架2上设有浮动接触部3以及牵引回弹部4，所述浮动接触部3包括滑动支点，所述托盘1滑动支设于所述滑动支点上并可相对所述安装架2自由平移，所述牵引回弹部4包括回弹支点，所述托盘1与所述回弹支点连接并可回复至平移的初始位置。
其中，安装架2包括设置于托盘1下的安装支板20，所述滑动支点与托盘1之间形成点面接触或面面接触，所述回弹支点与托盘1之间形成牵引连接。
当然，浮动接触部3以及牵引回弹部4也可以安装在托盘1的下表面(结构可倒置，不局限于安装在安装架2)，以让安装架2的上表面与托盘1的下表面形成滑动接触。
以下，对于浮动接触部3以及牵引回弹部4如何形成各自的滑动支点以及回弹支点分别给出不同的实施方式(例)。
实施例一
如图1至图6所示，本实施例中提供一种浮动托盘机构100，其中，所述安装架2包括支设于所述托盘1下的安装支板20，所述浮动接触部3采用球状的所述滑动支点进而与所述托盘1之间形成点面接触， 所述牵引回弹部4采用柱环状的所述回弹支点进而牵拉托盘1，安装支板20上分别设有浮动安装孔22以及回弹安装口24，浮动接触部3可拆卸安装于浮动安装孔22，牵引回弹部4可拆卸安装于回弹安装口24。
其中，如图1和图2所示，两个安装支板20分别支设于托盘1的两侧，每个安装支板20的两端分别设有浮动安装孔22，每个安装支板20的中部位置(两个浮动安装孔22之间)设有回弹安装口24。
进一步地，为了防止托盘因较大震动而从安装支板20上脱离，在本实施中，如图1和图2所示，托盘1通过限位夹紧件限位于安装支板20上。具体地，限位夹紧件为限位夹块26，限位夹块26固设于托盘1的下表面，限位夹块26包括水平伸出的夹口段，所述夹口段与托盘1之间具有夹口间隙，夹口段卡设于安装支板20下方进而所述托盘1通过夹口间隙限位安装架2，从而托盘1不能脱离安装架2。
在本实施例中，具体地，如图3和图4所示，所述浮动接触部3包括球托座30以及万向球32，球托座30卡设安装于浮动安装孔22，万向球32可滚动地安装于球托座30上进而作为凸出于安装支板20的滑动支点，托盘1滑动支设于万向球32上。当然，本申请的球托座30以及万向球32也可安装在托盘1的下表面，不局限于安装在安装支板20上，也同样可使托盘1与安装架2之间形成相对滑动。
进一步地，如图4所示，托盘1的下表面与万向球32的接触处设有减震垫层34，优选用橡胶垫或海绵垫。
本实施例中通过将托盘1承托在万向球32上，进而与安装支板20之间形成点面接触的滑动装配关系，使得托盘1在惯性作用下随流体货品一同相对机器人缓冲移动，从而避免流体货品洒出托盘1。同时，减震垫层34能有效减少托盘1与万向球32之间的硬性摩擦或上下震动而产生的噪音。
另一方面，为使得托盘1及流体货品逐步减小惯性并回复至初始位置，本申请还对牵引回弹部4做出进一步结构改进。
在本实施例中，如图2、图5和图6所示，所述牵引回弹部4包括弹性牵拉件，弹性牵拉件的一端活动安装于所述回弹安装口24(如图6)，弹性牵拉件的另一端与托盘1的下表面连接。其中，该弹性牵拉件可以是一体构件，也可以是可拆分的装配组件。例如，该弹性牵拉件可以是一端连接于托盘1，另一端安装于回弹安装口24的回弹柱体。
进一步地，参考图5，本实施方式中的所述弹性牵拉件包括连接轴体40以及回弹垫层42，通过所述连接轴体40作为所述回弹支点，连接轴体40的一端活动设于回弹安装口24，连接轴体40的另一端与托盘1的下表面固定连接，回弹垫层42夹设于回弹安装口24与连接轴体40之间。较为优选地，回弹垫层42可选用发泡橡胶、发泡硅胶、海绵或气囊等材料，这些材料具有较好的弹性，且形成有较大的变形阻尼，从而，可以较好地衰减振动及惯性晃动。
为了安装设置所述牵引回弹部4，所述回弹安装口24处紧固安装有空腔槽28，连接轴体40活动设于空腔槽28内并连接于托盘1，所述回弹垫层42环设于连接轴体40与空腔槽28的空腔内壁之间，回弹垫层42随连接轴体40的移动而受压形变直至形变恢复，托盘1通过回弹垫层42回复至移动的初始位置。
以此，当前时托盘1与流体货品受惯性移动后，会持续受到牵引回弹部4的弹性牵引，逐步减少惯性动能，并由于弹性形变的恢复，托盘1最终还会回复至初始位置，不会因惯性而改变放置位置，避免货品放置的重心不稳。
为了便于取材、装配和拆换，本实施例中，单个结构件均为现有可取产品，并且，装配形式和连接 方式均方便现场操作实施。
实施例二
在实施例一的基础上，本实施例提出另一种结构形式的浮动接触部3。
与实施例一的区别改进在于，如图7至图12所示，本实施例中提供的浮动接触部3采用滑动摩擦层作为所述滑动支点进而与托盘1之间形成面面接触。
在本实施例中，较为优选地，如图9至图12所示，所述滑动摩擦层为特氟龙板36且固定安装于安装支板20的上表面两端，托盘1的下表面滑动压覆于特氟龙板36上。当然，滑动摩擦层也可以选用尼龙等材料，不限于四氟乙烯(塑料王)材料。
通过设置使用特氟龙板36代替万向球32来减少托盘1与安装架2之间的摩擦，可以省去实施例一中设置于托盘1下的减震垫层34(橡胶垫或海绵垫)。
其他结构设置基本与实施例一相同，便不在此多加赘述。
以此，托盘1可以相对机器人机架在水平面内任意方向回弹浮动，这样当机器人加减速、转弯、以及路面不平时，托盘1的水平运动加速度更平滑更小，从而托盘1上容器内的溶液不易洒出；这种浮动同样有阻尼效果，可以衰减浮动的振幅，减少容器内溶液的晃动。
实施例三
在实施例一的基础上，如图13至图18所示，本实施例提出另一种结构形式的安装架2及牵引回弹部4。
与实施例一的区别改进之一在于，如图13、图14和图18所示，两个安装支板20分别支设于托盘1的两侧，多个浮动安装孔22分别间隔排布于每个安装支板20上(靠近边缘位置)，如图15和图16所示，每个浮动安装孔22的位置仍旧设置万向球32作为滑动支点；而每个安装支板20的两端分别设有一个回弹安装口24，即，在四个顶角方位分别设置一个牵引回弹部4。
与实施例一的区别改进之二在于，如图14和图17所示，所述回弹安装口24处固定安装有环套筒29，连接轴体40的一端设有法兰盖44，连接轴体40活动穿设于环套筒29，回弹垫层42环设于连接轴体40与环套筒29的内壁之间，法兰盖44抵接盖设于环套筒29的一端，连接轴体40的另一端由环套筒29的另一端穿出并固定连接于托盘1的下表面。以此，形成另一种结构形式的牵引回弹部4。
其他结构设置基本与实施例一相同，便不在此多加赘述。
本实施例通过在连接轴体40上加设法兰盖44，以限制托盘1相对安装架2的震动脱离，从而代替省去了实施例一中在托盘1下表面设置限位夹块26；并且，位于四个顶角方位的牵引回弹部4能对托盘1产生更好的回弹牵引力，使得缓冲和惯性消减效果更佳。
实施例四
在实施例一的基础上，如图19至图22所示，本实施例提供另一种结构形式的安装架2。
与实施例一的区别改进在于，本实施中，将一整块安装支板20设于托盘1之下，安装支板20的中心设有至少一个回弹安装口24，围绕回弹安装口24均匀分布有多个浮动安装孔22。优选地，安装支板20的中心仅设一个牵引回弹部4，在该牵引回弹部4的周围分别均匀分布有三个具有万向球32的浮动接触部3。
其他结构设置基本与实施例一相同，便不在此多加赘述。
本实施例，作为实施例一的等效替换形式，使整体结构更加简易，供现场人员自选用。
实施例五
在实施例一的基础上，如图23至图26所示，本实施例提供另一种结构形式的安装架2以及牵引回弹部4。
与实施例一的区别改进在于，本实施中具体地，所述牵引回弹部4采用条状的弹性材料46作为所述回弹支点，所述弹性材料46的一端固定连接于所述安装支板20的下表面，所述弹性材料46的另一端固定连接于托盘1的下表面，通过弹性材料46同时牵引和压紧所述托盘1。较为优选地，所述弹性材料46为拉簧或两端弯折的弹性橡胶。
其他结构设置基本与实施例一相同，便不在此多加赘述。
这样，当托盘1浮动时，条状的弹性材料46可以提供回弹力；并且，由于条状的弹性材料46在托盘1上的固定端高于在安装支板20上的固定端，使得弹性材料46也能给托盘1向下的拉力，防止托盘1向上震动脱离。
以此，通过该种简易的条状的弹性材料46代替实施例一中的圆盘状牵引回弹部4，使得安装架2上不用开设回弹安装口24，并省去了在托盘1下表面设置限位夹块26，大大简化了整体结构。
实施例六
如图27所示，本实施例提供一种机器人，包括机身机架102以及上述任一种所述的浮动托盘机构100，所述浮动托盘机构100中，所述安装架2的两侧分别安装于机身机架102。其中，可以设置安装架2可拆卸地安装于机身机架102。本实施例中，机身机架102包括相对设置的两个侧壁，安装架2的两侧可以分别安装于对应侧的侧壁上。本申请的浮动托盘机构100可作为一个独立的安装模块直接安装到现有机器人的机身上，即便是直接叠加安装到现有机器人的托盘上也是可以的。
该种机器人，不会有流体货品洒出托盘的现象，配送质量高。
此外，上述仅为本申请的较佳实施例及所运用技术原理。本领域技术人员会理解，本申请不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本申请的保护范围。因此，虽然通过以上实施例对本申请进行了较为详细的说明，但是本申请不仅仅限于以上实施例，在不脱离本申请构思的情况下，还可以包括更多其他等效实施例，而本申请的范围由所附的权利要求范围决定。

Claims (20)

  1. 一种浮动托盘机构，其特征在于，包括托盘以及安装架，所述安装架支承所述托盘以供安装于机器人机架上；
    所述浮动托盘机构还包括浮动接触部和牵引回弹部，所述浮动接触部设置在所述安装架和所述托盘中的一者上，所述托盘通过所述浮动接触部可移动地支撑于所述安装架；所述牵引回弹部设置为在所述托盘相对所述安装架平移时能够牵引所述托盘回复至平移的初始位置。
  2. 根据权利要求1所述的浮动托盘机构，其特征在于，所述安装架上设有所述浮动接触部以及所述牵引回弹部，所述浮动接触部与所述托盘之间形成点面接触或面面接触，所述牵引回弹部与所述托盘连接并能够通过弹力使得所述托盘回复至平移的初始位置。
  3. 根据权利要求2所述的浮动托盘机构，其特征在于，所述浮动接触部包括滑动摩擦层，所述滑动摩擦层与所述托盘之间形成面面接触。
  4. 根据权利要求3所述的浮动托盘机构，其特征在于，所述滑动摩擦层为特氟龙板且固定安装于所述安装架的上表面，所述托盘的下表面滑动压覆于所述特氟龙板上。
  5. 根据权利要求2所述的浮动托盘机构，其特征在于，所述安装架包括支撑所述托盘的安装支板，所述安装支板上设置有浮动安装孔；
    所述浮动接触部包括球托座以及万向球，所述球托座卡设安装于所述浮动安装孔，所述万向球可滚动地安装于所述球托座上，所述托盘滑动支撑于所述万向球上。
  6. 根据权利要求5所述的浮动托盘机构，其特征在于，所述托盘的下表面与所述万向球的接触处设有减震垫层。
  7. 根据权利要求1所述的浮动托盘机构，其特征在于，所述牵引回弹部包括条状的弹性材料，所述弹性材料的一端固定连接于所述安装架的下表面，所述弹性材料的另一端固定连接于所述托盘的下表面，通过所述弹性材料同时牵引和压紧所述托盘。
  8. 根据权利要求7所述的浮动托盘机构，其特征在于，所述弹性材料为拉簧或弯折的弹性橡胶。
  9. 根据权利要求1所述的浮动托盘机构，其特征在于，所述安装架包括支撑所述托盘的安装支板，所述安装支板上设置有回弹安装口；
    所述牵引回弹部包括弹性牵拉件，所述弹性牵拉件的一端活动安装于所述回弹安装口，所述弹性牵拉件的另一端与所述托盘的下表面连接。
  10. 根据权利要求1所述的浮动托盘机构，其特征在于，所述安装架包括支撑所述托盘的安装支板，所述安装支板上设置有回弹安装口；
    所述牵引回弹部包括连接轴体以及回弹垫层，所述连接轴体的一端活动设于所述回弹安装口内，另一端与所述托盘的下表面固定连接，所述回弹垫层设置于所述回弹安装口与所述连接轴体之间。
  11. 根据权利要求10所述的浮动托盘机构，其特征在于，所述回弹安装口处固定安装有空腔槽，所述连接轴体的远离所述托盘的一端活动设于所述空腔槽内，所述回弹垫层环设于所述连接轴体与所述空腔槽的空腔内壁之间，所述回弹垫层随所述连接轴体的移动而受压形变直至形变恢复，所述托盘通过所述回弹垫层回复至移动的初始位置。
  12. 根据权利要求10所述的浮动托盘机构，其特征在于，所述回弹安装口处固定安装有环套筒，所述连接轴体的远离所述托盘的一端穿过所述环套筒且所述连接轴体的穿出所述环套筒的一端设有法兰盖，所述回弹垫层环设于所述连接轴体与所述环套筒的内壁之间，所述法兰盖抵接盖设于所述环套筒的一端。
  13. 根据权利要求1所述的浮动托盘机构，其特征在于，所述托盘上设置有回弹安装口，所述牵引回弹部包括连接轴体以及回弹垫层，所述连接轴体的一端活动设于所述回弹安装口内，另一端与所述安装架固定连接，所述回弹垫层设置于所述回弹安装口与所述连接轴体之间。
  14. 根据权利要求1所述的浮动托盘机构，其特征在于，所述浮动接触部包括球托座以及可滚动地安装于所述球托座上的万向球，所述球托座设置在所述安装架和所述托盘中的一者上，所述安装架和所述托盘中的另一者能够相对所述万向球移动。
  15. 根据权利要求1所述的浮动托盘机构，其特征在于，所述浮动接触部包括设置在所述安装架和所述托盘中的一者上的滑动摩擦层，所述安装架和所述托盘中的另一者能够相对所述滑动摩擦层移动。
  16. 根据权利要求1-15中任意一项所述的浮动托盘机构，其特征在于，所述浮动托盘机构还包括限位夹紧件，用于防止所述托盘从所述安装架上脱离。
  17. 根据权利要求16所述的浮动托盘机构，其特征在于，所述限位夹紧件为限位夹块，所述限位夹块固设于所述托盘的下表面，所述限位夹块包括水平伸出的夹口段，所述夹口段与所述托盘之间具有夹口间隙，所述夹口段卡设于所述安装支板下方，进而所述托盘通过所述夹口间隙限位所述安装架。
  18. 根据权利要求1-15中任意一项所述的浮动托盘机构，其特征在于，所述托盘的相对的两侧分别设置有所述浮动接触部，以及所述托盘的相对的两侧分别设置有所述牵引回弹部。
  19. 根据权利要求1-15中任意一项所述的浮动托盘机构，其特征在于，对应于所述托盘的中间位置设置有所述牵引回弹部，所述牵引回弹部周围间隔设置有多个所述浮动接触部。
  20. 一种机器人，其特征在于，包括机身机架以及如权利要求1-19中任一项所述的浮动托盘机构，所述浮动托盘机构的所述安装架安装于所述机身机架。
PCT/CN2022/097676 2021-06-11 2022-06-08 浮动托盘机构及机器人 WO2022257982A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US18/531,564 US20240102531A1 (en) 2021-06-11 2023-12-06 Floating Tray Mechanism and Robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110652805.4 2021-06-11
CN202110652805.4A CN113370266B (zh) 2021-06-11 2021-06-11 浮动托盘机构及机器人

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/531,564 Continuation US20240102531A1 (en) 2021-06-11 2023-12-06 Floating Tray Mechanism and Robot

Publications (1)

Publication Number Publication Date
WO2022257982A1 true WO2022257982A1 (zh) 2022-12-15

Family

ID=77574071

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/097676 WO2022257982A1 (zh) 2021-06-11 2022-06-08 浮动托盘机构及机器人

Country Status (3)

Country Link
US (1) US20240102531A1 (zh)
CN (1) CN113370266B (zh)
WO (1) WO2022257982A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117464701A (zh) * 2023-11-24 2024-01-30 江苏中工高端装备研究院有限公司 一种具有旋转主体及底座的防拥堵送餐机器人
CN117464701B (zh) * 2023-11-24 2024-05-17 江苏中工高端装备研究院有限公司 一种具有旋转主体及底座的防拥堵送餐机器人

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113370266B (zh) * 2021-06-11 2022-11-22 上海擎朗智能科技有限公司 浮动托盘机构及机器人
CN113500609B (zh) * 2021-07-08 2022-11-22 上海擎朗智能科技有限公司 一种托盘机构、配送机器人及配送方法
CN114918979B (zh) * 2022-06-30 2024-04-26 上海擎朗智能科技有限公司 一种浮动托盘及机器人

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106347814A (zh) * 2016-09-30 2017-01-25 松冷（武汉）科技有限公司 一种减振托盘
CN207344629U (zh) * 2017-10-09 2018-05-11 北京赛亚思科技有限公司 一种送餐机器人的平衡托盘装置
CN108789442A (zh) * 2018-06-29 2018-11-13 郭莹莹 送餐机器人的平衡运餐装置
CN210708829U (zh) * 2019-07-23 2020-06-09 江之源实业（苏州）有限公司 一种高档酒吸塑托盘
US20200290208A1 (en) * 2019-03-12 2020-09-17 Bear Robotics Korea, Inc. Robots for serving food and/or drinks
CN113370266A (zh) * 2021-06-11 2021-09-10 上海擎朗智能科技有限公司 浮动托盘机构及机器人
CN113500609A (zh) * 2021-07-08 2021-10-15 上海擎朗智能科技有限公司 一种托盘机构、配送机器人及配送方法
CN214870713U (zh) * 2021-06-11 2021-11-26 上海擎朗智能科技有限公司 浮动托盘机构及机器人
CN214870655U (zh) * 2021-06-11 2021-11-26 上海擎朗智能科技有限公司 浮动托盘装置及机器人
CN215395251U (zh) * 2021-07-16 2022-01-04 上海擎朗智能科技有限公司 一种组合式限位浮动托盘机构及配送机器人

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4306708A (en) * 1979-05-14 1981-12-22 Tennessee Bolt And Screw Co., Inc. Means for establishing a support post for a grommet
JPH0227713Y2 (zh) * 1984-12-10 1990-07-26
JPS63216110A (ja) * 1987-03-05 1988-09-08 Mitsui Eng & Shipbuild Co Ltd 高速移動テ−ブル
DE4234844C5 (de) * 1992-10-15 2007-08-30 Schaeffler Kg Dämpfungsvorrichtung für Linear-Wälzlager-Führungen
JP3504989B2 (ja) * 1994-12-14 2004-03-08 富士重工業株式会社 フローティングラバー
JP3490927B2 (ja) * 1999-05-19 2004-01-26 ニチアス株式会社 熱遮蔽板に振動フローティングワッシャを取付ける方法
JP2001003951A (ja) * 1999-06-23 2001-01-09 Kansai Tlo Kk 力制限装置、トルクリミッタ、ロボットアーム、及びロボット
JP2004505214A (ja) * 2000-07-28 2004-02-19 ソシエテ　ド　テクノロジー　ミシュラン　エステエム 車両のサスペンション用の弾性継手
JP3737439B2 (ja) * 2002-02-21 2006-01-18 ヤマハ株式会社 防振支持具
DE102008017457A1 (de) * 2008-04-05 2009-10-08 Schaeffler Kg Rundtischlageranordnung
CN102501078A (zh) * 2011-11-10 2012-06-20 大连永明数控机床有限公司 一种新型工作台
CN104045022B (zh) * 2013-03-15 2017-10-27 北京科易动力科技有限公司 一种能自动复位的浮动平台
CN204470992U (zh) * 2015-02-12 2015-07-15 杨朝辉 多用途微阻力自定心平移工作台
DE102015118117A1 (de) * 2015-10-23 2017-04-27 Elringklinger Ag Plattenartiges Bauteil mit einer das plattenartige Bauteil durchgreifenden Befestigungseinrichtung
CN106006315A (zh) * 2016-07-19 2016-10-12 苏州福特美福电梯有限公司 一种自缓冲式弹性轿厢
CN108150605A (zh) * 2017-12-18 2018-06-12 北京大块科技有限公司 一种阻尼减震器及其制造方法
CN108555939A (zh) * 2018-06-29 2018-09-21 郭莹莹 高稳定型送餐机器人
CN109237219A (zh) * 2018-09-14 2019-01-18 现代精密自动化（深圳）有限公司 自动复位浮动装置及设备
CN111075269A (zh) * 2019-12-26 2020-04-28 上海擎朗智能科技有限公司 门锁安装结构、配送机器人及基于电磁锁的柜门锁合方法
CN211965997U (zh) * 2019-12-31 2020-11-20 霸州嘉明扬科技有限公司 一种板材加工用钻床
CN112026957B (zh) * 2020-11-04 2021-01-29 天津航天机电设备研究所 浮动调整装置
CN112917122B (zh) * 2021-01-26 2022-04-05 北京可锐特科技有限公司 一种整体浮动合装托盘系统

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106347814A (zh) * 2016-09-30 2017-01-25 松冷（武汉）科技有限公司 一种减振托盘
CN207344629U (zh) * 2017-10-09 2018-05-11 北京赛亚思科技有限公司 一种送餐机器人的平衡托盘装置
CN108789442A (zh) * 2018-06-29 2018-11-13 郭莹莹 送餐机器人的平衡运餐装置
US20200290208A1 (en) * 2019-03-12 2020-09-17 Bear Robotics Korea, Inc. Robots for serving food and/or drinks
CN210708829U (zh) * 2019-07-23 2020-06-09 江之源实业（苏州）有限公司 一种高档酒吸塑托盘
CN113370266A (zh) * 2021-06-11 2021-09-10 上海擎朗智能科技有限公司 浮动托盘机构及机器人
CN214870713U (zh) * 2021-06-11 2021-11-26 上海擎朗智能科技有限公司 浮动托盘机构及机器人
CN214870655U (zh) * 2021-06-11 2021-11-26 上海擎朗智能科技有限公司 浮动托盘装置及机器人
CN113500609A (zh) * 2021-07-08 2021-10-15 上海擎朗智能科技有限公司 一种托盘机构、配送机器人及配送方法
CN215395251U (zh) * 2021-07-16 2022-01-04 上海擎朗智能科技有限公司 一种组合式限位浮动托盘机构及配送机器人

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117464701A (zh) * 2023-11-24 2024-01-30 江苏中工高端装备研究院有限公司 一种具有旋转主体及底座的防拥堵送餐机器人
CN117464701B (zh) * 2023-11-24 2024-05-17 江苏中工高端装备研究院有限公司 一种具有旋转主体及底座的防拥堵送餐机器人

Also Published As

Publication number Publication date
CN113370266B (zh) 2022-11-22
US20240102531A1 (en) 2024-03-28
CN113370266A (zh) 2021-09-10

Similar Documents

Publication Publication Date Title
WO2022257982A1 (zh) 浮动托盘机构及机器人
CN202203617U (zh) 一种平板电脑支架
WO2019227778A1 (zh) 安装机构及机器人
CN214870713U (zh) 浮动托盘机构及机器人
CN105397829B (zh) 电磁体吸附抓取装置
CN105538330B (zh) 电磁体吸附抓取装置
CN113500609B (zh) 一种托盘机构、配送机器人及配送方法
CN214870655U (zh) 浮动托盘装置及机器人
CN217572975U (zh) 一种减震托盘及送餐机器人
CN215395251U (zh) 一种组合式限位浮动托盘机构及配送机器人
CN109333076A (zh) 一种稳定性高的机床移动底座
CN112243324A (zh) 一种计算机云计算数据中心机柜
CN201113636Y (zh) 电机减振装置
CN207482662U (zh) 一种便于开启的垃圾箱
CN217669496U (zh) 一种托盘机构及送餐机器人
CN211610062U (zh) 一种移动式可防药瓶倾倒的医疗柜
CN214870626U (zh) 机器人浮动托盘模块、机器人托盘机构及机器人
CN205184796U (zh) 电磁体吸附抓取装置
CN215395250U (zh) 一种浮动托盘并联装置及机器人
CN218806371U (zh) 一种舾装设备用稳定效果好的底座
CN115076286A (zh) 一种服务机器人
CN215634661U (zh) 缓冲结构及咖啡车
CN213024174U (zh) 一种带有保护装置的大数据服务器
CN216996608U (zh) 一种协作机器人用吸盘装置
CN219933526U (zh) 液压泵的减震装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22819579

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE