WO2023138561A1 - Appareil de prévention de déversement et robot de distribution - Google Patents

Appareil de prévention de déversement et robot de distribution Download PDF

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Publication number
WO2023138561A1
WO2023138561A1 PCT/CN2023/072547 CN2023072547W WO2023138561A1 WO 2023138561 A1 WO2023138561 A1 WO 2023138561A1 CN 2023072547 W CN2023072547 W CN 2023072547W WO 2023138561 A1 WO2023138561 A1 WO 2023138561A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
assembly
hinge
damping
spill device
Prior art date
Application number
PCT/CN2023/072547
Other languages
English (en)
Chinese (zh)
Inventor
马源
王海昕
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 CN202220145063.6U external-priority patent/CN217728740U/zh
Priority claimed from CN202220145691.4U external-priority patent/CN217195448U/zh
Priority claimed from CN202220146862.5U external-priority patent/CN217195354U/zh
Priority claimed from CN202220145585.6U external-priority patent/CN217728741U/zh
Priority claimed from CN202220775914.5U external-priority patent/CN219027517U/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 WO2023138561A1 publication Critical patent/WO2023138561A1/fr

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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

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 solid meals such as meals or bread, it only needs to place the meals on the delivery tray of the delivery robot, and generally they can be delivered completely.
  • liquid meals such as beverages or soups
  • the liquid meals are directly placed on the storage tray of the delivery robot, once the delivery robot encounters obstacles during its travels and stops suddenly or needs to turn, the liquid will not be kept stable due to inertia and will spill out, resulting in the inability to deliver the liquid meals completely.
  • an anti-spill device for assembling on the fuselage of a delivery robot, the anti-spill device comprising:
  • a hinge assembly the hinge assembly is used to hinge the placement assembly on the fuselage, the hinge assembly includes a first hinge unit and a second hinge unit that are rotationally connected, the first hinge unit is connected to the fuselage, and the second hinge unit is connected to the placement assembly.
  • a distribution robot 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 an exploded view of the anti-spill device provided by the second embodiment
  • Fig. 4 is an exploded view of the hinge assembly in the anti-overflow device shown in Fig. 3;
  • Fig. 5 is an exploded view of the anti-spill device provided by the third embodiment
  • Fig. 6 is an exploded view of the hinge assembly in the anti-overflow device shown in Fig. 5;
  • Fig. 7 is a perspective view of the assembled hinge assembly and damping structure in the anti-overflow device shown in Fig. 5;
  • Fig. 8 is an exploded view of Fig. 7;
  • Fig. 9 is an exploded view of the anti-spill device provided by the fourth embodiment.
  • Fig. 10 is an exploded view of the hinge assembly in the anti-overflow device shown in Fig. 9;
  • Fig. 11 is an exploded view of the anti-spill device provided by the fifth embodiment.
  • Fig. 12 is an exploded view of the anti-spill device provided by the sixth embodiment.
  • Fig. 13 is an exploded view of the anti-spill device provided by the seventh 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 includes a placement assembly 100 and a hinge assembly 200.
  • the hinge assembly 200 can be arranged on the main body 12a or on the storage tray 12b. Containers containing beverages or soups and other liquid meals are placed on the placement assembly 100, so that the placement assembly 100 plays a supporting role for the containers.
  • the hinge assembly 200 is used to hinge the placement assembly 100 on the fuselage 12 , the hinge assembly 200 includes a first hinge unit 210 and a second hinge unit 220 , and the first hinge unit 210 and the second hinge unit 220 are rotatably connected.
  • the first hinge unit 210 is connected to the body 12
  • the second hinge unit 220 is connected to the placement assembly 100 .
  • the storage tray 12b can include a support arm 12d and a tray 12e.
  • the support arm 12d protrudes from the side wall of the main body 12a.
  • the tray 12e is fixed on the support arm 12d.
  • the support arm 12d can be connected to the first hinge unit 210.
  • the tray 12e can also be connected to the first hinge unit 210.
  • the support arm 12d and the tray 12e can both be connected to the first hinge unit 210.
  • the distribution robot 10 will start, avoid obstacles, or stop actions, resulting in deceleration, acceleration, or turning. Under the effect of inertia, when the delivery robot 10 decelerates, accelerates or turns, the liquid meal will move relative to the container and overflow from the container, thereby causing waste of liquid meal and polluting the environment.
  • the first hinge unit 210 and the second hinge unit 220 are rotationally connected, so that the placement assembly 100 swings with at least one degree of freedom relative to the fuselage 12, and when the distribution robot 10 decelerates, accelerates, or turns during walking, the container holding the liquid meal can follow the placement assembly 100 to swing relative to the fuselage 12, thereby reducing the influence of inertia , Effectively prevent the liquid food from spilling out of the container, avoiding the waste of liquid food and pollution to the environment.
  • the hinge assembly 200 includes a joint bearing 230, the joint bearing 230 is commonly called a fisheye bearing, and the joint
  • the bearing 230 has a bearing outer ring 231 and a bearing inner ring 232.
  • the bearing inner ring 232 is arranged in the bearing outer ring 231.
  • the bearing inner ring 232 can rotate within a certain angle range relative to the bearing outer ring 231 along the axial direction of the bearing inner ring 232, so that the bearing inner ring 232 has at least two degrees of freedom in rotation relative to the bearing outer ring 231.
  • the first hinge unit 210 includes a first connecting rod 211 and a bearing outer ring 231 , one end of the first connecting rod 211 is fixedly connected to the bearing outer ring 231 , and the other end of the first connecting rod 211 is connected to the fuselage 12 .
  • the second hinge unit 220 includes a second connecting rod 221 and a bearing inner ring 232 , and the second connecting rod 221 is fixedly connected with the placement assembly 100 .
  • the hinge assembly 200 also includes a rotating shaft unit 240.
  • the rotating shaft unit 240 can be a pin shaft 241, and the pin shaft 241 is fixedly installed in the bearing inner ring 232.
  • the pin shaft 241 can be fixed with the bearing inner ring 232 through an interference connection, and the pin shaft 241 can also be fixed with the bearing inner ring 232 through a key connection.
  • the second connecting rod 221 has two lugs arranged at intervals along the axial direction of the pin shaft 241 , the entire joint bearing 230 can be located between the two lugs, and the two ends of the pin shaft 241 are respectively fixedly passed through the two lugs.
  • the first connecting rod 211 and the bearing outer ring 231 are the first whole that moves synchronously; the second connecting rod 221, the bearing inner ring 232 and the pin shaft 241 are the second whole that moves synchronously.
  • the second whole can rotate around the axis of the pin shaft 241 relative to the first whole.
  • the second whole can rotate relative to the first whole around a straight line forming an angle with the axis of the pin shaft 241 .
  • the placing assembly 100 and the second connecting rod 221 can be rotated relative to the bearing outer ring 231 and the first connecting rod 211, thereby causing the entire placing assembly 100 to swing relative to the fuselage 12. In this way, the influence of inertia will be reduced, and the liquid meal can be effectively prevented from spilling out of the container, so as to avoid waste of liquid meal and pollution to the environment.
  • the anti-spill device 11 further includes a damping structure 300, which can produce elastic deformation, and the damping structure 300 is connected between the pin shaft 241 and the fuselage 12, and the damping structure 300 is used to provide a damping force to the pin shaft 241 when the pin shaft 241 rotates relative to the bearing outer ring 231 of the joint bearing 230.
  • a damping structure 300 which can produce elastic deformation
  • the damping structure 300 is connected between the pin shaft 241 and the fuselage 12, and the damping structure 300 is used to provide a damping force to the pin shaft 241 when the pin shaft 241 rotates relative to the bearing outer ring 231 of the joint bearing 230.
  • the damping structure 300 can convert a part of the kinetic energy of the swing of the placement assembly 100 relative to the body 12 into thermal internal energy of the damping structure 300, thereby reducing the swing amplitude of the placement assembly 100 relative to the body 12, and at the same time slowing down the initial swing of the placement assembly 100 relative to the body 12, so that the liquid food in the container remains stable and does not spill out.
  • the damping structure 300 includes a damping element and a damping mounting base 340, the damping mounting base 340 is fixedly connected to the fuselage 12, the damping element is mounted on the damping mounting base 340 and connected to the rotating shaft unit, in one embodiment, the rotating shaft unit is a pin shaft 241.
  • the damping element includes a first transfer end 310, a second transfer end 320 and a damping connection part 330.
  • the damping connection part 330 can be made of a flexible material and can produce elastic deformation.
  • the damping connection part 330 is columnar.
  • the first adapter end 310 can be fixed on the damping mounting base 340 through bolt connection, so that the first adapter end 310 is fixedly connected to the fuselage 12 through the damping mounting base 340 .
  • the second adapter end 320 is fixedly connected to the pin shaft 241 .
  • the pin shaft 241 drives the second transfer end 320 to twist relative to the first transfer end 310 around the axis of the pin shaft 241, that is, the damping connection part 330 undergoes torsional deformation, thereby converting the swinging kinetic energy of the placement assembly 100 into thermal internal energy of the damping connection part 330.
  • the pin shaft 241 drives the damping connection portion 330 to twist and deform in the plane where the axis of the pin shaft 241 is located, thereby converting the swing kinetic energy of the placement assembly 100 into thermal energy of the damping connection portion 330 .
  • the damping structure 300 may be a torsion spring, one end arm of the torsion spring is fixedly connected to the fuselage 12 , and the other end arm of the torsion spring is fixedly connected to the pin shaft 241 .
  • the pin shaft 241 will also drive the torsion spring to deform, thereby transforming the swing kinetic energy of the placement assembly 100 into elastic potential energy of the torsion spring.
  • the shaft unit 240 includes a first shaft 242 and a second shaft 243, for the hinge assembly 200 formed by the first shaft 242, the second shaft 243, the first hinge unit 210 and the second hinge unit 220, the hinge assembly 200 is actually a universal joint structure with two degrees of freedom.
  • the first shaft 242 and the second shaft 243 are fixedly connected crosswise, and the first shaft 242 and the second shaft 243 are perpendicular to each other, that is, the first shaft 242 and the second shaft 243 are fixedly connected to form a cross structure, so the first shaft 242 and the second shaft 243 are fixedly connected to form a whole.
  • first shaft 242 and the second shaft 243 can be connected separately by welding, and for example, the first shaft 242 and the second shaft 243 can be integrally connected by casting.
  • the first hinge unit 210 and The second hinge unit 220 may be integrally casted components.
  • the first hinge unit 210 includes a first lug member 201 and two first lugs 212, the two first lugs 212 are arranged at intervals along the axial direction of the first shaft 242, and the two first lugs 212 are fixed on the first lug member 201, and the two ends of the first shaft 242 are respectively rotatably passed through the two first lugs 212.
  • the second hinge unit 220 includes a second lug member 202 and two second lugs 222, the two second lugs 222 are arranged at intervals along the axial direction of the second shaft 243, and the two second lugs 222 are fixed on the second lug member 202, and the two ends of the second shaft 243 are respectively rotatably passed through the two second lugs 222.
  • the second hinge unit 220 can rotate relative to the first hinge unit 210 around the axis of the first shaft 242, so that the placement assembly 100 swings relative to the fuselage 12 around the axis of the first shaft 242;
  • the hinge assembly 200 may be a universal joint structure with more than two degrees of freedom.
  • the universal joint structure may be a physical shaft universal joint structure formed by the above-mentioned physical shaft, or a virtual shaft universal joint structure formed by a ball shaft or other forms, which are not specifically limited here.
  • the axis direction of the first axis rod 242 and one of the second axis 243 is the forward direction of the delivery robot 10.
  • the axis direction of the first axis 242 is the forward direction of the delivery robot 10.
  • the delivery robot 10 When the delivery robot 10 decelerates, accelerates or turns while walking, it can make the placing assembly 100 swing relative to the fuselage 12 in the front-back direction and left-right direction, which will reduce the influence of inertia, effectively prevent the liquid food from spilling out of the container, and avoid the waste of liquid food and pollution to the environment.
  • first shaft 242 and the second shaft 243 may not be perpendicular, so that they are arranged at other angles.
  • the end of the first shaft 242 can be provided with the damping structure 300
  • the end of the second shaft 243 can also be provided with the damping structure 300
  • the ends of both the first shaft 242 and the second shaft 243 can be provided with the damping structure 300 at the same time.
  • the second transfer end 320 of the damping structure 300 is fixed on the first shaft 242 and/or the second shaft 243 .
  • the hinge assembly 200 can further include a first mounting plate 203 and a second mounting plate 204 , the first mounting plate 203 can be connected to the fuselage 12 , and the second mounting plate 204 can be connected to the placement assembly 100 .
  • the seat 340 is connected to the first mounting plate 203 , and the second lug member 202 and the damping mounting seat 340 of another damping structure 300 are connected to the second mounting plate 204 .
  • the damping mount 340 may be a damping fixture, and the damping member may be a damper.
  • the hinge assembly 200 further includes an adapter block 250, and the shaft unit 240 includes a first shaft 242 and a second shaft 243.
  • the hinge assembly 200 formed by the first shaft 242, the second shaft 243, the first hinge unit 210, the second hinge unit 220, and the adapter block 250 the hinge assembly 200 is actually a universal joint structure with two degrees of freedom.
  • the first shaft 242 and the second shaft 243 are arranged independently of each other, and the first shaft 242 and the second shaft 243 are arranged at intervals along the direction perpendicular to the axis of the first shaft 242, so that the first shaft 242 and the second shaft 243 do not form a direct connection relationship.
  • the first shaft 242 and the second shaft 243 are perpendicular to each other.
  • the axes of the first shaft 242 and the second shaft 243 are two parallel straight lines perpendicular to each other.
  • Two through holes are opened on the adapter block 250, so that the first shaft 242 passes through one of the through holes, and the second shaft 243 passes through the other through hole.
  • the centerlines of the two through holes are two perpendicular straight lines.
  • the adapter block 250 is located between the first hinge unit 210 and the second hinge unit 220.
  • the first hinge unit 210 includes a first lug member 201 and two first lugs 212.
  • the two first lugs 212 are arranged at intervals along the axial direction of the first shaft 242, and the two first lugs 212 are fixed on the first lug member 201.
  • the middle part of the first shaft 242 is rotatably passed through one of the through holes of the adapter block 250.
  • the first shaft 242 The two ends are respectively fixed in the two first lugs 212 .
  • the second hinge unit 220 includes a second lug member 202 and two second lugs 222.
  • the two second lugs 222 are arranged at intervals along the axial direction of the second shaft 243, and the two second lugs 222 are fixed on the second lug member 202.
  • the middle part of the second shaft 243 is rotatably passed through another through hole of the adapter block 250, and the two ends of the second shaft 243 are respectively fixed in the two second lugs 222.
  • the second hinge unit 220 can rotate relative to the first hinge unit 210 around the axis of the first shaft 242, so that the placement group
  • the component 100 swings relative to the fuselage 12 around the axis of the first shaft 242; it can also make the second hinge unit 220 rotate relative to the first hinge unit 210 around the axis of the second shaft 243, so that the placement assembly 100 swings relative to the fuselage 12 around the axis of the second shaft 243.
  • the placement assembly 100 can swing relative to the body 12 in the front, rear and left and right directions.
  • effectively preventing liquid food from spilling out of the container specifically refers to reducing the degree of liquid food spilling from the container, and under certain circumstances, effectively preventing liquid food from spilling out of the container.
  • a damping structure 300 may be provided at the end of the first shaft 242, a damping structure 300 may also be provided at the end of the second shaft 243, and a damping structure 300 may be provided at both ends of the first shaft 242 and the second shaft 243.
  • the second transfer end 320 of the damping structure 300 is fixed on the first shaft 242 and/or the second shaft 243 .
  • the swing range of the placement assembly 100 relative to the fuselage 12 can be reduced, and at the same time, the initial swing of the placement assembly 100 relative to the fuselage 12 can be slowed down, and the swing degree of the placement assembly 100 relative to the fuselage 12 can be slowed down, so that the liquid food in the container remains stable and does not spill out.
  • the hinge assembly 200 can also include a first mounting plate 203 and a second mounting plate 204.
  • the first mounting plate 203 can be connected to the fuselage 12, and the second mounting plate 204 can be connected to the placement assembly 100.
  • the first shaft 242 and the second shaft 243 are provided with a damping structure 300, that is, when there are two damping structures 300, the first lug member 201 and the damping mounting seat 340 of one of the damping structures 300 are connected to the first mounting plate 203, and the second hanging member 201 is connected to the first mounting plate 203.
  • the ear member 202 and the damping mounting seat 340 of another damping structure 300 are connected to the second mounting plate 204 .
  • the damping mount 340 may be a damping fixture, and the damping member may be a damper.
  • the hinge assembly 200 includes a ball joint structure 260, the ball joint structure 260 has a ball seat 261 and a ball head 262, the first hinge unit 210 includes the ball seat 261 of the ball joint structure 260, and the second hinge unit 220 includes the ball joint structure 260 ball head 262.
  • the ball seat 261 includes a fixed seat 2611 and a closed cover 2612.
  • the fixed seat 2611 is provided with a ball socket cavity 2611a.
  • the fixed seat 2611 can be inserted in the socket 2612b of the closed cover 2612. Internal threads can be provided on the inner wall of the socket 2612b.
  • the fixed seat 2611 can be provided with external threads.
  • the external threads are engaged with each other, so that the fixing seat 2611 and the cover 2612 form a detachable threaded connection.
  • the fixing seat 2611 and the cover 2612 can also form a detachable snap connection relationship.
  • the cover 2612 is provided with a middle through hole 2612b, and the middle through hole 2612b communicates with the ball and socket cavity 2611a.
  • the ball head 262 is rotatably disposed in the ball socket cavity 2611a and protrudes from the middle through hole 2612b.
  • the fixing seat 2611 can be fixed on the body 12 , and the ball head 262 can be connected with the placing assembly 100 .
  • the ball head 262 can form multiple free rotations relative to the entire ball seat 261 in the ball socket cavity 2611 a , and then the placing assembly 100 can swing with multiple degrees of freedom relative to the fuselage 12 .
  • the distribution robot 10 decelerates, accelerates or turns while walking, it can make the placement assembly 100 swing in multiple directions relative to the body 12, which will reduce the impact of inertia, effectively prevent liquid food from spilling out of the container, and avoid waste of liquid food and pollution to the environment.
  • the anti-spill device 11 further includes a buffer assembly 400, which can produce elastic deformation, and the buffer assembly 400 is connected between the second hinge unit 220 and the body 12, so as to reduce the swing amplitude of the placement assembly 100 relative to the body 12, and prevent liquid food from flowing out of the container when the placement assembly 100 swings too much.
  • the buffer assembly 400 can also be connected between the placement assembly 100 and the fuselage 12 .
  • the buffer assembly 400 includes a plurality of extension springs 410, which are arranged at intervals along the circumference of the second hinge unit 220, with reference to the direction of the vertical line when the assembly 100 is suspended, and the extension springs 410 are arranged at an acute angle to the direction of the vertical line.
  • the number of extension springs 410 can be four, the joints of the four extension springs 410 and the second hinge unit 220 are evenly spaced along the same circumference extending in the circumferential direction of the second hinge unit 220, and the joints of the four tension springs 410 and the fuselage 12 can be evenly spaced along the same circle on the fuselage 12.
  • the included angles between any two adjacent tension springs 410 are equal.
  • extension spring 410 After the extension spring 410 is installed, the extension spring 410 will be in a pre-tensioned state.
  • the extension springs 410 When the extension springs 410 are connected with the placement assembly 100 , a plurality of extension springs 410 are arranged at intervals along the circumference of the placement assembly 100 .
  • the vertical direction in this embodiment refers to the vertical direction of the delivery robot 10 when it is working normally and/or when it is standing. That is, in an optional embodiment, when the distribution robot 10 is standing, the placement assembly 100 will hang along the plumb line in a natural state.
  • the direction of the plumb line can also be understood as the direction of gravity when the placement assembly 100 is suspended in a natural state.
  • the straight line connecting the two tension springs 410 is parallel to the axis of the first shaft 242
  • the straight line connecting the other two tension springs 410 is parallel to the axis of the second shaft 243.
  • the two tension springs 410 arranged along the axial direction of the shaft 242 provide buffer force to the second hinge unit 220 , and at this time, the two tension springs 410 arranged along the axial direction of the second shaft 243 provide auxiliary buffer force to the second hinge unit 220 .
  • the buffer assembly 400 can also be applied in the embodiment where the anti-spill device 11 has the joint bearing 230 or the ball joint structure 260 , so the buffer assembly 400 can also provide buffer force for the second hinge unit 220 .
  • the anti-spill device 11 further includes a limiting component 500 , the limiting component 500 is arranged on the fuselage 12 and is located at the side of the placing component 100 , so that the limiting component 500 is spaced apart from the placing component 100 .
  • the swing upper limit position of the placing component 100 can be well limited.
  • the limit assembly 500 includes a limit fork 510 and a buffer spring 520
  • the limit fork 510 includes a mounting end 511 and a fork-shaped end 512
  • the mounting end 511 and the fork-shaped end 512 are connected to each other
  • the mounting end 511 can be connected with the fuselage 12
  • the fork-shaped end 512 can cooperate with the placement assembly 100 to form a mutual abutting relationship.
  • One end of the buffer spring 520 is connected to the fuselage 12, and the installation end 511 can be fixed on the fuselage 12 by screw connection, or can be fixed on the fuselage 12 by welding.
  • the other end of the buffer spring 520 can be connected with the installation end 511 or the fork end 512 .
  • the placement assembly 100 When the placement assembly 100 swings relative to the fuselage 12, the placement assembly 100 will enter the fork-shaped end 512, thereby restricting the placement assembly 100 from continuing to swing toward the body portion 12a of the fuselage 12, that is, the fork-shaped end 512 is used to limit the swing upper limit position of the placement assembly 100 toward the body portion 12a of the fuselage 12.
  • the buffer spring 520 is used to provide a buffer force to the limit fork 510 when the limit fork 510 follows the placement assembly 100 to swing toward the main body portion 12 a of the fuselage 12 .
  • the limiting assembly 500 can also include a mounting beam 530, which is fixedly connected to the fuselage 12, and the mounting end 511 is rotatably connected to the mounting beam 530 through a pivot pin, so that when the placing assembly 100 enters the fork-shaped end 512, the limiting fork 510 will continue to swing with the placing assembly 100 at a certain angle to further reduce the swinging kinetic energy of the placing assembly 100, so that the liquid food in the container remains in the container without spilling out.
  • a mounting beam 530 which is fixedly connected to the fuselage 12, and the mounting end 511 is rotatably connected to the mounting beam 530 through a pivot pin, so that when the placing assembly 100 enters the fork-shaped end 512, the limiting fork 510 will continue to swing with the placing assembly 100 at a certain angle to further reduce the swinging kinetic energy of the placing assembly 100, so that the liquid food in the container remains in the container without spilling out.
  • the buffer spring 520 can be a tension spring, one end of the tension spring is connected to the mounting beam 530, and the other end of the tension spring is connected to the limit fork 510.
  • the tension spring is stretched to generate a return elastic force, which can slow down the swing speed of the placement assembly 100, thereby reducing the swing amplitude of the placement assembly 100, and can prevent the placement assembly 100 from colliding with the body part 12a of the fuselage 12.
  • the buffer spring 520 is a compression spring, one end of the compression spring is connected to the fuselage 12, and the other end of the compression spring is connected to the limit fork 510.
  • the compression spring is compressed to generate a return elastic force, which can slow down the swing speed of the placement assembly 100 and reduce the swing amplitude of the placement assembly 100, thereby preventing the placement assembly 100 from colliding with the body 12a of the fuselage 12.
  • the second hinge unit 220 can be a pivot pin 223, and the pivot pin 223 is rotatably connected to the first hinge unit 210, so that the placing assembly 100 connected to the pivot pin 223 swings relative to the fuselage 12.
  • the second hinge unit 220 can be a flexible rope 224 , and the flexible rope 224 can swing relative to the first hinge unit 210 , thereby driving the placement assembly 100 to swing relative to the fuselage 12 .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

Appareil de prévention de déversement (11), utilisé pour l'assemblage sur un corps (12) d'un robot de distribution (10), l'appareil de prévention de déversement (11) comprenant : un ensemble de mise en place (100), l'ensemble de mise en place (100) étant utilisé pour mettre en place un récipient ; et un ensemble d'articulation (200), l'ensemble d'articulation (200) étant utilisé pour articuler l'ensemble de mise en place (100) sur le corps (12), l'ensemble d'articulation (200) comprenant une première unité d'articulation (210) et une seconde unité d'articulation (220) qui sont en liaison de rotation l'une avec l'autre, la première unité d'articulation (210) étant reliée au corps (12), et la seconde unité d'articulation (220) étant reliée à l'ensemble de mise en place (100).
PCT/CN2023/072547 2022-01-19 2023-01-17 Appareil de prévention de déversement et robot de distribution WO2023138561A1 (fr)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
CN202220145063.6U CN217728740U (zh) 2022-01-19 2022-01-19 配送机器人
CN202220145585.6 2022-01-19
CN202220145691.4U CN217195448U (zh) 2022-01-19 2022-01-19 防溢洒装置及配送机器人
CN202220146862.5U CN217195354U (zh) 2022-01-19 2022-01-19 配送机器人
CN202220146862.5 2022-01-19
CN202220145691.4 2022-01-19
CN202220145585.6U CN217728741U (zh) 2022-01-19 2022-01-19 配送机器人
CN202220145063.6 2022-01-19
CN202220775914.5U CN219027517U (zh) 2022-04-02 2022-04-02 托盘装置及机器人
CN202220775914.5 2022-04-02

Publications (1)

Publication Number Publication Date
WO2023138561A1 true WO2023138561A1 (fr) 2023-07-27

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Application Number Title Priority Date Filing Date
PCT/CN2023/072547 WO2023138561A1 (fr) 2022-01-19 2023-01-17 Appareil de prévention de déversement et robot de distribution

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WO (1) WO2023138561A1 (fr)

Citations (21)

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