CN114104776B - Anti-shake transfer structure and food delivery robot - Google Patents
Anti-shake transfer structure and food delivery robot Download PDFInfo
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- CN114104776B CN114104776B CN202111448775.1A CN202111448775A CN114104776B CN 114104776 B CN114104776 B CN 114104776B CN 202111448775 A CN202111448775 A CN 202111448775A CN 114104776 B CN114104776 B CN 114104776B
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- 238000012546 transfer Methods 0.000 title claims abstract description 32
- 235000013305 food Nutrition 0.000 title description 11
- 235000012054 meals Nutrition 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000035939 shock Effects 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 8
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 abstract description 44
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 9
- 238000010521 absorption reaction Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 235000021056 liquid food Nutrition 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000011344 liquid material Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- F16F15/04—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 elastic means
- F16F15/06—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 elastic means with metal springs
- F16F15/067—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 elastic means with metal springs using only wound springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of transfer equipment, and discloses an anti-shake transfer structure which comprises a connecting beam, a hoisting piece and a driving assembly, wherein the connecting beam is arranged on the connecting beam; the hoisting piece is suspended below the connecting beam through a flexible hinge; the driving assembly is used for carrying the lifting piece to move through the connecting beam. The invention can filter a part of vibration, and reduce the risk of overflowing of the liquid container due to vibration in the conveying process, thereby ensuring that the liquid container keeps a stable conveying state in the conveying process. The invention also discloses a meal delivery robot with the anti-shake transfer structure.
Description
Technical Field
The invention belongs to the technical field of transfer equipment, and particularly relates to an anti-shake transfer structure and a meal delivery robot.
Background
At present, although the food delivery robots are various in types, most of the connection modes of the tray and the body are hard connection structures, so that vibration of the food delivery robot is transmitted to various parts of the body through the bottom rollers when the food delivery robot delivers food, and the food delivery robot is very easy to overflow food when liquid food is delivered.
In order to solve the problem, some anti-overflow robots are provided with a rotating mechanism and a cup seat, so that the cup seat can rotate at a certain angle through the rotating mechanism under the action of inertia when the robot is subjected to vibration, thereby playing a role in buffering the shaking of liquid in a container, avoiding sudden fluctuation of the liquid level and reducing the risk of liquid overflow. However, although this type of meal delivery robot has an effect of preventing liquid from overflowing, it is not widely used because of its complicated structure and poor practicality.
Disclosure of Invention
In order to solve the technical problems, the invention discloses an anti-shake transfer structure which can filter a part of vibration and reduce the risk of overflow of a liquid container due to vibration in the process of transportation, thereby ensuring that the liquid container keeps a stable transportation state in the process of transportation. The invention also discloses a meal delivery robot with the anti-shake transfer structure.
The specific technical scheme of the invention is as follows:
An anti-shake transport structure comprising:
A connecting beam;
The hoisting piece is suspended below the connecting beam through a flexible hinge; and
And the driving assembly is used for carrying the lifting piece to move through the connecting beam.
The lifting piece is used for placing the liquid container, and the flexible hinge is used for absorbing vibration from the driving assembly, so that the liquid container on the lifting piece swings along with the vibration from the driving assembly, and vibration from the outside is effectively avoided, and liquid is prevented from being thrown out or overflowed.
Preferably, the method further comprises:
An identification component;
One end of the first connecting rod is connected with the driving assembly; and
One end of the second connecting rod is connected with the driving assembly;
one end of the connecting beam is connected with the first connecting rod, and the other end of the connecting beam is connected with the second connecting rod;
The identification component comprises:
The pressure sensor is arranged at one end of the connecting beam and is connected with the first connecting rod; and
The movable hinge is arranged at the other end of the connecting beam and is connected with the second connecting rod;
When articles are placed on the lifting pieces, the connecting beam rotates by taking the movable hinge as the center of a circle, so that the pressure sensor generates elastic deformation, and the pressure sensor sends out an electric signal, thereby judging whether the articles are placed on the lifting pieces.
The identification component can judge whether an article is put into the lifting piece or not; the rotation is actually tiny rotation, the rotation which is understood conventionally is driven to be not visual rotation, after the article is put into the lifting piece, the pressure sensor has a certain pushing process through elastic deformation of the pressure sensor, at the moment, the corresponding tiny rotation is realized by utilizing the movable hinge so as to meet the balance requirement of the lifting piece, thereby ensuring the corresponding placement precision, ensuring that the liquid container is prevented from being thrown out or overflowed in the shaking process along with vibration.
Preferably, the method further comprises:
And one end of the head shell is connected with the first connecting rod, and the other end of the head shell is connected with the second connecting rod.
The head housing can provide stable supporting force for the first connecting rod and the second connecting rod, and the rod piece is prevented from being shifted relative to the driving assembly due to movement shaking, so that the first connecting rod and the second connecting rod can keep and drive the assembly relatively static in any state.
Preferably, the identification assembly further comprises:
The first fixing piece is connected with one end of the connecting beam; and
The second fixing piece is connected with the other end of the connecting beam;
The pressure sensor is located between the first fixing piece and the connecting beam, and the movable hinge is located between the second fixing piece and the connecting beam.
The first fixing piece and the second fixing piece can provide setting positions for the pressure sensor and the movable hinge, and the appearance protection of the pressure sensor and the movable hinge is respectively realized in a shell mode, so that the normal service life of the identification component is prolonged on the premise of being convenient for the installation of the connecting beam and the lifting piece.
Preferably, one end of the flexible hinge is connected to the middle part of the connecting beam through a fixing seat.
Since the flexible hinge is provided in the middle of the connecting beam, the loadable volume of the sling is ensured to a greater extent, thereby providing the sling with healthy placement conditions for more volume items.
Preferably, the lifting member includes:
and the middle part of the hoisting frame is connected with one end of the flexible hinge, which is far away from the connecting beam.
The lifting frame can provide proper placement space for the liquid container, and the connecting end of the middle part of the lifting frame can well utilize the whole weight of the lifting piece and the weight of meal to realize free falling and keep the lifting frame in a static state.
Preferably, the driving assembly includes:
a base;
At least two driving rollers, any one of which is connected with the base through a damping mechanism; and
And the driving device is used for driving the driving roller to rotate.
The damping mechanism can realize the motion performance that the rotating structure is more steady, in addition, can cooperate flexible hinge, further give the anti-shake effect of transporting the structure, through both cooperation, better avoiding throwing away or spilling over of liquid.
Preferably, the damping mechanism includes:
the support piece is connected with the driving roller; and
One end of any one elastic component is connected with the supporting piece, and the other end of the elastic component is connected with the base;
the first elastic component and the second elastic component are arranged in pairs and are respectively positioned at two ends of the supporting piece.
The first elastic component and the second elastic component are respectively arranged on the supporting piece, so that after one elastic component is elastically deformed, the other elastic component can be relatively deformed through the connection of the supporting piece and the driving roller, and the anti-shake requirement is met; in the structure, the first elastic component and the second elastic component are arranged in pairs, so that the balance between the first elastic component and the second elastic component is stronger, and the damping effect of the driving roller is realized.
Food delivery robot includes an anti-shake transport structure as described above.
When the food delivery robot has the anti-shake transfer structure, the food delivery robot can be well used as a conveying device for liquid food, so that the liquid food is prevented from being thrown out or overflowed.
Preferably, the method further comprises:
at least one flat-mounted part, one end of which is connected with the first connecting rod, and the other end of which is connected with the second connecting rod;
Any one of the flush mounting members is connected to the first link and the second link by an identification assembly.
The flat package can be used for loading non-liquid meal, so that the meal delivery robot can deliver multiple meals at one time, and the delivery quantity is ensured; and through the setting of different discernment subassemblies, realize equally that the flat dress piece loads the discernment of dining.
Compared with the prior art, the anti-shake transfer structure disclosed by the invention realizes stable anti-shake transfer of liquid through the flexible hinge, avoids throwing out or overflowing of the liquid, can realize object carrying judgment on the basis of realizing stable connection, and can identify whether objects are placed on the lifting piece or not, so that the transfer structure acquires corresponding motion information; the invention can better realize shock absorption through the flexible hinge, the damping mechanism and the combined structure thereof, further strengthen the anti-shake effect and ensure the stable transportation of liquid; in addition, the meal delivery robot disclosed by the invention can transfer a plurality of meals at one time, can avoid throwing out or overflowing of liquid meals, and can realize the judgment of carrying objects on the basis of the throwing out or overflowing of liquid meals, so that the meal delivery robot is provided with corresponding motion information.
Drawings
FIG. 1 is a schematic view of a meal delivery robot in an embodiment of the invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a schematic diagram of a driving assembly according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating the arrangement of a lifting member according to an embodiment of the present invention;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a schematic view illustrating a shock absorbing mechanism according to an embodiment of the present invention;
FIG. 7 is a left side view of FIG. 6;
fig. 8 is an exploded view of a flush mount in an embodiment of the present invention.
In the figure: 1-a connection beam; 2-hoisting pieces; 201-loading a disc; 202-hoisting the frame body; 203-connecting rods; 3-a drive assembly; 301-a base; 302-an active roller; 303-driven roller; 304-a roller bracket; 4-flexible hinges; 5-an identification component; 501-a pressure sensor; 502-living hinge; 503-fixing metal plates; 504-first mount; 505-a second securing member; 6-a first link; 7-a second link; 8-a head housing; 9-a microphone; 10-an environmental camera; 11-touch display screen; 12-fixing base; 13-a support; 14-assembly links; 15-an elastic member; 16-lidar; 17-depth camera; 18-plain mounting; 19-soft cushion; 20-hinge housing.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments.
As shown in fig. 1 to 8, an anti-shake transfer structure comprises a connecting beam 1, a hoisting piece 2 and a driving assembly 3; the hoisting piece 2 is suspended below the connecting beam 1 through a flexible hinge 4; the driving assembly 3 is used for carrying the lifting piece 2 to move through the connecting beam 1.
In this embodiment, with respect to the horizontal plane, the connecting beam 1 is a horizontally disposed cross beam, and is connected with the lifting member 2 through the flexible hinge 4, so that when the driving assembly 3 moves and is shocked, the driving assembly can shake along with the flexible hinge 4, thereby avoiding the liquid container on the lifting member 2 from shaking out or overflowing liquid. In this embodiment, the flexible hinge 4 is a universal joint, and in other embodiments, the flexible hinge 4 may be a sliding rope, a steel cable, or a mechanism based on a lever structure; in addition, in still another embodiment, the flexible hinge 4 is a mechanism based on a universal joint structure.
In some embodiments, the connection beam 1 is inclined to meet the appearance required by different transfer structures, however, for the connection beam 1 that is inclined, the disadvantage is that the hanging piece 2 is easy to collide with the connection beam 1 due to shaking caused by vibration, so that liquid can be spilled inevitably in some cases.
In this embodiment, when the liquid container is loaded with liquid and transported by the anti-shake transport structure, the liquid container is not covered, and therefore, the flexible hinge 4 is required to achieve stable transportation of the liquid. Of course, in some embodiments, the anti-shake transfer structure is still the preferred structure because the liquid receptacle with the lid attached still risks spillage due to shock due to insufficient flatness of the transfer plane.
For better use of the present embodiment, it further comprises an identification assembly 5, a first link 6 and a second link 7; one end of the first connecting rod 6 is connected with the driving component 3; one end of the second connecting rod 7 is connected with the driving component 3; one end of the connecting beam 1 is connected with the first connecting rod 6, and the other end is connected with the second connecting rod 7; the identification assembly 5 comprises a pressure sensor 501 and a living hinge 502; the pressure sensor 501 is arranged at one end of the connecting beam 1 and is connected with the first connecting rod 6; the movable hinge 502 is arranged at the other end of the connecting beam 1 and is connected with the second connecting rod 7; when an article is placed on the lifting piece 2, the connecting beam 1 rotates around the movable hinge 502 as a center of a circle, so that the pressure sensor 501 generates elastic deformation, and the pressure sensor 501 sends out an electric signal, thereby judging whether the article is placed on the lifting piece 2. The pressure sensor 501 has a fixed metal plate 503 fitted thereto.
In the prior art, whether an article is placed in the lifting member 2 is generally detected in a non-fixed manner, specifically, the loading position and the whole gravity of the article in the loading position are all pressed on the pressure sensor 501, so that the pressure sensor 501 obtains the induction of weight change, and an electric signal caused by the change is transmitted to a corresponding control system, thereby realizing the identification of the article.
However, in this embodiment, the hanging member 2 is of a hanging structure, unlike the square structure in the prior art, that is, when the loading member in a flat manner is subjected to vibration, the loading member may jump up, so that the pressure sensor 501 loses gravity induction at a certain moment, and thus, the present embodiment makes the hanging member 2 shake along with the vibration, so as to satisfy that the pressure sensor 501 senses gravity at any moment.
Specifically, the pressure sensor 501 is connected with one end of the connecting beam 1, the movable hinge 502 is connected with the other end of the connecting beam 1, when the liquid container is placed on the lifting member 2, the movable hinge 502 is caused to rotate slightly by taking the movable hinge 502 as the center, and at the moment, the pressure sensor 501 at the other end of the connecting beam 1 is caused to change in pressure, so that signal interaction is performed with a corresponding structure control system through an electric signal, and parameters when the liquid container is not placed are compared, and therefore detection and identification of whether the lifting member 2 is an object or not are achieved. Meanwhile, if motion vibration occurs in the process that the lifting piece 2 is carried by the driving component 3 to move, the flexible hinge 4 shakes along with the vibration, so that the liquid container is in contact with the lifting piece 2 at any time, the state that the liquid container is continuously placed in the lifting piece 2 meets the identification requirement of the pressure sensor 501, and the liquid in the liquid container is prevented from being thrown out or overflowed.
For better use of the present embodiment, a head housing 8 is also included; one end of the head housing 8 is connected with the first connecting rod 6, and the other end is connected with the second connecting rod 7.
In this embodiment, one end of the first link 6 and one end of the second link 7 are connected to the driving assembly 3, so after the other end of the first link 6 and the other end of the second link 7 are connected by using the head housing 8, the first link 6 and the second link 7 can be kept relatively fixed, and the stability of the connecting beam 1 is achieved through two-point fixation, thereby ensuring the stability of the lifting member 2.
In this embodiment, the head housing 8 is provided with a microphone 9, an environmental camera 10, a touch display screen 11, and other components besides being used for further fixing the first connecting rod 6 and the second connecting rod 7, and may be used for the anti-shake transfer structure to perform automatic movement or preset path movement according to the applicable environment, and meanwhile, the requirement of man-machine interaction is satisfied. It is, of course, obvious that the present embodiment has a corresponding control system and communication system, and that the two systems can be used directly without additional design and manufacture.
For better use of the present embodiment, the identification assembly 5 further comprises a first fixing member 504 and a second fixing member 505; the first fixing piece 504 is connected with one end of the connecting beam 1; the second fixing piece 505 is connected with the other end of the connecting beam 1; the pressure sensor 501 is located between the first fixing member 504 and the connection beam 1, and the living hinge 502 is located between the second fixing member 505 and the connection beam 1.
The longitudinal sections of the first fixing piece 504 and the second fixing piece 505 are of L-shaped structures, and the pressure sensor 501 and the movable hinge 502 can be respectively arranged on the first connecting rod 6 and the second connecting rod 7; thus, when the liquid container is placed on the lifting member 2, the sensing requirement of the pressure sensor 501 is satisfied. It should be noted that, the first fixing member 504 and the first connecting rod 6 are not in direct connection with each other, and are only connected with the connecting beam 1, and a gap is reserved to avoid interfering with the normal operation of the pressure sensor 501, that is, the connecting beam 1 is made to contact the pressure sensor 501 after rotating around the movable hinge 502. In addition, the second fixing member 505 and the second connecting rod 7 are not connected, so as to meet the requirement that the connecting beam 1 rotates with the movable hinge 502.
That is, when the liquid container is placed on the hanging member 2, the first fixing member 504 and the second fixing member 505 move relatively with the pressure sensor 501 and/or the movable hinge 502, so that the rigid interference is avoided to cause inaccurate identification under the effect of satisfying the appearance protection.
For better use of the present embodiment, one end of the flexible hinge 4 is connected to the middle part of the connection beam 1 through a fixing seat 12. The hoisting piece 2 comprises a hoisting frame; the middle part of the hoisting frame is connected with one end of the flexible hinge 4, which is far away from the connecting beam 1.
In this embodiment, the lifting member 2 includes a loading tray 201 and a lifting frame 202, where the lifting frame 202 is detachably connected to the loading tray 201, and is connected to the outer edge of the loading tray 201 in a 1/4 hollow round structure, thereby leaving an access port for placing a liquid container. Of course, in other embodiments, the connection between the loading tray 201 and the lifting frame 202 may be stabilized by the arrangement of the lever or claw members.
On this basis, one end of the flexible hinge 4 is connected to the middle part of the connecting beam 1 through the fixing seat 12, and the other end is connected to the top point of the hoisting frame 202, so that the normal judgment of the identification component 5 is ensured on the basis of ensuring that the loading tray 201 stably places the liquid container. It should be further noted that, in some embodiments, threaded holes are formed at two ends of the flexible hinge 4, and a connecting rod 203 with external threads is disposed at an apex of the lifting frame 202, so that, in specific use, one end of the flexible hinge 4 is connected with the connecting beam 1 through the fixing seat 12, and the other end is connected with the lifting frame 202 through the connecting rod 203, thereby realizing a suitable connection relationship between the connecting beam 1 and the lifting member 2, and realizing flexible shock absorption and/or shock absorption on the basis of satisfying rigid stable connection. On the basis of the above embodiment, the outer side of the flexible hinge 4 is provided with the hinge housing 20, which is connected to the lifting frame 202 through the connecting rod 203, so that the flexible hinge 4 is covered, the lubrication degree of the flexible hinge 4 is prevented from being influenced by the external environment, and the operation of the flexible hinge 4 is satisfied for a longer time.
For better use of the present embodiment, the driving assembly 3 includes a base 301, at least two driving rollers 302, and a driving device for driving the driving rollers 302 to rotate; any one of the driving rollers 302 is connected with the base 301 through a damping mechanism.
In this embodiment, the first link 6 and the second link 7 are disposed on the base 301. Any one of the driving rollers 302 has a self-driving motor, that is, the driving device for driving the driving roller 302 to rotate is the driving motor of the driving roller 302, thereby realizing the same-speed driving and differential driving between different driving rollers 302. Of course, it should be noted that if the driving assembly 3 has only two driving rollers 302, it should be understood that the driving assembly 3 should further include a driven roller 303 to meet the requirement of stable motion of the whole structure. In other embodiments, the active rollers 302 may have multiple pairs, such as two pairs, three pairs, four pairs, etc.
Because the flexible hinge 4 can realize the shock absorption and/or shock absorption aiming at the lifting piece 2, the shock absorption mechanism is arranged at the shock generation position, namely the driving assembly 3, so that the shaking out and overflowing of the liquid in the liquid container caused by the shock can be better avoided.
On this basis, the damping mechanism comprises a support 13, and a first elastic component and a second elastic component; the supporting piece 13 is connected with the driving roller; one end of any one elastic component is connected with the supporting piece 13, and the other end is connected with the base 301; the first elastic assembly and the second elastic assembly are arranged in pairs and are respectively positioned at two ends of the supporting piece 13.
Specifically, any one of the driving rollers 302 has a roller bracket 304, and the roller bracket 304 is rotatably connected with the corresponding support member 13; and any one elastic component comprises a component connecting rod 14 and an elastic piece 15, wherein one end of the component connecting rod 14 is connected with the end part of the supporting piece 13, the other end of the component connecting rod is connected with the base 301, and the elastic piece 15 is sleeved on the outer side of the corresponding component connecting rod 14. Therefore, when the driving roller 302 rotates, the first elastic component and the second elastic component maintain the connection balance between the component connecting rod 14 and the supporting piece 13, when vibration occurs, dynamic balance is realized through the elastic pieces 15 arranged between the first elastic component and the second elastic component, and in the process, due to the rotation connection relationship between the roller bracket 304 and the supporting piece 13, the whole vibration reduction and buffering effect of the transfer can be realized while the transfer structure is ensured to be driven by the driving roller 302.
Thus, while the transfer structure includes the flexible hinge 4 and the shock absorbing mechanism, it can further prevent the solution in the liquid container from shaking out or overflowing due to shock.
It can be appreciated that in this embodiment, the positions of the first elastic component and the second elastic component are symmetrical with respect to the roller bracket 304, and no matter how the number of the first elastic component and the second elastic component are arranged, a symmetrical relationship between the first elastic component and the second elastic component needs to be ensured, so as to ensure real-time adjustment of dynamic balance. That is, while in the present embodiment the first and second elastic members are one pair, in other embodiments there may be two, three, or more pairs.
Meanwhile, it is also understood that the driven roller 303 may be formed with an odd number of roller motion structures by using an odd number of the same pair of elastic members, and the driven roller 303 may be formed with an even number of roller motion structures by using an even number of the same pair of elastic members.
In this embodiment, the base 301 is further provided with a laser radar 16 and a depth camera 17, so that the automatic walking is realized on the basis of the control system and the communication system. That is, after the liquid container is placed on the lifting member 2, the anti-shake transfer structure can be automatically driven to the destination by inputting the target site. It is emphasized that the technical content of this process can be taken directly from the prior art.
As shown in fig. 1,2 and 8, the meal delivery robot comprises an anti-shake transfer structure as described above.
On the basis of the embodiment, the anti-shake transfer structure is used for a meal delivery robot, and the liquid container is a non-cover container and can be used for containing liquid meal.
In other application scenarios, oil or other liquid materials may be transported at the factory, or at the worksite.
For better use of the present embodiment, at least one flush mount 18 is also included; one end of the plain-dress piece 18 is connected with the first connecting rod 6, and the other end is connected with the second connecting rod 7; any one of the flush-mounting members 18 is connected to the first link 6 and the second link 7 by the identification assembly 5.
In this embodiment, the meal delivery robot has two flush-mounted parts 18, both of which are arranged above the lifting part 2, by means of the heights of the first link 6 and the second link 7. It will thus be appreciated that in embodiments where the height of the first and second links 6, 7 is not limited, the number of flush-mounted members 18 may be adjusted accordingly.
In this embodiment, the flat-mounted member 18 is also connected to the first link 6 and the second link 7 through the same identification member 5 as the hanging member 2, whereby the flat-mounted member 18 can also realize the judgment of the presence or absence of the load, and the manner of realization is the same as that of the hanging member 2, so that it will not be described here. In the above embodiment, the hoisting member 2 and the plain member 18 may be provided with a cushion 19 in addition to their bodies, so as to further cushion the vibration.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (8)
1. An anti-shake transfer structure, comprising:
A connecting beam;
The hoisting piece is suspended below the connecting beam through a flexible hinge; and
The driving assembly is used for carrying the lifting piece to move through the connecting beam;
Further comprises:
An identification component;
One end of the first connecting rod is connected with the driving assembly; and
One end of the second connecting rod is connected with the driving assembly;
one end of the connecting beam is connected with the first connecting rod, and the other end of the connecting beam is connected with the second connecting rod;
The identification component comprises:
The pressure sensor is arranged at one end of the connecting beam and is connected with the first connecting rod; and
The movable hinge is arranged at the other end of the connecting beam and is connected with the second connecting rod;
When an article is placed on the lifting piece, the connecting beam rotates by taking the movable hinge as a circle center, so that the pressure sensor generates elastic deformation, and the pressure sensor sends out an electric signal, thereby judging whether the article is placed on the lifting piece;
The identification component further comprises:
The first fixing piece is connected with one end of the connecting beam; and
The second fixing piece is connected with the other end of the connecting beam;
The pressure sensor is located between the first fixing piece and the connecting beam, and the movable hinge is located between the second fixing piece and the connecting beam.
2. The anti-shake transfer structure according to claim 1, further comprising:
And one end of the head shell is connected with the first connecting rod, and the other end of the head shell is connected with the second connecting rod.
3. The anti-shake transfer structure according to claim 1, wherein one end of the flexible hinge is connected to the middle of the connecting beam through the fixing base.
4. An anti-shake transfer structure according to claim 3, wherein the lifting member comprises:
and the middle part of the hoisting frame is connected with one end of the flexible hinge, which is far away from the connecting beam.
5. An anti-shake transfer structure according to any of claims 1-4, wherein the drive assembly comprises:
a base;
At least two driving rollers, any one of which is connected with the base through a damping mechanism; and
And the driving device is used for driving the driving roller to rotate.
6. The anti-shake transfer structure according to claim 5, wherein the shock absorbing mechanism comprises:
the support piece is connected with the driving roller; and
One end of any one elastic component is connected with the supporting piece, and the other end of the elastic component is connected with the base;
the first elastic component and the second elastic component are arranged in pairs and are respectively positioned at two ends of the supporting piece.
7. A meal delivery robot comprising an anti-shake transfer structure according to any one of claims 1 to 6.
8. The meal delivery robot of claim 7, further comprising:
at least one flat-mounted part, one end of which is connected with the first connecting rod, and the other end of which is connected with the second connecting rod;
Any one of the flush mounting members is connected to the first link and the second link by an identification assembly.
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| CN114918979B (en) * | 2022-06-30 | 2024-04-26 | 上海擎朗智能科技有限公司 | Floating tray and robot |
| CN115383731B (en) * | 2022-09-16 | 2023-06-20 | 贵州贵软科技发展有限公司 | Steerable pneumatic manipulator |
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