Cup holding device and service robot apparatus comprising a cup holding device

Abstract

Disclosed are a cup holding apparatus and a service robot including the cup holding apparatus. The cup holding apparatus can include a first support member to support a cup, a second support member having an upper surface facing a lower surface of the first support member, concavely formed, a third plate disposed between the first support member and the second support member, and a plurality of rolling members rotatably supported on the third plate and passing through the third plate to be in contact with the lower surface of the first support member and the upper surface of the second support member.

Description

Technical Field

[0001] This invention relates to a cup holding device and a service robot device including the cup holding device, and more specifically, to a cup holding device capable of stably conveying a cup by responding insensitively to vibration and a service robot device including the cup holding device. Background Technology

[0002] With the development of robotics technology, robots have been developed to transport objects (such as cups containing beverages) to designated locations in places like restaurants. However, when robots accelerate or decelerate rapidly, they may collide with obstacles, or uneven ground may cause vibrations to be transmitted to the objects. Therefore, when a robot is carrying a cup containing a beverage, the cup may fall or spill, or the beverage may separate from the cup. Summary of the Invention

[0003] Technical issues

[0004] A cup-holding device is provided that can stably transport cups by responding insensitively to vibrations, as well as a service robot device including the cup-holding device.

[0005] Solution to the problem

[0006] According to one aspect of this disclosure, a cup-holding device includes: a first support member configured to support a cup and having a convex lower surface; a second support member having an upper surface having a concave shape and facing the lower surface of the first support member; a third plate disposed between the first support member and the second support member; and a plurality of rolling members passing through and being rotatably supported by the third plate and contacting the lower surface of the first support member and the upper surface of the second support member.

[0007] The third plate may include a first central hole, and the cup holding device may also include a blocking member that protrudes from the lower surface of the first support member toward the second support member and is disposed in the first central hole.

[0008] The blocking member may have a cylindrical shape.

[0009] The outer diameter of the blocking member can be smaller than the inner diameter of the first central hole.

[0010] The second support member may include a second central hole, and the blocking member may pass through the first central hole and be disposed in the second central hole.

[0011] The blocking member may include a third central hole configured to surround the lower region of the cup and support the lower surface of the cup.

[0012] The plurality of rolling components can be arranged along the circumferential direction of the third plate.

[0013] The third plate may have a cylindrical shape.

[0014] The cup holding device may further include a blocking member that protrudes from the lower surface of the first support member toward the second support member.

[0015] The second support member may include a sidewall that surrounds the upper surface of the second support member and extends to a level above the upper surface of the second support member.

[0016] The first support member may include a retainer configured to surround the lower region of the cup.

[0017] According to one aspect of this disclosure, a service robot device includes: a main body; a drive mechanism configured to move the main body; and a cup-holding device horizontally supported by the main body, wherein the cup-holding device includes: a first support member configured to support a cup and having a convex lower surface; a second support member having an upper surface having a concave shape and facing the lower surface of the first support member; a third plate disposed between the first support member and the second support member; and a plurality of rolling members passing through and rotatably supported by the third plate, and contacting the lower surface of the first support member and the upper surface of the second support member. Attached Figure Description

[0018] Figure 1 This is a perspective view of a cup-holding device according to an embodiment of the present disclosure;

[0019] Figure 2 yes Figure 1 The cup maintains the exploded perspective view of the device;

[0020] Figure 3 It is along Figure 1 A cross-sectional view of the cup-holding device taken from line II-II;

[0021] Figure 4 This is a diagram showing the state of contact between the blocking member and the third plate;

[0022] Figure 5 This is a diagram showing the contact state between the third plate and the second support member;

[0023] Figure 6 This is an exploded perspective view of a cup-holding device according to another embodiment of the present disclosure; and

[0024] Figure 7 This is a perspective view of a service robot device according to an embodiment of the present disclosure. Detailed Implementation

[0025] The exemplary embodiments described below are provided for ease of understanding of this disclosure, and it should be understood that various changes can be made to the examples described herein, and this disclosure can be embodied in different forms. Furthermore, detailed descriptions of well-known functions or configurations will be omitted in the following description, as they would unnecessarily obscure the subject matter of this disclosure. Additionally, it should be noted that the accompanying drawings are for ease of understanding only and are not shown to scale, and the dimensions of some components may be exaggerated.

[0026] The terminology used in this specification and claims are general terms identified in consideration of the functionality of various embodiments of this disclosure. However, these terms may vary depending on the intent of those skilled in the art, technical interpretation, the emergence of new technologies, etc. Some terms may be arbitrarily chosen by the applicant, and their meanings will be described in the detailed description. Unless a specific definition of a term exists, it may be interpreted based on the overall content and the technical understanding of those skilled in the art.

[0027] In this specification, the terms "have", "may have", "include", or "may include" indicate the presence of the corresponding feature (e.g., a component such as a number, function, operation, or part) and do not exclude the presence of additional features.

[0028] Since the components required to describe each embodiment of this disclosure have been described herein, the embodiments are not limited thereto. Therefore, some components may be modified or omitted, and other components may be added. Furthermore, the components may be distributed and arranged in different independent devices.

[0029] Furthermore, although embodiments of the present disclosure will be described in detail with reference to the accompanying drawings and the content illustrated therein, the present disclosure is not limited to these embodiments.

[0030] In the following description, embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings.

[0031] Figure 1 This is a perspective view of a cup-holding device according to an embodiment of the present disclosure. Figure 2 yes Figure 1 The cup holds the exploded perspective view of the device. Figure 3 It is along Figure 1 A cross-sectional view of the cup-holding device taken from line II-II.

[0032] Reference Figures 1 to 3 According to embodiments of the present disclosure, the cup holding device 1 may include a first support member 100, a second support member 200, a third plate 300, a rolling member 400, and a blocking member 500.

[0033] The cup holding device 1 may have a structure for reducing vibrations transmitted from the second support member 200 to the first support member 100 supporting the cup C, such that when the cup C is transported to a specific position, the liquid contained in the cup C will not be discharged to the outside of the cup C.

[0034] The first support member 100 and the second support member 200 may have an isolation structure in which the first support member 100 and the second support member 200 are spaced apart from each other, and a rolling member 400 that contacts both the first support member 100 and the second support member 200 for rolling motion may be disposed therebetween.

[0035] Therefore, the first support member 100 and the second support member 200 can move relative to each other at different speeds. When the rolling member 400 performs rolling motion, the first support member 100 can move relative to the second support member 200 with sufficiently small frictional force, thereby reducing the vibration transmitted from the second support member 200 to the first support member 100 supporting the cup C. As a result, the vibration of the first support member 100 can be reduced relative to the vibration of the second support member 200.

[0036] In the following, with reference to the accompanying drawings, the structure of the cup holding device 1 according to an embodiment will be described in detail.

[0037] The first support member 100 can support the lower region of the cup C. For example, the first support member 100 may include a retainer 110 having a receiving space S recessed toward its lower side.

[0038] A portion of the cup C can be accommodated within the receiving space S of the retainer 110. Since the sidewalls of the retainer 110 are configured to surround the cup C, the cup C can be stably supported by the retainer 110 without falling or tipping over.

[0039] If the cup C needs to be transported to a specific location, the user can place the cup C in the receiving space S of the holder 110 supported by the first support member 100. The cup C can move while being supported by the holder 110 of the first support member 100.

[0040] The lower surface 120 of the first support member 100 may be formed protruding downward. The lower surface 120 of the first support member 100 may be formed protruding towards the upper surface 210 of the second support member 200.

[0041] For example, the lower surface 120 of the first support member 100 may be formed as a curved surface having a predetermined radius of curvature from a virtual point formed on the upper side of the cup holding device 1. The first support member 100 may be formed symmetrically with respect to the first axis A1.

[0042] The second support member 200 may have an approximately cylindrical shape and may be disposed at the lowest side of the cup holding device 1. The second support member 200 may be spaced apart from the first support member 100. The diameter of the second support member 200 may be larger than the diameter of the first support member 100.

[0043] The second support member 200 may be part of the service robot device 1000, which will be described later, such that the second support member 200 can move at the same speed as the service robot device 1000.

[0044] The second support member 200 can receive vibrations of the service robot device 1000 caused by the acceleration or deceleration of the service robot device 1000 or by the vibrations of the service robot device 1000 caused by the shape of the ground.

[0045] The upper surface 210 of the second support member 200 may be disposed opposite to the lower surface 120 of the first support member 100, and may be recessed. For example, the upper surface 210 of the second support member 200 may be formed as a curved surface having a predetermined radius of curvature from a virtual point formed on the upper side of the cup holding device 1. The second support member 200 may be formed symmetrically with respect to the second axis A2.

[0046] The second support member 200 may include a sidewall 220 surrounding the upper surface 210 of the second support member 200. The sidewall 220 of the second support member 200 may be located at the outer end of the second support member 200, so as to be higher than the upper surface 210 of the second support member 200.

[0047] The third plate 300 can be arranged between the first support member 100 and the second support member 200. The third plate 300 can have a circular cross section and can have a cylindrical shape.

[0048] Multiple rolling members 400 can be provided, and the multiple rolling members 400 can be rotatably supported by the third plate 300. The multiple rolling members 400 can rotate in a state where they are set at specific positions on the third plate 300. The multiple rolling members 400 can be arranged along the circumferential direction of the third plate 300.

[0049] The third plate 300 may include at least one receiving hole H1 formed in the same number as the at least one rolling member 400. The receiving hole H1 may be formed by penetrating the third plate 300 in the thickness direction. When each rolling member 400 is inserted into the receiving hole H1, the plurality of rolling members 400 may be supported by the third plate 300.

[0050] Since the upper surface 210 of the second support member 200 has a region corresponding to the second axis A2 that is recessed to have the lowest position, when the third plate 300 and the rolling member 400 deviate from the center of the second support member 200, the third plate 300 and the rolling member 400 can return to the center of the second support member 200 due to gravity.

[0051] The third plate 300 and the rolling member 400 can swing relative to the second axis A2 of the second support member 200 on the upper surface 210 of the second support member 200. In addition, since the convex lower surface of the first support member 100 is supported by the rolling member 400, it can swing about the second axis A2 of the second support member 200.

[0052] Therefore, cup C can tilt while performing a swinging motion along a specific arc trajectory, and the liquid contained in cup C can tilt at the same angle as cup C, so that the liquid contained in cup C will not be discharged to the outside of cup C.

[0053] Multiple rolling members 400 may be arranged symmetrically with respect to the central axis of the third plate 300. The rolling members 400 may contact the lower surface 120 of the first support member 100 and the upper surface 210 of the second support member 200 through receiving holes H1 in the third plate 300.

[0054] Even when the second support member 200 receives vibrations from the ground or the service robot device 1000, the first support member 100, which is spaced apart from the second support member 200, can also receive vibrations from the second support member 200 through the rolling member 400.

[0055] When the first support member 100 is supported by the rolling member 400 performing the rolling motion, the first support member 100 can be sufficiently insensitive to the vibration of the second support member 200 and can receive vibrations in a sufficiently weakened state. Therefore, the liquid contained in the cup C supported by the first support member 100 can be prevented from draining to the outside of the cup C.

[0056] The third plate 300 may include a first central hole H2. The first central hole H2 may be formed by penetrating the third plate 300 in the thickness direction.

[0057] The cup holding device 1 according to an embodiment of the present disclosure may further include a blocking member 500. The blocking member 500 may protrude from the lower surface 120 of the first support member 100 toward the second support member 200. The blocking member 500 may be integrally formed with the first support member 100 and may move at the same speed as the first support member 100.

[0058] The blocking member 500 can be disposed in the first central hole H2 and can be surrounded by the inner circumferential surface 310 of the third plate 300.

[0059] The blocking member 500 may have a cylindrical shape, and the outer diameter of the blocking member 500 may be smaller than the inner diameter of the first central hole H2 of the third plate 300.

[0060] When the first support member 100 is not displaced relative to the second support member 200 (i.e., in its normal rest position), the blocking member 500 may not contact the inner circumferential surface 310 of the third plate 300, and when the first support member 100 is displaced from the center of the second support member 200 by a predetermined amount, the blocking member 500 may contact the inner circumferential surface 310 of the third plate 300.

[0061] When the blocking member 500, integrally formed with the first support member 100, moves while in contact with the inner circumferential surface 310 of the third plate 300, the third plate 300 can be pushed by the blocking member 500. At this time, the rolling member 400 supported by the third plate 300 may not perform a complete rolling motion, and while sliding, it moves in the area in contact with the first support member 100 and the second support member 200 in order to receive a large frictional force from the first support member 100 and the second support member 200.

[0062] Reference Figure 4 and Figure 5 The operation of the first support member 100 according to the blocking member 500 is described in detail.

[0063] Figure 4 This is a diagram showing the state of contact between the blocking member and the third plate. Figure 5 This is a diagram showing the contact state between the third plate and the second support member.

[0064] refer to Figure 4When the rolling member 400 performs a rolling motion combining rotational and translational motion, the lower limit contact speed of the rolling member 400 with the second support member 200 can be 0, the center of the rolling member 400 can move at a speed of V1, and the upper limit contact speed of the rolling member 400 with the lower surface 120 of the first support member 100 can be V2. The third plate 300 and the rolling member 400 can move at a speed of V1, and the first support member 100 and the blocking member 500 integrally formed with the first support member 100 can move at a speed of V2. The value of V2 can be greater than the value of V1, for example, approximately twice as much.

[0065] Since the blocking member 500 moves faster than the third plate 300, when the first axis A1 of the first support member 100 increases to a predetermined angle (e.g., about 5 degrees) relative to the second axis A2 of the second support member 200, the side surface of the blocking member 500 can contact the inner circumferential surface 310 of the third plate 300.

[0066] When the blocking member 500, which is in contact with the inner circumferential surface 310 of the third plate 300, moves while pushing the third plate 300, the rolling member 400 can slide and move in the portion in contact with the first support member 100 and the second support member 200 without performing a full rolling motion.

[0067] Since the rolling member 400 can move while being pushed along the upper surface 210 of the second support member 200, the frictional resistance between the first support member 100, the second support member 200 and the rolling member 400 can be increased.

[0068] The rolling member 400 can decelerate quickly, and the third plate 300, which moves at the same speed as the rolling member 400, can also decelerate quickly.

[0069] Since the blocking member 500 moves together with the third plate 300 while pushing the inner circumferential surface 310 of the third plate 300, the blocking member 500 can decelerate at the same speed as the third plate 300.

[0070] Therefore, when the first support member 100 moves beyond a predetermined angle from the center of the second support member 200, the rolling member 400 can decelerate rapidly due to the sliding friction force, which is greater than the rolling friction force from the first support member 100 and the second support member 200.

[0071] Since the third plate 300 and the blocking member 500 decelerate at the same speed as the rolling member 400, the first support member 100, which is integrally formed with the blocking member 500, can also decelerate sufficiently to prevent the first support member 100 from separating from the upper surface 210 of the second support member 200.

[0072] Because of the structure of the third plate 300 and the blocking member 500 described above, the movement range of the first support member 100 is limited to the upper surface 210 of the second support member 200. Therefore, the first support member 100 can be spaced apart from the upper surface 210 of the second support member 200 and can remain upright. Thus, the first support member 100 can support the cup C more safely.

[0073] The second support member 200 may further include a sidewall 220 surrounding the upper surface 210 of the second support member 200. The sidewall 220 of the second support member 200 may be located at the outer end of the second support member 200 and may extend higher than the upper surface 210 of the second support member 200.

[0074] The height of the side wall 220 of the second support member 200 can be formed to correspond to the diameter of the rolling member 400. Even when a swinging motion occurs, the first support member 100 may not come into contact with or collide with the side wall 220 of the second support member 200.

[0075] Reference Figure 5 When Figure 3 When the blocking member 500, which is in contact with the inner circumferential surface 310 of the third plate 300, moves while pushing the third plate 300, the outer circumferential surface 320 of the third plate 300 can contact the side wall 220 of the second support member 200. Therefore, the third plate 300 and the rolling member 400 can collide with each other and stop immediately, and can move back in the opposite direction toward the second axis A2 of the second support member 200 due to gravity.

[0076] When the first support member 100 is sufficiently decelerated according to the structure of the third plate 300 and the blocking member 500, the risk of the first support member 100 separating or overturning can be minimized because the outer circumferential surface 320 of the third plate 300 and the side wall 220 of the second support member 200 collide with each other.

[0077] Figure 6 This is an exploded perspective view of a cup-holding device according to another embodiment of the present disclosure. Because... Figure 6 A portion of the structure has the same structure as described above, therefore the same reference numerals will be used, and its description may be omitted.

[0078] Reference Figure 6 The second support member 200 may include a second central hole 230, and the blocking member 500 may pass through the first central hole H2 and may be disposed at the second central hole 230.

[0079] The second central hole 230 can be formed vertically downward from the upper surface 210 of the second support member 200. The blocking member 500 can be disposed in the second central hole 230 and can be surrounded by the inner circumferential surface of the second support member 200. The height of the blocking member 500 can be less than the depth of the second central hole 230.

[0080] The outer diameter of the third plate 300 can be larger than the diameter of the second central hole 230. Therefore, even when the third plate 300 moves, it will not move into the second central hole 230, but can move on the upper surface 210 of the second support member 200.

[0081] The movement of the blocking member 500, which moves integrally with the first support member 100, can be limited by the inner wall of the second support member 200 and the third plate 300. Therefore, since the first support member 100 supporting the cup C does not separate from the second support member 200, the cup C can be safely transferred to the target position.

[0082] The blocking member 500 may include a third central hole 501 surrounding the lower region of the cup C and may support the lower surface of the cup C. The blocking member 500 may include a third central hole 501, the lower surface of which is blocked, and the inner wall of the blocking member 500 may surround the lower region of the cup C. The depth of the third central hole 501 may be approximately half the height of the cup C, but is not limited to this, and the cup C may have other heights.

[0083] The user can insert the cup C into the third central hole 501 of the blocking member 500 so that it is supported on the lower surface of the blocking member 500.

[0084] Even if cup C is unintentionally tilted, cup C is supported by the inner wall of the blocking member 500, so that cup C will not separate from the blocking member 500 and will not fall, thus it can be safely transferred to the target position.

[0085] Figure 7 This is a perspective view of a service robot device according to an embodiment of the present disclosure.

[0086] Reference Figure 7 The service robot device 1000 may include a main body 1100, a drive unit configured to move the main body 1100, and a cup-holding device 1 horizontally supported by the main body 1100. The service robot device 1000 may also include a display 1300 indicating the service status (e.g., food type, table location, etc.). The drive unit may include motors for driving wheels on the lower surface of the main body 1100.

[0087] The service robot device 1000 may include a plurality of tray members 1200 arranged horizontally parallel to each other, and the cup holding device 1 may be detachably fixed to at least one of the plurality of tray members 1200.

[0088] Although two cup holding devices 1 are shown in the uppermost tray member 1200, the position of the tray member 1200 on which the cup holding devices 1 are provided and / or the number of cup holding devices 1 are not limited thereto.

[0089] The user can configure the service robot device 1000 to move to a target point while supporting a cup C containing a beverage in the cup-holding device 1. Therefore, the service robot device 1000 can move to the target location while supporting the cup-holding device 1.

[0090] As described above, since the first support member 100 supporting the cup C is supported by the rolling member 400 that performs rolling motion, the first support member 100 supporting the cup C can be sufficiently insensitive to the vibration of the second support member 200 and can receive vibrations in a sufficiently weakened state (i.e., vibrations reduced relative to the vibration of the second support member 200). Therefore, the liquid contained in the cup C supported by the first support member 100 can be prevented from draining to the outside of the cup C.

[0091] Furthermore, based on the structure of the third plate 300 and the blocking member 500, since the first support member 100 is separated from the upper surface 210 of the second support member 200 and will not flip over, the first support member 100 can more firmly support the cup C.

[0092] Although this disclosure has been shown and described with reference to exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of the disclosure as claimed in the claims.

Claims

1. A cup-holding device, comprising: A first support member, configured to support a cup and having a convex lower surface; A second support member has an upper surface that has a concave shape and faces the lower surface of the first support member; A third plate is disposed between the first support member and the second support member, wherein the third plate includes a first central hole; A blocking member, the blocking member protruding from the lower surface of the first support member toward the second support member and disposed in the first central hole; and Multiple rolling members pass through and are rotatably supported by the third plate, and contact the lower surface of the first support member and the upper surface of the second support member. Specifically, when the first support member does not shift relative to the second support member, the blocking member does not contact the inner circumferential surface of the third plate, and when the first support member shifts from the center of the second support member by more than a predetermined amount, the blocking member contacts the inner circumferential surface of the third plate.

2. The cup holding device according to claim 1, wherein, The blocking member has a cylindrical shape.

3. The cup holding device according to claim 1, wherein, The outer diameter of the blocking member is smaller than the inner diameter of the first central hole.

4. The cup holding device according to claim 1, wherein, The second support member includes a second central hole, and The blocking member passes through the first central hole and is disposed in the second central hole.

5. The cup-holding device according to claim 4, wherein, The blocking member includes a third central hole configured to surround the lower region of the cup and support the lower surface of the cup.

6. The cup holding device according to claim 1, wherein, The plurality of rolling components are arranged along the circumferential direction of the third plate.

7. The cup holding device according to claim 1, wherein, The third plate has a cylindrical shape.

8. The cup holding device according to claim 1, wherein, The second support member includes a sidewall that surrounds the upper surface of the second support member and extends to a height above the upper surface of the second support member.

9. The cup holding device according to claim 1, wherein, The first support member includes a retainer configured to surround the lower region of the cup.

10. A service robot device, comprising: main body; A drive device configured to move the main body; The cup holding device is horizontally supported by the main body. The cup holding device includes: A first support member, configured to support a cup and having a convex lower surface; A second support member has an upper surface that has a concave shape and faces the lower surface of the first support member; A third plate is disposed between the first support member and the second support member, wherein the third plate includes a first central hole; A blocking member, the blocking member protruding from the lower surface of the first support member toward the second support member and disposed in the first central hole; and Multiple rolling members pass through and are rotatably supported by the third plate, and contact the lower surface of the first support member and the upper surface of the second support member. Specifically, when the first support member does not shift relative to the second support member, the blocking member does not contact the inner circumferential surface of the third plate, and when the first support member shifts from the center of the second support member by more than a predetermined amount, the blocking member contacts the inner circumferential surface of the third plate.

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