WO2023138557A1 - 防溢洒装置及配送机器人 - Google Patents

防溢洒装置及配送机器人 Download PDF

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Publication number
WO2023138557A1
WO2023138557A1 PCT/CN2023/072530 CN2023072530W WO2023138557A1 WO 2023138557 A1 WO2023138557 A1 WO 2023138557A1 CN 2023072530 W CN2023072530 W CN 2023072530W WO 2023138557 A1 WO2023138557 A1 WO 2023138557A1
Authority
WO
WIPO (PCT)
Prior art keywords
cavity
assembly
suspension rod
boom assembly
rod assembly
Prior art date
Application number
PCT/CN2023/072530
Other languages
English (en)
French (fr)
Inventor
马源
Original Assignee
深圳市普渡科技有限公司
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
Priority claimed from CN202220151281.0U external-priority patent/CN217453921U/zh
Priority claimed from CN202220144910.7U external-priority patent/CN217195353U/zh
Priority claimed from CN202220775914.5U external-priority patent/CN219027517U/zh
Priority claimed from CN202222428357.2U external-priority patent/CN218494080U/zh
Application filed by 深圳市普渡科技有限公司 filed Critical 深圳市普渡科技有限公司
Publication of WO2023138557A1 publication Critical patent/WO2023138557A1/zh

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Classifications

    • 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
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • the present application relates to the technical field of smart devices, in particular to an anti-spill device and a distribution robot including the anti-spill device.
  • restaurants are increasingly using intelligent delivery robots to deliver meals to customers, realizing intelligent services and reducing labor costs for restaurants.
  • the delivery robot delivers meals, it only needs to place the meals on the shelf of the delivery robot, and it can generally be delivered completely; for liquid meals (such as beverages or soups), when the delivery robot encounters a small-sized obstacle to move over obstacles or travels through uneven ground, the delivery robot will bump.
  • the present application provides an anti-spill device for assembling on the fuselage of a distribution robot, the anti-spill device includes:
  • placing components the placing components are hung on the body and used for placing containers;
  • An elastic member, the elastic member is arranged between the first suspension rod assembly and the second suspension rod assembly.
  • the present application also provides a delivery robot, which includes a body and the above-mentioned anti-spill device, and the anti-spill device is detachably connected to the body.
  • Fig. 1 is a perspective view of a distribution robot provided by an embodiment
  • Fig. 2 is an exploded view of the anti-spill device provided by the first embodiment
  • Fig. 3 is a partial sectional view of the anti-overflow device provided by the second embodiment
  • Fig. 4 is the front view of the anti-spill device provided by the third embodiment
  • Fig. 5 is a sectional view of the anti-overflow device shown in Fig. 4;
  • Fig. 6 is an exploded view of the anti-spill device provided by the fourth embodiment
  • Fig. 7 is a sectional view of the anti-overflow device shown in Fig. 6;
  • Fig. 8 is an exploded view of the anti-spill device provided by the fifth embodiment.
  • Fig. 9 is a cross-sectional view of the anti-spill device provided by the sixth embodiment.
  • a delivery robot 10 provided by an embodiment of the present application is used for delivering liquid meals such as beverages or soups.
  • the distribution robot 10 includes a spill prevention device 11 , a body 12 , a chassis 13 and a walking system 14 , and the body 12 includes a main body 12 a and a storage tray 12 b.
  • the chassis 13 is arranged on the walking system 14, and the walking system 14 is used to walk on supports such as the ground, thereby driving the entire delivery robot 10 to move.
  • the chassis 13 is arranged on the walking system 14, and the body part 12a is arranged on the chassis 13.
  • the chassis 13 serves as a support carrier for the body part 12a.
  • the storage tray 12b protrudes from the side wall of the body portion 12a, so that the storage tray 12b protrudes a certain length from the side wall perpendicular to the axial direction of the body portion 12a.
  • the storage tray 12b can be used to place dishes and other solid meals.
  • Liquid meals such as beverages or soups are placed in containers such as bowls, bottles or cups, and the containers are placed on the spill prevention device 11 .
  • the anti-spill device 11 can be arranged on the storage tray 12b by hanging, so that the anti-spill device 11 is located below the storage tray 12b;
  • the number of anti-spill devices 11 can be two, one of which is suspended on the storage tray 12b and located below the storage tray 12b, and the other anti-spill device 11 is suspended on the main body portion 12a and located above the storage tray 12b.
  • the anti-spill device 11 can be hung on the main body 12a and the storage tray 12b, according to the different needs of the actual situation, the anti-spill device 11 can make full use of different spaces on the delivery robot 10, thereby improving the installation flexibility of the anti-spill device 11.
  • the anti-spill device 11 there are at least the following embodiments:
  • the anti-spill device 11 includes a first boom assembly 100, a second boom assembly 200, a placement assembly 300 and an elastic member 400.
  • the first boom assembly 100 is connected to the fuselage 12, for example, the first boom assembly 100 is detachably hung on the fuselage 12, one end of the elastic member 400 is connected to the first boom assembly 100, and the other end of the elastic member 400 is connected to the second boom assembly 200, so that the elastic member 400 is connected to the fuselage 12.
  • the placing assembly 300 is connected with the second boom assembly 200 , and the vessel is placed on the placing assembly 300 .
  • the first suspender assembly 100 includes a first suspender
  • the second suspender assembly 200 includes a second suspender.
  • the first suspender and the second suspender may be integral rod-shaped structures, for example, both the first suspender and the second suspender may be cylindrical poles.
  • the elastic member 400 may be a tension spring, a tension bar, or a torsion spring.
  • the mode of directly fixing the container holding the liquid meal on the body 12 is adopted, during the walking process, when the delivery robot 10 encounters a small-sized obstacle for obstacle-surpassing movement or walks on uneven ground and causes the body 12 to vibrate up and down, under the action of inertia, the liquid meal will vibrate relatively relatively to the container and overflow from the container, resulting in waste of liquid food and pollution to the environment.
  • the fuselage 12 transmits the up-and-down vibration motion to the elastic member 400, so that the elastic member 400 is elongated or shortened within the elastic deformation range.
  • Elastic potential energy in this way, the shaking ability finally transmitted to the placement assembly 300 is reduced, which greatly reduces the shaking range of the placement assembly 300 relative to the fuselage 12, so that the container on the placement assembly 300 can be kept stable, that is, the liquid meal can be stably kept in the container without being shaken and spilled.
  • the main difference between the second embodiment and the first embodiment lies in that the structures and connections of the first boom assembly 100 and the second boom assembly 200 are different.
  • the first boom assembly 100 may be an integral connection structure, and the second suspension rod assembly 200 may also be an integral connection structure.
  • the first boom assembly 100 is sleeved on the outside of the second boom assembly 200
  • the second boom assembly 200 can also be sleeved on the outside of the first boom assembly 100 .
  • the first boom assembly 100 is set outside the second boom assembly 200
  • the first boom assembly 100 is provided with a cavity, which is marked as the first cavity 111, and a part of the second boom assembly 200 extends into the first cavity 111, so that the second boom assembly 200 and the first cavity 111 form a In a sliding fit relationship, the first boom assembly 100 and the second boom assembly 200 are slidingly connected to each other.
  • the elastic member 400 is accommodated in the first cavity 111 and abuts between the first suspension rod assembly 100 and the second suspension rod assembly 200 .
  • the elastic member 400 is accommodated in the second cavity 212 and abuts between the first suspension rod assembly 100 and the second suspension rod assembly 200 .
  • both the first boom assembly 100 and the second boom assembly 200 have cavities; the second boom assembly 200 has a cavity, which is marked as the second cavity 212 , and the second cavity 212 communicates with the first cavity 111 .
  • the cross section of the first cavity 111 is larger than the cross section of the second cavity 212 .
  • a part of the elastic member 400 is located in the first cavity 111
  • another part of the elastic member 400 is located in the second cavity 212 , so that both the first cavity 111 and the second cavity 212 can limit the elastic member 400 .
  • the first boom assembly 100 protrudes into the second cavity 212 ; it is similar to the structure in which the first boom assembly 100 is sleeved outside the second boom assembly 200 , and will not be repeated here.
  • the first boom assembly 100 includes a first bolt 121, both ends of the first bolt 121 are inserted on the main body of the first boom assembly 100, so as to fix the first bolt 121 on the main body of the first boom assembly 100, and the middle part of the first bolt 121 passes through the first cavity 111, so that the middle part of the first bolt 121 is accommodated in the first cavity 111.
  • the axis of the first pin 121 may be perpendicular to the axis of the first boom assembly 100 .
  • the second boom assembly 200 includes a second bolt 222 , both ends of the second bolt 222 are inserted on the main body of the second boom assembly 200 , so that the second bolt 222 is fixed on the main body of the second boom assembly 200 , and the middle part of the second bolt 222 passes through the second cavity 212 , so that the middle part of the second bolt 222 is accommodated in the second cavity 212 .
  • the axis of the second pin 222 may be perpendicular to the axis of the second boom assembly 200 .
  • first suspension rod assembly 100 includes the first bolt 121
  • one end of the elastic member 400 is connected to the first bolt 121
  • the other end of the elastic member 400 is connected to the second suspension rod assembly 200
  • the second suspension rod assembly 200 includes the second bolt 222
  • one end of the elastic member 400 is connected to the second bolt 222
  • the other end of the elastic member 400 is connected to the first suspension rod assembly 100 .
  • the elastic member 400 is connected to the middle of the first bolt 121, and the other end of the elastic member 400 is connected to the middle of the second bolt 222, so that the elastic member 400 is connected between the first bolt 121 and the second bolt 222, so that the elastic member 400 can also be well limited.
  • the distribution robot 10 when the distribution robot 10 is carrying out distribution and walking, when the distribution robot 10 encounters a small-sized obstacle and performs an obstacle-crossing motion or walks on an uneven ground and causes the fuselage 12 to vibrate up and down, the fuselage 12 will transmit the up-and-down vibration motion to the second boom assembly 200, and the second boom assembly 200 will slide relative to the first boom assembly 100, so that the elastic member 400 is elongated or shortened within the elastic deformation range, that is, the fuselage 12 is transmitted to the second boom assembly 200.
  • the kinetic energy of the up and down shaking of the boom assembly 200 and the elastic member 400 is converted into the elastic potential energy of the elastic member 400.
  • the shaking ability finally transmitted to the placement assembly 300 is reduced, and the vibration amplitude of the placement assembly 300 relative to the fuselage 12 is greatly reduced, so that the container on the placement assembly 300 can be kept stable, that is, the liquid food can be stably kept in the container without being shaken and spilled.
  • the main difference between the third embodiment and the second embodiment is that the structures of the first boom assembly 100 and the second boom assembly 200 are different, that is, the first boom assembly 100 and the second boom assembly 200 are split connection structures formed by assembling a plurality of parts.
  • the first boom assembly 100 includes a first bolt 121, a first sleeve 131 and a first end cap 141.
  • the first end cap 141 is set outside the first sleeve 131 and connected to the fuselage 12.
  • the first end cap 141 and the first sleeve 131 together form a first cavity 111.
  • Both ends of the first bolt 121 are simultaneously inserted between the first sleeve 131 and the first end cap 141, so that the first sleeve 131 and the first end cap 141 pass through the first bolt 12. 1 interconnected.
  • the middle portion of the first pin 121 passes through the first cavity 111 , so that the middle portion of the first pin 121 is received in the first cavity 111 .
  • the axis of the first pin 121 may be perpendicular to the axis of the first boom assembly 100 .
  • the second boom assembly 200 includes a second pin 222, a second sleeve 232, and a second end cap 242.
  • the second end cap 242 is sleeved outside the second sleeve 232 and connected to the placement assembly 300.
  • the second end cap 242 and the second sleeve 232 together form a second cavity 212.
  • the second set The barrel 232 is slidingly fitted with the first cavity 111 , and the second cavity 212 communicates with the first cavity 111 .
  • the cross section of the first cavity 111 is larger than that of the second cavity 212 .
  • a part of the elastic member 400 is located in the first cavity 111
  • another part of the elastic member 400 is located in the second cavity 212 , so that the first cavity 111 and the second cavity 212 can limit the elastic member 400 .
  • Both ends of the second pin 222 are inserted between the second sleeve 232 and the second end cap 242 at the same time, so that the second sleeve 232 and the second end cap 242 are connected to each other through the second pin 222 .
  • the middle part of the second pin 222 is passed through the second cavity 212, so that the middle part of the second pin 222 is accommodated in the second cavity 212, the elastic member 400 can be connected with the middle parts of the first pin 121 and the second pin 222 at the same time, and the axis of the second pin 222 can be perpendicular to the axis of the second boom assembly 200.
  • the first boom assembly 100 includes a first bolt 121 , a first sleeve 131 and a first end cap 141
  • the second boom assembly 200 includes a second bolt 222 , a second sleeve 232 and a second end cap 242
  • Embodiment 1 the first boom assembly 100 of the third embodiment is combined with the second boom assembly 200 of the second embodiment
  • embodiment 2 the second boom assembly 200 of the third embodiment is implemented in combination with the first boom assembly 100 of the second embodiment
  • Embodiment 3 the first boom assembly 100 of the third embodiment is implemented in combination with the second boom assembly 200 of the third embodiment. Its implementation schemes can be combined according to the requirements of actual schemes, which are not specifically limited here.
  • the split connection structure formed by assembling a plurality of parts through the first boom assembly 100 and the second boom assembly 200 can make the second boom assembly 200 and the first cavity 111 quickly form a sliding connection relationship, thereby facilitating the assembly between the entire first boom assembly 100 and the second boom assembly 200, and improving the assembly efficiency between the two.
  • the distribution robot 10 when the distribution robot 10 is carrying out distribution and walking, when the distribution robot 10 encounters a small-sized obstacle and performs an obstacle-over movement or walks on an uneven ground and causes the fuselage 12 to vibrate up and down, the fuselage 12 will transmit the up-and-down vibration motion to the second boom assembly 200, and the second boom assembly 200 will slide relative to the first boom assembly 100, so that the elastic member 400 is elongated or shortened within the elastic deformation range, that is, the fuselage 12 is transmitted to the second boom assembly 200.
  • the kinetic energy of the up and down shaking of the boom assembly 200 and the elastic member 400 is converted into the elastic potential energy of the elastic member 400.
  • the shaking ability finally transmitted to the placement assembly 300 is reduced, and the vibration amplitude of the placement assembly 300 relative to the fuselage 12 is greatly reduced, so that the container on the placement assembly 300 can be kept stable, that is, the liquid food can be stably kept in the container without being shaken and spilled.
  • the main differences between the fourth embodiment and the third embodiment are: the structure of the first boom assembly 100 and the second boom assembly 200 are different, and the connection relationship between the second boom assembly 200 and the placing assembly 300 is different.
  • the first boom assembly 100 can be a cylindrical structure, the first boom assembly 100 surrounds a first cavity 111, and the first boom assembly 100 includes a limiting protrusion 150, and the limiting protrusion 150 protrudes along the radial direction of the first boom assembly 100 and is arranged on the inner wall surface of the first cavity 111.
  • the second suspension rod assembly 200 includes an inner sleeve 250 and a connecting rod 260 , both of which can be connected together in a detachable manner to form the second suspension rod assembly 200 .
  • the inner sleeve 250 is provided with a socket 251 and an inner cavity 252 which communicate with each other.
  • the cross section of the inner cavity 252 is larger than the cross section of the socket 251.
  • a limiting groove 253 is provided on the outer surface of the inner sleeve 250.
  • the inner sleeve 250 is accommodated in the first cavity 111, and the limiting protrusion 150 and the limiting groove 253 form a sliding fit relationship, thereby making the inner sleeve 250 and the first boom assembly 100 slidingly connected.
  • the connecting rod 260 passes through the first cavity 111 and the inner cavity 252 at the same time, and the end of the connecting rod 260 can form an interference fit relationship with the insertion hole 251 , so that the connecting rod 260 and the inner sleeve 250 are in an interference connection. Therefore, both the connecting rod 260 and the inner sleeve 250 move synchronously, so that the connecting rod 260 and the inner sleeve 250 slide synchronously relative to the second suspension rod assembly 200 .
  • the connecting rod 260 may be a connecting shaft.
  • the first suspension rod assembly 100 may include a shaft sleeve on which a limiting protrusion 150 is disposed.
  • the placement assembly 300 may be a tray unit.
  • the elastic member 400 is sleeved on the connecting rod 260 , so that the connecting rod 260 and the inner sleeve 250 can be used to limit the position of the elastic member 400 to improve the reliability of the elastic member 400 .
  • One end of the elastic member 400 can be in contact with the bottom wall of the first cavity 111, and the other end of the elastic member 400 can be in contact with the end of the inner sleeve 250.
  • a part of the elastic member 400 can be accommodated in the inner cavity 252 of the inner sleeve 250, so that the other end of the elastic member 400 is in contact with the bottom wall of the inner cavity 252.
  • the inner cavity 252 will further limit the elastic member 400, thereby improving the reliability of the elastic member 400.
  • the second boom assembly 200 can slide relative to the first boom assembly 100, and at the same time, the limiting protrusion 150 acts as a circumferential limit for the entire second boom assembly 200, thus preventing the second boom assembly 200 from rotating relative to the first boom assembly 100 around the axis of the first boom assembly 100.
  • the second boom assembly 200 and The first cavity 111 is slidingly fitted, but the second boom assembly 200 does not form a rotationally fitting relationship with the first cavity 111 .
  • the placing assembly 300 can also be provided with a shaft hole, and the connecting rod 260 is rotatably fitted with the shaft hole, so the second boom assembly 200 is rotationally connected with the placement assembly 300, so that the placement assembly 300 can rotate around the axis of the second boom assembly 200.
  • the distribution robot 10 when the distribution robot 10 is carrying out distribution and walking, when the distribution robot 10 encounters a small-sized obstacle and performs an obstacle-crossing motion or walks on an uneven ground and causes the fuselage 12 to vibrate up and down, the fuselage 12 will transmit the up-and-down vibration motion to the second boom assembly 200, and the second boom assembly 200 will slide relative to the first boom assembly 100, so that the elastic member 400 is elongated or shortened within the elastic deformation range, that is, the fuselage 12 is transmitted to the second boom assembly 200.
  • the kinetic energy of the up and down shaking of the boom assembly 200 and the elastic member 400 is converted into the elastic potential energy of the elastic member 400.
  • the shaking ability finally transmitted to the placement assembly 300 is reduced, and the vibration amplitude of the placement assembly 300 relative to the fuselage 12 is greatly reduced, so that the container on the placement assembly 300 can be kept stable, that is, the liquid food can be stably kept in the container without being shaken and spilled.
  • the placement assembly 300 can be rotated relative to the first boom assembly 100 and the second boom assembly 200, thereby reducing the influence of the circumferential inertial force, further improving the stability of the container on the placement assembly 300, and avoiding spillage of liquid meals.
  • the fifth embodiment differs from the fourth embodiment mainly in that: the structures of the first boom assembly 100 and the second boom assembly 200 are different, and the second boom assembly 200 can rotate relative to the first boom assembly 100 .
  • the first boom assembly 100 can be a cylindrical structure, the first boom assembly 100 surrounds a first cavity 111, the first cavity 111 is a cylindrical cavity, the second boom assembly 200 includes a movable seat 270 and a connecting seat 280, the movable seat 270 is cylindrical, so that the movable seat 270 can be slidably fitted with the first cavity 111, and can also be rotated with the first cavity 111, so that the movable seat 270 can be in the first cavity 111 relative to the first boom assembly 10 0 produces sliding and turning.
  • the connecting base 280 includes a base body 281 and a guide post 282. The guide post 282 protrudes from the base body 281.
  • the guide post 282 penetrates the first cavity 111 and is fixedly connected with the movable seat 270, so that the entire connecting base 280 and the movable seat 270 move synchronously, that is, the second boom assembly 200 can slide and rotate relative to the first boom assembly 100.
  • the cross section of the seat body 281 is larger than the cross section of the guide column 282 , so that the seat body 281 is located outside the first cavity 111 , and the placing assembly 300 is fixedly connected with the seat body 281 . Therefore, the placement assembly 300 can slide and rotate relative to the first suspension assembly 100 synchronously with the entire second suspension assembly 200 .
  • the placing component 300 may be a carrying module.
  • the anti-spill device 11 may further include a sliding piece 500 , which is accommodated in the first cavity 111 and capable of rotating relative to the first cavity 111 .
  • the sliding piece 500 can be connected to one end of the elastic member 400 , so that the sliding piece 500 abuts between the elastic member 400 and the bottom wall of the first cavity 111 , and the other end of the elastic member 400 is connected to the movable seat 270 .
  • By providing the sliding piece 500 friction between the end of the elastic member 400 and the bottom wall of the first cavity 111 can be avoided, thereby reducing the rotation resistance of the second suspension rod assembly 200 .
  • the distribution robot 10 when the distribution robot 10 is carrying out distribution and walking, when the distribution robot 10 encounters a small-sized obstacle and performs an obstacle-surmounting movement or walks on an uneven ground and causes the fuselage 12 to vibrate up and down, the fuselage 12 will transmit the up-and-down vibration motion to the second boom assembly 200, and the second boom assembly 200 will slide relative to the first boom assembly 100, so that the elastic member 400 is extended or shortened within the elastic deformation range, that is, the fuselage 12 is transmitted to the second boom assembly 200.
  • the kinetic energy of the up and down shaking of the boom assembly 200 and the elastic member 400 is converted into the elastic potential energy of the elastic member 400.
  • the shaking ability finally transmitted to the placement assembly 300 is reduced, and the vibration amplitude of the placement assembly 300 relative to the fuselage 12 is greatly reduced, so that the container on the placement assembly 300 can be kept stable, that is, the liquid food can be stably kept in the container without being shaken and spilled.
  • the placing assembly 300 can be rotated synchronously with the second boom assembly 200 relative to the first boom assembly 100, thereby reducing the influence of the circumferential inertial force, further improving the stability of the container on the placement assembly 300, and avoiding spillage of liquid meals.
  • the anti-spill device 11 further includes a rotating structure 600 so that the placement assembly 300 can be relatively rotated.
  • the rotating structure 600 includes a rotating shaft 610, a rotating sleeve 620 and a rotating bearing 630.
  • the rotating shaft 610 is fixedly connected to the shaft ring 631 of the rotating bearing 630 (the rotating shaft 610 and the shaft ring 631 can be fixedly connected by interference fit, can be fixedly connected by welding, or can be fixed by screwing), and the rotating sleeve 620 and the seat ring 632 of the rotating bearing 630 are fixedly connected by welding (or, the structure of the rotating sleeve 620 and the seat ring 632 is integrally formed).
  • the rotating sleeve 620 is fixedly connected with the second boom assembly 200
  • the rotating shaft 610 is fixedly connected with the placing assembly 300 .
  • the swivel bearing 630 may be a thrust bearing or a tapered roller bearing. Moreover, the number of the rotating bearings 630 is an even number, and the installed When matching, any two rotating bearings 630 form a group, and the directions of the axial forces of the two rotating bearings 630 in the same group are opposite.
  • the placement assembly 300 can follow the rotation shaft 610 to rotate around the axis of the second boom assembly 200, so the placement assembly 300 can not only follow the second boom assembly 200 to slide relative to the first boom assembly 100, but the placement assembly 300 can also follow the rotation shaft 610 to rotate relative to the first boom assembly 100.
  • the distribution robot 10 when the distribution robot 10 is carrying out distribution and walking, when the distribution robot 10 encounters a small-sized obstacle and performs an obstacle-over movement or walks on an uneven ground and causes the fuselage 12 to vibrate up and down, the fuselage 12 will transmit the up-and-down vibration motion to the second boom assembly 200, and the second boom assembly 200 will slide relative to the first boom assembly 100, so that the elastic member 400 is elongated or shortened within the elastic deformation range, that is, the fuselage 12 is transmitted to the second boom assembly 200.
  • the kinetic energy of the up and down shaking of the boom assembly 200 and the elastic member 400 is converted into the elastic potential energy of the elastic member 400.
  • the shaking ability finally transmitted to the placement assembly 300 is reduced, and the vibration amplitude of the placement assembly 300 relative to the fuselage 12 is greatly reduced, so that the container on the placement assembly 300 can be kept stable, that is, the liquid food can be stably kept in the container without being shaken and spilled.
  • the placement assembly 300 can be rotated synchronously with the rotation shaft 610 relative to the first boom assembly 100 and the second boom assembly 200, thereby reducing the influence of the circumferential inertial force, further improving the stability of the container on the placement assembly 300, and avoiding spillage of liquid meals.
  • the anti-spill device further includes a swing module 700, the swing module 700 is connected to the fuselage 12 and the first boom assembly 100, and the swing module 700 is used to enable the first boom assembly 100 to have at least two swing degrees of freedom relative to the fuselage 12.
  • the swing module 700 includes a first support 710 and a first rotating shaft 720.
  • the first support 710 is used to be fixed on the fuselage 12.
  • the first rotating shaft 720 is arranged horizontally.
  • the first rotating shaft 720 is rotationally connected to the first support 710.
  • the first boom assembly 100 can be connected to the first rotating shaft 720. When the first rotating shaft 720 rotates, the first boom assembly 100 and the placement assembly 300 can be rotated following the first rotating shaft 720 .
  • the swing module 700 further includes an adapter block 750 , a second support 730 and a second shaft 740 , the first shaft 720 is vertically connected to the second shaft 740 , the second shaft 740 and the first shaft 720 pass through the adapter block 750 , the second support 730 is rotatably arranged on the second shaft 740 , and the first boom assembly 100 is connected to the second support 730 .
  • the placement assembly 300 can be rotated around the first rotation axis 720 and the second rotation axis 740 under the action of the swing module 700, thereby reducing the influence of inertial force, further improving the stability of the container on the placement assembly 300, and avoiding spillage of liquid food.
  • the swing module 700 can also be applied in the first embodiment, the second embodiment, the third embodiment, the fourth embodiment or the sixth embodiment.

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  • Mechanical Engineering (AREA)
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Abstract

一种防溢洒装置(11)，用于装配在配送机器人(10)的机身(11)上，防溢洒装置(11)包括：放置组件(300)，放置组件(300)吊挂在机身(11)上并用于放置器皿；第一吊杆组件(100)，第一吊杆组件(100)与机身(11)连接；第二吊杆组件(200)，第二吊杆组件(200)与放置组件(300)连接；弹性件(400)，弹性件(400)设置在第一吊杆组件(100)和第二吊杆组件(200)之间。

Description

防溢洒装置及配送机器人
本申请要求于2022年1月19日申请的，申请号为CN202220151281.0，名称为“配送机器人”的中国专利申请、于2022年1月19日申请的申请号为CN202220144910.7，名称为“配送机器人”的中国专利申请、于2022年4月2日申请的，申请号为CN202220775914.5，名称为“托盘装置及机器人”的中国专利申请和于2022年9月9日申请的申请号为CN202222428357.2，名称为“减震装置及移动设备”的中国专利申请的中国专利的优先权，在此将上述四篇专利文件全文引入作为参考。
技术领域
本申请涉及智能设备技术领域，特别是涉及一种防溢洒装置及包含该防溢洒装置的配送机器人。
背景技术
目前，餐厅越来越多地使用智能的配送机器人为顾客进行送餐服务，实现智能服务，减低餐厅的人工成本。配送机器人在配送饭菜时，只需将饭菜放置在配送机器人的置物架上，一般都能够完整送达；对于液体餐品(例如饮料或汤品)，当配送机器人遇到小体积的障碍物进行越障运动或行进通过凹凸不平的地面时，配送机器人会发生颠簸，继而，放置在配送机器人的置物架上的液体餐品也会随之发生上下抖动、颠簸，从而导致盛装在器皿中的液体会被震动溢洒出去。
发明内容
本申请提供一种防溢洒装置，用于装配在配送机器人的机身上，所述防溢洒装置包括：
放置组件，所述放置组件吊挂在所述机身上并用于放置器皿；
第一吊杆组件，所述第一吊杆组件与所述机身连接；
第二吊杆组件，所述第二吊杆组件与所述放置组件连接；
弹性件，所述弹性件设置在所述第一吊杆组件和所述第二吊杆组件之间。
本申请还提供一种配送机器人，包括机身和上述的防溢洒装置，所述防溢洒装置与所述机身可拆卸连接。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更好地描述和说明这里公开的那些申请的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的申请、目前描述的实施例和/或示例以及目前理解的这些申请的最佳模式中的任何一者的范围的限制。
图1为一实施例提供的配送机器人的立体图；
图2为第一实施例提供的防溢洒装置的分解图；
图3为第二实施例提供的防溢洒装置的局部剖视图；
图4为第三实施例提供的防溢洒装置的正视图；
图5为图4所示防溢洒装置的剖视图；
图6为第四实施例提供的防溢洒装置的分解图；
图7为图6所示防溢洒装置的剖视图；
图8为第五实施例提供的防溢洒装置的分解图；
图9为第六实施例提供的防溢洒装置的剖视图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的 较佳实施方式。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本申请的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“内”、“外”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
参阅图1，本申请一实施例提供的配送机器人10用于配送饮料或汤品等液体餐品。配送机器人10包括防溢洒装置11、机身12、底盘13和行走系统14，机身12包括本体部12a和置物托盘12b。底盘13设置在行走系统14上，行走系统14用于在地面等支撑物上行走，从而带动整个配送机器人10运动，底盘13上设置在行走系统14上，本体部12a设置在底盘13上，底盘13作为本体部12a的支撑载体。置物托盘12b凸出设置在本体部12a的侧壁上，使得置物托盘12b沿垂直于本体部12a的轴向相对侧壁凸出一定的长度，置物托盘12b可以用来放置菜肴等固体餐品等。
饮料或汤品等液体餐品盛放在碗、瓶子或者杯子等器皿中，该器皿放置在防溢洒装置11上。防溢洒装置11可以通过悬挂的方式设置在置物托盘12b，使得防溢洒装置11位于置物托盘12b的下方；防溢洒装置11也可以通过悬挂的方式设置在本体部12a的顶端12c，使得防溢洒装置11位于置物托盘12b的上方。当然，防溢洒装置11的数量可以为两个，其中一个防溢洒装置11悬挂在置物托盘12b而位于置物托盘12b的下方，另外一个防溢洒装置11悬挂在本体部12a而位于置物托盘12b的上方。鉴于本体部12a和置物托盘12b上均可以悬挂防溢洒装置11，根据实际情况的不同需要，使得防溢洒装置11能够充分利用配送机器人10上的不同空间，从而提高防溢洒装置11安装的灵活性。对于防溢洒装置11，至少存在如下实施例：
第一实施例
参阅图2，该第一实施例提供的防溢洒装置11包括第一吊杆组件100、第二吊杆组件200、放置组件300和弹性件400，第一吊杆组件100与机身12连接，例如第一吊杆组件100可拆卸地吊挂于机身12上，弹性件400的一端与第一吊杆组件100连接，弹性件400的另一端与第二吊杆组件200连接，使得弹性件400连接在第一吊杆组件100和第二吊杆组件200之间。放置组件300与第二吊杆组件200连接，器皿放置在放置组件300上。可选的，第一吊杆组件100包括第一吊杆，第二吊杆组件200包括第二吊杆，第一吊杆和第二吊杆可以均为一体的杆状结构，例如第一吊杆和第二吊杆均可以为圆柱形杆。弹性件400可以为拉簧、拉筋或扭簧等。
假如采用将盛放液体餐品的器皿直接固定放置在机身12上的模式，在行走过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，在惯性的作用下，液体餐品将会相对器皿产生较大幅度的抖动而从器皿中溢洒出去，从而造成液体餐品的浪费和对环境构成污染。
而对于第一实施例的防溢洒装置11，在配送机器人10进行配送行走的过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，机身12将上下抖动运动传递至弹性件400，使得弹性件400在弹性形变范围内伸长或缩短，也就是，机身12传递给弹性件400的上下抖动的运动动能转化为弹性件400的弹性势能，这样，最终传递到放置组件300的抖动能力被降低，也就使得放置组件300相对机身12发生的抖动幅度大大减小，从而能够使放置组件300上的器皿保持稳定，也就是液体餐品能够稳定地保持在器皿中而不会被震动得溢洒出去。
第二实施例
参阅图3，该第二实施例与第一实施例的主要不同之处在于：第一吊杆组件100和第二吊杆组件200的结构和连接关系不同。
第一吊杆组件100可以为一体连接结构，第二吊杆组件200也可以为一体连接结构。第一吊杆组件100套设在第二吊杆组件200之外，第二吊杆组件200也可以套设在第一吊杆组件100之外。当第一吊杆组件100套设在第二吊杆组件200之外，第一吊杆组件100开设有空腔，该空腔记为第一空腔111，第二吊杆组件200的一部分伸入至第一空腔111，从而使得第二吊杆组件200与第一空腔111形 成滑动配合关系，使得第一吊杆组件100和第二吊杆组件200相互滑动连接。第二吊杆组件200的另一部分位于第一空腔111之外而与放置组件300连接。弹性件400收容在第一空腔111中并抵接在第一吊杆组件100和第二吊杆组件200之间。当第二吊杆组件200套设在第一吊杆组件100之外，第二吊杆组件200内开设有空腔，该空腔记为第二空腔212，第一吊杆组件100的一部分伸入至第二空腔212，从而使得第一吊杆组件100与第二空腔212形成滑动配合关系，使得第一吊杆组件100和第二吊杆组件200相互滑动连接。第一吊杆组件100的另一部分位于第二空腔212之外。弹性件400收容在第二空腔212中并抵接在第一吊杆组件100和第二吊杆组件200之间。
可选地，第一吊杆组件100和第二吊杆组件200两者均开设有空腔；第二吊杆组件200内开设有空腔，该空腔记为第二空腔212，第二空腔212与第一空腔111相互连通。当第一吊杆组件100套设在第二吊杆组件200之外时，第一空腔111的横截面大于第二空腔212的横截面。弹性件400的一部分位于第一空腔111中，弹性件400的另一部分位于第二空腔212中，如此可以使得第一空腔111和第二空腔212均对弹性件400进行限位。当第二吊杆组件200套设在第一吊杆组件100之外时，第一吊杆组件100伸入至第二空腔212中；与第一吊杆组件100套设在第二吊杆组件200之外的结构类似，在此不再赘述。
可选地，第一吊杆组件100包括第一插销121，第一插销121的两端插置在第一吊杆组件100的主体部上，从而将第一插销121固定在第一吊杆组件100的主体部上，第一插销121的中部穿设在第一空腔111中，使得第一插销121的中部收容在第一空腔111中。第一插销121的轴线可以与第一吊杆组件100的轴线相互垂直。
可选地，第二吊杆组件200包括第二插销222，第二插销222的两端插置在第二吊杆组件200的主体部上，从而将第二插销222固定在第二吊杆组件200的主体部上，第二插销222的中部穿设在第二空腔212中，使得第二插销222的中部收容在第二空腔212中。第二插销222的轴线可以与第二吊杆组件200的轴线相互垂直。
当第一吊杆组件100包括第一插销121时，弹性件400的一端与第一插销121连接，弹性件400的另一端与第二吊杆组件200连接。当第二吊杆组件200包括第二插销222时，弹性件400的一端与第二插销222连接，弹性件400的另一端与第一吊杆组件100连接。当第一吊杆组件100包括第一插销121，第二吊杆组件200包括第二插销222时，弹性件400的一端与第一插销121的中部连接，弹性件400的另一端与第二插销222的中部连接，使得弹性件400连接在第一插销121和第二插销222之间，如此也可以对弹性件400进行很好的限位。
对于第二实施例的防溢洒装置11，在配送机器人10进行配送行走的过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，机身12将上下抖动运动传递至第二吊杆组件200，第二吊杆组件200将相对第一吊杆组件100产生滑动，使得弹性件400在弹性形变范围内伸长或缩短，也就是，机身12传递给第二吊杆组件200和弹性件400的上下抖动的运动动能转化为弹性件400的弹性势能，这样，最终传递到放置组件300的抖动能力被降低，也就使得放置组件300相对机身12发生的抖动幅度大大减小，从而能够使放置组件300上的器皿保持稳定，也就是液体餐品能够稳定地保持在器皿中而不会被震动得溢洒出去。
第三实施例
参阅图4和图5，该第三实施例与第二实施例的主要不同之处在于：第一吊杆组件100和第二吊杆组件200的结构不同，即第一吊杆组件100和第二吊杆组件200为多个零件装配形成的分体连接结构。
第一吊杆组件100包括第一插销121、第一套筒131和第一端盖141，第一端盖141套设在第一套筒131之外并与机身12连接，第一端盖141与第一套筒131两者共同围成第一空腔111，第一插销121的两端均同时插置在第一套筒131和第一端盖141之间，使得第一套筒131和第一端盖141通过第一插销121相互连接。第一插销121的中部穿设在第一空腔111中，使得第一插销121的中部收容在第一空腔111中。第一插销121的轴线可以与第一吊杆组件100的轴线相互垂直。
第二吊杆组件200包括第二插销222、第二套筒232和第二端盖242，第二端盖242套设在第二套筒232之外并与放置组件300连接，第二端盖242与第二套筒232两者共同围成第二空腔212，第二套 筒232与第一空腔111滑动配合，第二空腔212与第一空腔111相互连通，显然，第一空腔111的横截面大于第二空腔212的横截面。弹性件400的一部分位于第一空腔111中，弹性件400的另一部分位于第二空腔212中，如此可以使得第一空腔111和第二空腔212对弹性件400进行限位。第二插销222的两端均同时插置在第二套筒232和第二端盖242之间，使得第二套筒232和第二端盖242通过第二插销222相互连接。第二插销222的中部穿设在第二空腔212中，使得第二插销222的中部收容在第二空腔212中，弹性件400可以同时跟第一插销121和第二插销222的中部连接，第二插销222的轴线可以与第二吊杆组件200的轴线相互垂直。
在一可能的实施例中，第一吊杆组件100包括第一插销121、第一套筒131和第一端盖141，和/或，第二吊杆组件200包括第二插销222、第二套筒232和第二端盖242。实施方案一：第三实施例的第一吊杆组件100与第二实施例中的第二吊杆组件200组合实施；实施方案二，第三实施例的第二吊杆组件200与第二实施例的第一吊杆组件100组合实施；实施方案三：第三实施例的第一吊杆组件100和第三实施例的第二吊杆组件200组合实施。其实施方案可以根据实际方案的需求进行组合，在此不作具体限定。
通过第一吊杆组件100和第二吊杆组件200设置多个零件装配形成的分体连接结构，可以使得第二吊杆组件200与第一空腔111快速形成滑动连接关系，从而方便整个第一吊杆组件100和第二吊杆组件200之间的装配，提高两者之间的装配效率。
对于第三实施例的防溢洒装置11，在配送机器人10进行配送行走的过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，机身12将上下抖动运动传递至第二吊杆组件200，第二吊杆组件200将相对第一吊杆组件100产生滑动，使得弹性件400在弹性形变范围内伸长或缩短，也就是，机身12传递给第二吊杆组件200和弹性件400的上下抖动的运动动能转化为弹性件400的弹性势能，这样，最终传递到放置组件300的抖动能力被降低，也就使得放置组件300相对机身12发生的抖动幅度大大减小，从而能够使放置组件300上的器皿保持稳定，也就是液体餐品能够稳定地保持在器皿中而不会被震动得溢洒出去。
第四实施例
参阅图6和图7，该第四实施例与第三实施例的主要不同之处在于：第一吊杆组件100和第二吊杆组件200的结构不同，以及第二吊杆组件200与放置组件300之间的连接关系不同。
第一吊杆组件100可以为筒状结构，第一吊杆组件100围成第一空腔111，且第一吊杆组件100包括限位凸起150，限位凸起150沿第一吊杆组件100的径向凸出设置在第一空腔111的内壁面上。第二吊杆组件200包括内套250和连接杆260，内套250和连接杆260两者可以通过可拆卸连接的方式共同连接形成第二吊杆组件200。内套250开设有相互连通的插孔251和内腔252，内腔252的横截面大于插孔251的横截面，内套250的外侧面上开设有限位槽253，内套250收容在第一空腔111中，且限位凸起150和限位槽253两者形成滑动配合关系，进而使得内套250与第一吊杆组件100滑动连接。连接杆260同时穿设在第一空腔111和内腔252中，连接杆260的端部可以和插孔251形成过盈配合关系，从而使得连接杆260和内套250两者过盈连接。故连接杆260和内套250两者同步运动，使得连接杆260和内套250两者相对第二吊杆组件200同步滑动。
在一可能的实施例中，连接杆260可以是连接轴。第一吊杆组件100可以包括轴套，轴套上设置有限位凸起150。放置组件300可以是托盘单元。
弹性件400套设在连接杆260上，如此可以利用连接杆260和内套250来限制弹性件400的位置，以提高弹性件400的可靠性。弹性件400的一端可以与第一空腔111的底壁面相接触，弹性件400的另一端可以与内套250的端部接触，当然，弹性件400的一部分可以收容在内套250的内腔252中，使得弹性件400的另一端与内腔252的底壁面相接触，内腔252将进一步对弹性件400起到限位作用，从而提高弹性件400的可靠性。
鉴于限位凸起150和限位槽253的配合，可以使得第二吊杆组件200能够相对第一吊杆组件100产生滑动，同时，限位凸起150对整个第二吊杆组件200起到周向限位作用，如此可以防止第二吊杆组件200相对第一吊杆组件100绕第一吊杆组件100的轴线产生转动。换言之，第二吊杆组件200与 第一空腔111滑动配合，但是第二吊杆组件200与第一空腔111并未形成转动配合关系。
放置组件300上还可以开设有轴孔，连接杆260与该轴孔转动配合，故第二吊杆组件200和放置组件300转动连接，使得放置组件300能够绕第二吊杆组件200的轴线产生转动。
对于第四实施例的防溢洒装置11，在配送机器人10进行配送行走的过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，机身12将上下抖动运动传递至第二吊杆组件200，第二吊杆组件200将相对第一吊杆组件100产生滑动，使得弹性件400在弹性形变范围内伸长或缩短，也就是，机身12传递给第二吊杆组件200和弹性件400的上下抖动的运动动能转化为弹性件400的弹性势能，这样，最终传递到放置组件300的抖动能力被降低，也就使得放置组件300相对机身12发生的抖动幅度大大减小，从而能够使放置组件300上的器皿保持稳定，也就是液体餐品能够稳定地保持在器皿中而不会被震动得溢洒出去。同时，在配送机器人10晃动或者转弯时时，可以使得放置组件300将相对第一吊杆组件100和第二吊杆组件200产生转动，从而降低周向惯性力的影响，进一步提高放置组件300上器皿的稳定性，避免液体餐品溢洒出去。
第五实施例
参阅图8，该第五实施例与第四实施例的主要不同之处在于：第一吊杆组件100和第二吊杆组件200的结构不同，且第二吊杆组件200可以相对第一吊杆组件100能够产生转动。
第一吊杆组件100可以为筒状结构，第一吊杆组件100围成第一空腔111，第一空腔111为圆柱形腔体，第二吊杆组件200包括活动座270和连接座280，活动座270为圆柱形，使得活动座270既可以与第一空腔111滑动配合，还可以与第一空腔111转动配合，使得活动座270能够在第一空腔111中相对第一吊杆组件100产生滑动和转动。连接座280包括座体281和导向柱282，导向柱282凸出设置在座体281上，导向柱282穿设在第一空腔111中并与活动座270固定连接，如此使得整个连接座280和活动座270产生同步运动，即第二吊杆组件200可以相对第一吊杆组件100产生滑动和转动。座体281的横截面大于导向柱282的横截面，使得座体281位于第一空腔111之外，且放置组件300与座体281固定连接。故放置组件300能够跟随整个第二吊杆组件200同步相对第一吊杆组件100产生滑动和转动。在一可能的实施例中，放置组件300可以是承载模组。
防溢洒装置11还可以包括滑片500，滑片500收容在所述第一空腔111并能够相对第一空腔111产生转动。滑片500可以与弹性件400的一端连接，使得滑片500抵接在弹性件400和第一空腔111中的底壁之间，弹性件400的另一端与活动座270连接。通过设置滑片500，可以避免弹性件400的端部与第一空腔111的底壁面产生摩擦，从而减少第二吊杆组件200的转动阻力。
对于第五实施例的防溢洒装置11，在配送机器人10进行配送行走的过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，机身12将上下抖动运动传递至第二吊杆组件200，第二吊杆组件200将相对第一吊杆组件100产生滑动，使得弹性件400在弹性形变范围内伸长或缩短，也就是，机身12传递给第二吊杆组件200和弹性件400的上下抖动的运动动能转化为弹性件400的弹性势能，这样，最终传递到放置组件300的抖动能力被降低，也就使得放置组件300相对机身12发生的抖动幅度大大减小，从而能够使放置组件300上的器皿保持稳定，也就是液体餐品能够稳定地保持在器皿中而不会被震动得溢洒出去。同时，在配送机器人10晃动时，可以使得放置组件300跟随第二吊杆组件200同步相对第一吊杆组件100产生转动，从而降低周向惯性力的影响，进一步提高放置组件300上器皿的稳定性，避免液体餐品溢洒出去。
第六实施例
参阅图9，该第六实施例与上述实施例的主要不同之处在于：防溢洒装置11还包括旋转结构600，使得放置组件300能够相对产生转动。
旋转结构600包括旋转轴610、旋转套620和旋转轴承630，旋转轴610与旋转轴承630的轴圈631固定连接(旋转轴610与轴圈631之间可以是过盈配合固定连接，可以是焊接固定连接，也可以是通过螺纹连接固定)，旋转套620与旋转轴承630的座圈632通过焊接固定连接(或者，旋转套620与座圈632为一体成型的结构)。旋转套620与第二吊杆组件200固定连接，旋转轴610与放置组件300固定连接。旋转轴承630可以为推力轴承或圆锥滚子轴承。并且，旋转轴承630的数量为偶数个，装 配时，任意两个旋转轴承630为一组，同一组中的两个旋转轴承630的轴向力方向相反。
通过设置旋转结构600，使得放置组件300能够跟随旋转轴610绕第二吊杆组件200的轴线产生转动，故放置组件300不仅能跟随第二吊杆组件200相对第一吊杆组件100产生滑动，放置组件300还能跟随旋转轴610相对第一吊杆组件100产生转动。
对于第六实施例的防溢洒装置11，在配送机器人10进行配送行走的过程中，当配送机器人10遇到小体积障碍物进行越障运动或行走在凹凸不平的地面上导致机身12上下抖动、颠簸时，机身12将上下抖动运动传递至第二吊杆组件200，第二吊杆组件200将相对第一吊杆组件100产生滑动，使得弹性件400在弹性形变范围内伸长或缩短，也就是，机身12传递给第二吊杆组件200和弹性件400的上下抖动的运动动能转化为弹性件400的弹性势能，这样，最终传递到放置组件300的抖动能力被降低，也就使得放置组件300相对机身12发生的抖动幅度大大减小，从而能够使放置组件300上的器皿保持稳定，也就是液体餐品能够稳定地保持在器皿中而不会被震动得溢洒出去。同时，在配送机器人10晃动时，可以使得放置组件300跟随旋转轴610同步相对第一吊杆组件100和第二吊杆组件200产生转动，从而降低周向惯性力的影响，进一步提高放置组件300上器皿的稳定性，避免液体餐品溢洒出去。
第七实施例
参阅图8，该第七实施例与第五实施例的主要不同之处在于：防溢洒装置还包括摆动模组700，摆动模组700连接机身12和第一吊杆组件100，摆动模组700用于使得第一吊杆组件100相对所述机身12有至少两个摆动自由度。
摆动模组700包括第一支座710和第一转轴720，第一支座710用于固定在机身12上，第一转轴720水平设置，第一转轴720与第一支座710转动连接，第一吊杆组件100能够与第一转轴720连接。当第一转轴720转动时，可以使得第一吊杆组件100和放置组件300跟随第一转轴720产生转动。可选地，摆动模组700还包括转接块750、第二支座730和第二转轴740，第一转轴720与第二转轴740垂直连接，第二转轴740和第一转轴720均穿设转接块750中，第二支座730转动设在第二转轴740上，第一吊杆组件100与第二支座730连接。
通过设置摆动模组700，在配送机器人10晃动时，可以使得放置组件300在摆动模组700的作用下绕第一转轴720和第二转轴740产生转动，从而降低惯性力的影响，进一步提高放置组件300上器皿的稳定性，避免液体餐品溢洒出去。
当然，该摆动模组700还可以应用在第一实施例、第二实施例、第三实施例、第四实施例或第六实施例中。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种防溢洒装置，用于装配在配送机器人的机身上，所述防溢洒装置包括：
    放置组件，所述放置组件吊挂在所述机身上并用于放置器皿；
    第一吊杆组件，所述第一吊杆组件与所述机身连接；
    第二吊杆组件，所述第二吊杆组件与所述放置组件连接；
    弹性件，所述弹性件设置在所述第一吊杆组件和所述第二吊杆组件之间。
  2. 根据权利要求1所述的防溢洒装置，其特征在于，所述第二吊杆组件与所述第一吊杆组件滑动连接。
  3. 根据权利要求2所述的防溢洒装置，其特征在于，所述第一吊杆组件和所述第二吊杆组件两者中的其中一个上开设有空腔，所述第一吊杆组件或所述第二吊杆组件跟所述空腔滑动配合，所述弹性件收容在所述空腔中并抵接在所述第一吊杆组件和所述第二吊杆组件之间；
    或者，
    所述第一吊杆组件和所述第二吊杆组件两者均开设有空腔，所述第一吊杆组件的空腔和所述第二吊杆组件的空腔相互连通，所述弹性件收容在两个所述空腔中。
  4. 根据权利要求3所述的防溢洒装置，其特征在于，所述第一吊杆组件的空腔记为第一空腔，所述第一吊杆组件包括第一插销，所述第一插销穿设在所述第一空腔中；和/或，所述第二吊杆组件的空腔记为第二空腔，所述第二吊杆组件包括第二插销，所述第二插销穿设在所述第二空腔中；所述弹性件的两端分别与所述第一插销和所述第二吊杆组件连接，或者所述弹性件的两端分别与所述第一吊杆组件和所述第二插销连接，或者所述弹性件的两端分别与所述第一插销和所述第二插销连接。
  5. 根据权利要求4所述的防溢洒装置，其特征在于，所述第一吊杆组件还包括共同围成所述第一空腔的第一套筒和第一端盖，所述第一端盖套设在所述第一套筒外并与所述机身连接，所述第一插销的两端同时插置在所述第一套筒和所述第一端盖中；
    和/或，
    所述第二吊杆组件还包括共同围成所述第二空腔的第二套筒和第二端盖，所述第二端盖套设在所述第二套筒外并与所述放置组件连接，所述第二插销的两端同时插置在所述第二套筒和所述第二端盖中。
  6. 根据权利要求2所述的防溢洒装置，其特征在于，所述弹性件套设在所述第二吊杆组件上。
  7. 根据权利要求6所述的防溢洒装置，其特征在于，当所述第一吊杆组件开设有空腔时，第一吊杆组件的空腔记为第一空腔，所述第一吊杆组件还包括限位凸起，所述限位凸起凸出设置在所述第一空腔的内壁面上，所述第二吊杆组件上开设有限位槽，所述限位凸起与所述限位槽滑动配合。
  8. 根据权利要求7所述的防溢洒装置，其特征在于，所述第二吊杆组件包括内套和连接杆，所述连接杆插置在所述内套中，且所述连接杆与所述内套固定连接，所述限位槽设置在所述内套上，所述弹性件套设在所述连接杆上并抵接所述内套；所述内套设置有相互连通的插孔和内腔，所述内腔的横截面大于所述插孔的横截面，所述连接杆插置在所述插孔中，所述弹性件的一部分收容在所述内腔中。
  9. 根据权利要求2所述的防溢洒装置，其特征在于，所述第一吊杆组件与所述第二吊杆组件转动配合。
  10. 根据权利要求9所述的防溢洒装置，其特征在于，当所述第一吊杆组件开设有空腔时，第一吊杆组件的空腔记为第一空腔，所述第二吊杆组件包括活动座和连接座，所述活动座同时与所述第一空腔滑动配合和转动配合，所述连接座包括座体和导向柱，所述导向柱凸出设置在所述座体上，所述导向柱穿设在所述第一空腔中并与所述活动座固定连接，所述座体的横截面大于所述导向柱的横截面而位于所述第一空腔之外以与所述放置组件固定连接。
  11. 根据权利要求10所述的防溢洒装置，其特征在于，所述防溢洒装置还包括能够相对所述第一吊杆组件转动的滑片，所述滑片收容在所述第一空腔中并抵接在所述弹性件和所述第一空腔中的底壁之间。
  12. 根据权利要求1所述的防溢洒装置，其特征在于，所述放置组件上开设有轴孔，所述第二吊杆组件与所述轴孔转动配合。
  13. 根据权利要求1所述的防溢洒装置，其特征在于，所述防溢洒装置还包括旋转结构，所述旋转结构包括旋转轴、旋转套和旋转轴承，所述旋转轴与所述旋转轴承的轴圈固定连接，所述旋转套与所述旋转轴承的座圈固定连接，所述旋转轴与所述放置组件固定连接，所述旋转套与所述第二吊杆组件固定连接。
  14. 根据权利要求13所述的防溢洒装置，其特征在于，所述旋转轴承为推力轴承或圆锥滚子轴承。
  15. 根据权利要求1所述的防溢洒装置，其特征在于，所述弹性件为拉簧、拉筋或扭簧。
  16. 根据权利要求1所述的防溢洒装置，其特征在于，还包括摆动模组，所述摆动模组连接所述机身和所述第一吊杆组件，所述摆动模组用于使得所述第一吊杆组件相对所述机身有至少两个摆动自由度。
  17. 根据权利要求16所述的防溢洒装置，其特征在于，所述摆动模组包括第一支座和第一转轴，所述第一支座用于固定在所述机身上，所述第一转轴与所述第一支座转动连接，所述第一吊杆组件能够与所述第一转轴连接。
  18. 根据权利要求17所述的防溢洒装置，其特征在于，所述摆动模组还包括转接块、第二支座和第二转轴，所述第一转轴与所述第二转轴垂直连接，所述第二转轴和所述第一转轴均穿设所述转接块，所述第二支座转动设在所述第二转轴上，所述第一吊杆组件与所述第二支座连接。
  19. 一种配送机器人，包括机身和权利要求1至18中任一项所述的防溢洒装置，所述防溢洒装置与所述机身连接。
  20. 根据权利要求19所述的配送机器人，其特征在于，所述防溢洒装置可拆卸地吊挂于所述机身上；所述机身包括本体部和置物托盘，所述置物托盘凸出设置在所述本体部的侧壁上，所述第一吊杆组件设置在所述置物托盘且所述放置组件位于所述置物托盘的下方；和/或，所述第一吊杆组件设置在本体部且所述放置组件位于所述置物托盘的上方。
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