CN218504508U

CN218504508U - Distribution robot

Info

Publication number: CN218504508U
Application number: CN202222595930.9U
Authority: CN
Inventors: 余延明; 余文华
Original assignee: Cloudminds Shanghai Robotics Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2023-02-21
Anticipated expiration: 2032-09-29

Abstract

The embodiment of the application provides a distribution robot, and it includes automobile body, storage box and navigation obstacle avoidance module. The storage box is arranged on the vehicle body and is provided with a container which can be used for placing takeaway and can be opened and closed automatically. The navigation obstacle avoidance module is used for planning a navigation path, identifying obstacles and correcting a food delivery path and a food taking path according to the obstacles, so that the delivery robot can not be interfered by the obstacles in the process of food taking and food delivery. And after arriving at the food taking and delivering points, the automatic takeout and delivering work is realized through the automatic opening and closing of the container, so that the related problems derived from manual delivering are solved.

Description

Distribution robot

Technical Field

The application relates to the technical field of self-moving robots, in particular to a distribution robot.

Background

With the increasing maturity of artificial intelligence technology in recent years, automatic delivery robots are introduced into dining environments in many hotel restaurants, so that the efficiency of food delivery service is improved, and the income is increased. However, the traditional manual meal delivery is still relied on for the takeaway meal delivery service in the outdoor scene. Besides increasing the labor cost of the platform and the merchant, the traditional manual meal delivery also has potential traffic accident risks for meal delivery personnel. Meanwhile, the familiarity of the food delivery personnel with the environment, the weather changes (such as rain, snow and other severe weather) encountered during food delivery and the like all cause the problem that the food delivery efficiency and the service quality cannot be guaranteed.

Disclosure of Invention

A plurality of aspects of this application provide a delivery robot, can independently navigate and keep away the barrier, realize getting the function of meal and food delivery automatically, solve a great deal of problems that present artifical food delivery exists.

The embodiment of the application provides a distribution robot, including automobile body, storage box and navigation obstacle avoidance module. The vehicle body comprises a chassis module and a plurality of traveling devices. The plurality of running gears are arranged at the bottom of the chassis module, and a bearing platform is arranged at the top of the chassis module. The storage box comprises a container, a box door and a switch device. The container is arranged on the bearing platform, and the door seals the opening of the container. The switch device is connected with the box door and used for driving the box door to move relative to the container so as to close or open the opening. The navigation obstacle avoidance module is arranged on the chassis module and/or the storage box. The navigation obstacle avoidance module comprises a plurality of sensors, and the sensors are used for identifying the space environment around the vehicle body.

In some embodiments of the present application, the storage compartment includes a post standing on the platform and adjacent to the container, and the switch device is mounted on the post.

In some embodiments of the present application, the plurality of sensors includes a lidar disposed at a top end of the pillar to identify a spatial image of the vehicle body surroundings; and/or the sensors comprise a plurality of distance measuring sensors which are respectively arranged on the front side and the rear side of the chassis module and are used for identifying obstacles within a preset distance in the front-rear direction of the vehicle body; and/or, the plurality of sensors still including set up in the first vision sensor of storage box front side and set up respectively in the left side of automobile body and the second vision sensor and the third vision sensor on right side, first vision sensor is used for discerning the outer barrier of predetermined distance, the second vision sensor with the third vision sensor is used for discerning respectively and is located the left side with the barrier on right side.

In some embodiments of the present application, the carrying platform is provided with a surrounding edge, and the surrounding edge forms an accommodating space around the carrying platform, and the container is detachably disposed in the accommodating space.

In some embodiments of the present application, the dispensing robot further comprises a front housing and two side covers. The two side covers cover the two sides of the surrounding edge respectively. The front shell is arranged at the front end of the bearing platform and is connected with the two side covers. The surrounding edge is integrated at the top of the chassis module, wherein the upright post is wrapped in the front shell.

In some embodiments of the present application, the distribution robot further includes a human-computer interaction module disposed on the storage box. The human-computer interaction module comprises a touch screen and/or a wireless communication unit which is coupled with a controller of the distribution robot and used for receiving instructions and transmitting corresponding control signals to the controller.

In some embodiments of the present application, the chassis module comprises a chassis skeletal structure comprising: the mounting structure comprises a shell, a first fixing piece and a second fixing piece, wherein a mounting cavity is formed in the shell, the mounting cavity is provided with a first opening which is arranged upwards, the shell is also provided with a second opening, and the shell is of an integrated structure; the cover plate is used for sealing and covering the second opening, and the cover plate is detachably connected with the shell; and a body frame which is installed in the housing through the first opening and is abutted and fixed with the housing to support the housing.

In some embodiments of the present application, the body frame includes a first frame and a second frame connected, the first frame disposed around the first opening and abutting a sidewall of the housing; the second frame is fixed to the first frame so as to project downward and abuts against the bottom wall of the housing.

In some embodiments of the present application, the chassis module includes a battery compartment door quick-release structure for connecting the battery compartment door and a chassis body, the chassis body is provided with a receiving cavity for receiving a battery, the receiving cavity has a mounting opening, and the battery compartment door covers the mounting opening; wherein, the rapid disassembly structure includes: the first magnetic attraction piece is arranged on the battery compartment door; the second magnetic attraction piece is arranged on the chassis body; and the first magnetic part is magnetically connected with the second magnetic part, so that the battery compartment door cover is closed to the mounting opening.

In some embodiments of the present application, the chassis module includes a battery quick release structure, which is respectively connected to a battery and a battery compartment, the battery compartment has a receiving cavity, the receiving cavity has a mounting opening, and the battery is mounted in the receiving cavity; wherein, battery rapid disassembly structure includes: the battery comprises a driving part, a first clamping part and a second clamping part, wherein the first clamping part is fixed on the driving part, the driving part is movably connected with one of the battery and the battery bin, the second clamping part is fixed on the other of the battery and the battery bin, one of the first clamping part and the second clamping part is a clamping protrusion, and the other clamping part is a clamping groove; and first joint portion can with second joint portion joint, in order to restrict the battery is followed the installing port breaks away from, just under the motion of drive division, the joint arch can also to the notch in joint groove slides, so that the battery can be followed the installing port breaks away from the battery compartment.

In this application embodiment, the delivery robot accessible navigation keeps away the barrier module and realizes independently navigating and keep away the barrier function to the cooperation can be automatic open and the setting of the storage box of closing, let the delivery robot can realize that intelligence takeaway gets meal and service of having a dinner, has higher reliability and security compared in traditional artifical meal delivery, except that can reduce the cost of labor, still promotes service efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is an exploded view of a dispensing robot according to an embodiment of the present application;

fig. 2 is a perspective view of a dispensing robot according to an embodiment of the present application;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

FIG. 5 is a schematic structural diagram of a chassis according to an embodiment of the present application;

FIG. 6 is a schematic view of the structure of the chassis of FIG. 5 from another perspective;

FIG. 7 is a schematic structural view of a skeletal structure of the chassis of FIG. 5;

FIG. 8 is a schematic view of the skeletal structure of FIG. 7 from another perspective;

FIG. 9 is a schematic structural view of the main body frame of FIG. 7;

FIG. 10 is a schematic view of the structure of the housing of FIG. 7;

FIG. 11 is another schematic view of the structure of the base pan of FIG. 5;

FIG. 12 is an enlarged view at A in FIG. 11;

fig. 13 is a schematic structural view of the battery module in fig. 5;

FIG. 14 is a schematic structural view of the battery of FIG. 13;

FIG. 15 is another schematic diagram of the cell of FIG. 13;

fig. 16 is a schematic structural diagram of the battery compartment in fig. 13.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.

Referring to fig. 1 to 4, a distribution robot 1 according to an embodiment of the present disclosure includes a vehicle body 10, a storage box 20, and a navigation obstacle avoidance module 30. The vehicle body 10 includes a chassis module 110 and a plurality of running gears 120. Chassis module 110 has a carrier plate 111 and a chassis 40 that can be bonded to each other. The top surface of the carrier plate 111 is provided with a carrying platform 113. In some embodiments of the present disclosure, in order to facilitate the storage box 20 to be detached, a surrounding edge 114 is further disposed on the supporting platform 113. The surrounding edge 114 is disposed around the outer periphery of the supporting platform 113, and a hollow structure having an accommodating space 115 is formed on the supporting platform 113.

In addition, in the embodiment of the present application, a front shell 116 and/or a plurality of shell plates 117 are disposed on the chassis module 110 to cover the related components disposed on the chassis module 110, so as to provide protection and maintain the consistency and integrity of the appearance structure. Wherein the front shell 116 is integrated with the skirt 114 at the top of the chassis module 110 at the front end of the carrier board 111. A plurality of shell plates 117 are respectively disposed at the rear end of the carrier plate 111 at opposite sides, for example, left and right sides, of the peripheral edge 114, and abut against the side edges of the front shell 116 to maintain flatness of the appearance surface.

The bottom chassis 40 is coupled to the bottom surface of the carrier 111 for accommodating the battery and the plurality of electrical components. And, when the carrier plate 111 is coupled to the chassis 40, a sealed space for isolating moisture and dust is formed in the chassis 40, thereby providing waterproof, dustproof, and protective functions to these electrical components. The plurality of walkers 120 may be, but are not limited to being, disposed in pairs on opposite sides of the chassis 40 such that the plurality of walkers 120 surround the chassis 40 at the bottom of the chassis module 110. Each running gear 120 includes a carriage assembly 121, a buffer assembly 122 and a drive wheel 123. The carriage assembly 121 includes an upper carriage 1211, a lower carriage 1212, and a steering module 1213. The upper holder 1211 is connected to a surface of the chassis 40 and is provided with a swingable tray body. The steering module 1213 includes a flange movably disposed in the body of the upper frame 1211 and a steering actuator fixed to the body. The steering actuator includes a speed reducer and a motor. The output shaft of the reducer is connected with the flange, and the output shaft of the motor is connected with the corresponding rotating shaft on the buffer component 122 to drive the buffer component 122 to rotate.

The damping unit 122 is connected between the upper frame 1211 and the lower frame 1212, and has one end provided with the above-mentioned rotation shaft and the other end provided with a damper 1221 connected to the lower frame and a double damper 1222 having an elastic member, wherein the double damper 1222 is arranged at intervals, and the damper 1221 is interposed between the double damper 1221. In addition, the lower frame 1212 is provided with an adjusting rod, which can adjust the stiffness of the shock absorber 1221 and the distance that the telescopic rod of the damper 1222 extends out of the cylinder body by rotating relative to the lower frame 1212, so as to adjust the overall hardness of the damping assembly 122 to provide a proper damping effect.

The driving wheels 123 are connected to the lower frame 1212 of the frame assembly 121 for supporting the dispensing robot 1 to stand on the working area and driving the dispensing robot 1 to move between the meal taking place and the meal delivery place. The driving wheel 123 provides a vertical axial supporting force through the buffer assembly 122, so that the dispensing robot 1 can stand stably. When the distribution robot 1 performs a meal delivery task and encounters an obstacle crossing condition with a height difference such as crossing a threshold, climbing a slope, crossing a pit, or the like, the vertical play range of the driving wheel 123 in the vertical axial direction can be reduced by the cushioning effect of the bumper 1221 and the shock absorption effect of the damper 1222. Therefore, at the moment when the driving wheel 123 contacts the obstacle and after passing the obstacle, the stability of the dispensing robot 1 while walking can be continuously maintained, and the risk of toppling can be reduced.

Please refer to fig. 1 to 3. The storage compartment 20 includes a receptacle 210, an opening and closing device 220, a door 230, and a post 240. The upright 240 stands on the side of the carrying platform 113 adjacent to the container 210, for example, at the front end and the rear end of the carrying platform 113, respectively, and is close to each other. The container 210 is detachably disposed in the accommodating space 115 formed by the surrounding edge 114 on the supporting platform 113. Consequently, compare in the container of direct-mounted formula, this application embodiment lets container detachable install in accommodation space 115 through the setting of surrounding edge, is convenient for regularly or according to the user demand of difference take out the container washing, maintain. For example, operations such as attachment/detachment, replacement, and maintenance of the container 210 are performed on the delivery robot 1, and for example, the container 210 is detached and cleaned, or the container 210 having a heat retaining effect is replaced. In some embodiments of the present application, a table 1141 is disposed on a side of the peripheral edge 114 away from the supporting platform 113, and the table 1141 is disposed along the peripheral edge to surround the supporting platform and extends along a thickness direction of the peripheral edge. Meanwhile, a flange 211 is circumferentially provided at the outer circumference of the opening 210a of the container 210. Therefore, when the container 210 is disposed in the accommodating space 115, the flange 211 abuts against the table 1141 in the projection direction, so as to prevent the container 210 from being completely immersed in the accommodating space 115 and being difficult to be extracted.

The opening and closing device 220 is connected to the upright 240 for driving the door 230 to close the container 210 and cover the container 210 to close the opening 210a, or to separate from the container 210 to expose the opening 210a. Therefore, in the embodiment of the present application, the switch device 220 can be a rotating motor, a linkage mechanism, or a combination of a motor and a linkage mechanism, and the like, and is used for driving the door 230 to rotate and swing relative to the container 210 to open or close the opening 210a of the container 210.

Referring to fig. 1 to 4, the navigation obstacle avoidance module 30 is disposed on the chassis module 110, and includes a controller and a plurality of sensors. The controller is disposed in the chassis 40 of the chassis module 110, and the plurality of sensors are distributed at appropriate positions on the vehicle body 10 and are respectively coupled to the controller. In the present embodiment, the plurality of sensors includes lidar 310 and a plurality of ranging sensors 320. The laser radar 310 is disposed at the top end of the pillar 240 and exposed from the front shell 116 for recognizing a space image around the vehicle body 10 and transmitting related data to the controller to create a three-dimensional space map, plan a navigation path, and implement an autonomous navigation procedure. The plurality of distance measuring sensors 320 may be, but are not limited to, disposed at the front side 110a and the rear side 110b of the chassis module 110, wherein the front side 110a and the rear side 110b correspond to one side of the forward direction and one side of the backward direction of the dispensing robot 1, respectively. The distance measuring sensor 320 may be an ultrasonic distance measuring sensor, an infrared distance measuring sensor, a laser distance measuring sensor, a radar distance measuring sensor, or the like, for identifying an obstacle within a predetermined distance in the traveling direction of the vehicle body 10. For example, whether an obstacle is present in the front or rear of the vehicle body within 3 to 5 meters.

In addition, in other embodiments of the present application, the distance measuring sensor 320 may also cooperate with other types of sensors to provide more comprehensive obstacle avoidance sensing for the surrounding environment of the vehicle body 10 and the driving path. For example, a first vision sensor 330, which may be, but is not limited to, in the form of a depth camera, is disposed on the vehicle body 10 at the front side of the pillar 240 and exposed to the surface of the front shell 116 to identify obstacles at a greater distance in the direction of travel of the vehicle body 10, such as obstacles outside a predetermined distance, and thus, to complement the ranging sensor. For example, the dispensing robot 1 may sense a short obstacle close to the vehicle body 10 through the ranging sensor 320, and the first vision sensor 330 may sense a long and high obstacle far from the vehicle body 10. Therefore, the controller may plan a predetermined travel path according to the sensing result of the first vision sensor 330, and correct the predetermined travel path according to the sensing result of the distance measuring sensor 320 when approaching an obstacle, thereby avoiding the obstacle; or whether the height of the obstacle is within the allowable range is judged according to the sensing result, and if so, the obstacle is directly passed through the driving wheel 123 without correcting the driving path. At this time, the dispensing robot 1 can stably run without toppling after crossing an obstacle by the vertical axial supporting force and the buffer action of the buffer assembly 122 on the driving wheel 123.

It is understood that in some embodiments of the present application, a second visual sensor 340 and a third visual sensor 350 may also be disposed on the left and right sides of the vehicle body 10, for example, cameras may be disposed on the left and right sides of the surrounding edge 114. The camera and the internal wiring are accommodated in a gap between the surrounding edge 114 and the shell plate 117, and a sensing surface of the camera is exposed out of the shell plate 117 to identify obstacles on the left side and the right side of the vehicle body 10, so as to determine and execute a corresponding obstacle avoidance procedure.

In addition, in the embodiment of the present application, the vehicle body 10 is further provided with a human-computer interaction module, which may be but is not limited to a touch screen 360 coupled to the controller and/or a wireless communication unit disposed in the chassis 40, for receiving instructions and transmitting corresponding control signals to the controller to perform operations such as fetching food, delivering food, opening and closing the door 230.

In the application scenario of the embodiment of the application, after the user places an order on the takeaway platform, the order taking system of the merchant sends information to assign the delivery robot closest to the merchant to arrive at the merchant. At this time, the merchant interacts with the distribution robot through a mobile phone or a touch screen. The distribution robot receives the instruction and then automatically opens the box door through the switch device to expose the container. The merchant then places the take-out into the container of the delivery robot. After the takeaway is properly placed, the opening and closing device drives the box door to close the opening of the container. Then, the distribution robot makes a route according to the order information and automatically navigates to the user location. And sending the meal taking information to the user through the background after the meal taking information arrives. When a user takes meals, the man-machine interaction module sends an instruction to open the box door, so that the user takes the meals out of the container, and automatic takeout and meal delivery work is realized.

In addition, in order to achieve the universality of the indoor and outdoor distribution robots and facilitate the repair and replacement of internal parts of the distribution robots, the distribution robots provided in other embodiments of the present application further include a chassis framework structure in the chassis of the chassis module.

Please refer to fig. 5 to fig. 10. The chassis skeleton structure 40a includes:

the mounting structure comprises a shell 410, wherein a mounting cavity is formed in the shell 410, the mounting cavity is provided with a first opening 412 which is arranged upwards, the shell 410 is further provided with a second opening 413, and the shell 410 is of an integrated structure;

the cover plate 420 is used for sealing and covering the second opening 413, and the cover plate 420 is detachably connected with the shell 410; and the number of the first and second groups,

the body frame 430 is inserted into the housing 410 through the first opening 412 and can be fixed in abutment with the housing 410 to support the housing 410.

The case 410 is a one-piece structure including the following cases: in the first case, the housing 410 is formed together by bending or stamping or injection molding. In the second case, the housing 410 is formed as an integral structure by sequentially welding a plurality of plates. The welding mode can weld and seal the joints between the shells, so as to avoid the water leakage of the shell 410. Illustratively, housing 410 is formed as a unitary structure by a plurality of flat or bent plate members that are welded together in sequence.

There are various ways in which the cover plate 420 and the housing 410 can be detachably connected, for example, the cover plate 420 and the housing 410 are connected by screws; alternatively, the cover plate 420 is engaged with the housing 410 by a snap and a slot. The cover plate 420 and the housing 410 are detachably connected, so that the cover plate 420 and the housing 410 can be conveniently disassembled and assembled, and when parts arranged in the housing 410 need to be repaired, the parts can be repaired or replaced from the bottom of the housing 410 by opening the cover plate 420.

Optionally, a sealing ring is provided between the housing 410 and the cover plate 420 to seal the second opening 413. The sealing ring may be a silicone ring, a rubber ring, or other elastic sealing element, and may be disposed on a hole wall of the second opening 413, for example, a sealing ring groove is disposed at the second opening 413, and the sealing ring is partially embedded in the sealing ring groove. After the housing 410 and the cover plate 420 are hermetically connected, water leakage from the second opening 413 can be prevented.

Chassis 40 includes battery 470, first electrical component 451, second electrical component 452, and chassis frame structure 40a; the battery 470, the first electrical element 451, and the second electrical element 452 are disposed in the mounting cavity, and the first electrical element 451 and the second electrical element 452 are disposed corresponding to the second opening 413.

Further, the chassis 40 further includes a plurality of steering wheels 457, the steering wheels 457 are running gear of the chassis 40, and the steering wheels 457 are fixed to the outer side of the housing 410 and are sequentially distributed along the circumferential direction of the housing 410. Optionally, the chassis 40 includes four steering wheels 457, the four steering wheels 457 are mounted at four corners of the framework structure 40a by mounts, and each steering wheel 457 is mounted by two mounts.

In the embodiment of the present application, the housing 410 and the cover plate 420 are used as the appearance structural members of the chassis 40, the housing 410 itself adopts an integrated structure to have a waterproof effect, and the cover plate 420 and the housing 410 are hermetically connected, so that the water leakage phenomenon between the cover plate 420 and the housing 410 can be avoided. Therefore, the outer shell 410 does not need to be additionally designed to be waterproof, so that the whole appearance structural member can be ensured to be watertight, and the problems of high research and development cost, processing cost, assembly cost of the structural part of the chassis 40 and high management cost related to mass production can be avoided. Furthermore, the second opening 413 is arranged on the shell 410, and the cover plate 420 is used for detachably covering the second opening 413, so that the parts in the shell 410 can be maintained from the first opening 412 on the top of the chassis 40 and the second openings 413 at other positions, and the maintenance convenience of the whole chassis 40 is realized. In addition, main body frame 430 serves as a structural reinforcement to support outer shell 410, ensuring the strength of the entire chassis 40.

In some embodiments, the mounting cavity includes a first cavity 414, a second cavity 415, and a third cavity 416 distributed along a horizontal direction, the first cavity 414 is configured to receive the first electrical component 451, the second cavity 415 is configured to receive the battery 470, and the third cavity 416 is configured to receive the second electrical component 452. The bottom wall of the first cavity 414 and the bottom wall of the third cavity 416 are respectively provided with a second opening 413. In this embodiment, the bottom wall of the first cavity 414 is provided with a second opening 413, so that the first electrical component 451 can be repaired or replaced by opening the cover plate 420; similarly, the bottom wall of the second cavity 415 is provided with a second opening 413, so that the second electrical component 452 can be repaired or replaced by opening the corresponding cover plate 420. Specifically, the first cavity 414, the second cavity 415, and the third cavity 416 are arranged along the front-to-rear direction of the chassis frame structure 40a, so as to facilitate the chassis frame 40 to form a structural form with a length greater than a width.

When another structure is mounted on the entire upper part of chassis 40 to bear a load, when first electrical component 451 and second electrical component 452 in skeleton structure 40a are maintained from the upper part of chassis 40, the upper load is heavy, the number of parts is large, and it takes time to assemble and disassemble. At this time, the first electrical element 451 and the second electrical element 452 can be integrally drawn out from the lower portion of the chassis 40 to the outside of the chassis 40 for maintenance by removing the bottom cover plate 420, so that operation in narrow space is avoided, and the convenience in maintaining the chassis 40 is greatly improved.

In addition, by placing battery 470 in the middle of chassis 40 between first electrical component 451 and second electrical component 452, the weight of battery 470 may be greater and the placement in the middle of chassis 40 may better maintain the stability of chassis 40.

Further, a third opening 417 is further disposed on a side wall of the housing 410, the third opening 417 is communicated with the second cavity 415, and the third opening 417 is used for the battery 470 to enter and exit. Therefore, the battery 470 can be pushed into the second cavity 415 from the third opening 417, and the battery 470 can be pulled out of the second cavity 415 from the third opening 417, so that the battery 470 can be replaced conveniently.

Further, the framework structure 40a further includes a battery compartment 440, the battery compartment 440 is located in the second cavity 415 and fixed to the main frame 430, an accommodating cavity 441 for installing a battery 470 is formed in the battery compartment 440, the accommodating cavity 441 is provided with an installation opening 442 corresponding to the third opening 417, and the battery 470 can be taken out of the battery compartment 440 for maintenance.

The battery chamber 440 and the main body frame 430 are of a split structure, so that the individual processing of each part is convenient. The battery chamber 440 and the main body frame 430 may be connected by a connecting member, which may have a substantially L-shape, and two arms of the connecting member are connected to the battery chamber 440 and the main body frame 430, respectively, and may be fixed by screws or rivets, for example.

The shape of the battery compartment 440 may be similar to the shape of the battery 470, for example, for a square battery 470, a square battery compartment 440 is used, and for a round battery 470, a cylindrical battery compartment 440 is used, so as to make more reasonable use of space.

Further, the framework structure 40a further includes a battery compartment door 443, and the battery compartment door 443 is detachably connected to the housing 410 and covers the mounting opening 442. By opening the battery compartment door 443, maintenance of the batteries 470 within the battery compartment 440 is facilitated.

The battery compartment door 443 and the housing 410 can be detachably connected in various ways, such as, but not limited to, a screw connection, a snap connection, a magnetic attraction, etc. Accordingly, referring to fig. 11 and fig. 12, an embodiment of the present invention further provides a battery compartment door quick release structure, for connecting a battery compartment door 443 and a chassis body, where the chassis body is provided with a receiving cavity 441 (as shown in fig. 16) for receiving a battery 470, the receiving cavity 441 has a mounting opening 442, and the battery compartment door 443 covers the mounting opening 442. Wherein, the chassis body comprises the chassis framework structure 40a.

The quick release structure comprises:

a first magnetic attraction member 444 for being disposed at the battery compartment door 443;

the second magnetic attraction piece 447 is arranged on the chassis body; in some embodiments, a second magnetically attractive element 447 is disposed on the housing 410.

The first magnetic attraction element 444 and the second magnetic attraction element 447 are magnetically attracted to each other, so that the battery compartment door 443 covers the installation opening 442.

In the embodiment of the present application, the battery compartment door 443 is disposed at the mounting opening 442 of the battery compartment 440, so that the battery 470 in the battery compartment 440 can be protected, and the battery 470 is prevented from being exposed and damaged. The battery compartment door 443 is magnetically connected with the chassis body, so that the battery compartment door 443 and the chassis body can be conveniently disassembled and assembled, and the maintenance of the battery 470 is facilitated. The mode of magnetism is inhaled, and the dismouting is simple, and the counterpoint degree of difficulty is low. In addition, the robot in the embodiment of the present application can realize quick opening of the battery compartment door 443 by applying an acting force on the battery compartment door 443 to expose the battery of the battery compartment 440, and can quickly disassemble and assemble the battery 470 to quickly and simply realize battery replacement of the battery 470, so that the cruising and working time of the robot, such as a mobile robot, can be increased, and the working efficiency of the mobile robot is greatly improved.

The first magnetic attraction piece 444 and the second magnetic attraction piece 447 can be magnetic members such as magnets, or the first magnetic attraction piece 444 can be a magnetically attracted member such as a metal member.

In some embodiments, the first magnetic attraction member 444 is fixed to the battery compartment door 443 by a first fastener; and/or the second magnetic element 447 is fixed with the chassis body through a second fastening element. The first and second fasteners may be screws, bolts, pins, or the like. In other embodiments, the first magnetic member 444 and the battery compartment door 443 can be fixed by welding, and the second magnetic member 447 and the chassis body can also be fixed by welding.

Further, a mounting convex portion 445 is provided at a side edge of the battery compartment door 443, and the first magnetic member 444 is fixed to the mounting convex portion 445. Optionally, first magnetically attractive element 444 is secured to mounting boss 445 by a first fastener. In this embodiment, the battery compartment door 443 may be adapted to the mounting opening 442, that is, the battery compartment door 443 is at least partially inserted into the mounting opening 442, and a side edge of the battery compartment door 443 abuts against an edge of the mounting opening 442, that is, the battery compartment door 443 and the mounting opening 442 are in an interference fit or a transition fit, so as to completely close the mounting opening 442. Therefore, when the mounting projection 445 is provided, the mounting projection 445 projects laterally beyond the side edge of the battery compartment door 443, and does not interfere with the engagement between the battery compartment door 443 and the mounting opening 442.

Optionally, first magnetic attraction 444 and mounting boss 445 are secured by screws. Specifically, the mounting protrusion 445 is provided with a first mounting hole, the first magnetic attraction piece 444 is provided with a second mounting hole, and screws are inserted into the first mounting hole and the second mounting hole to fix the first magnetic attraction piece 444 to the mounting protrusion 445.

The mounting boss 445 may have a semi-cylindrical, elliptic cylindrical, square, or triangular shape, etc. The shape of the first magnetic member 444 is substantially the same as the shape of the mounting protrusion 445. This means that the cross-sectional shape of the first magnetic member 444 is substantially the same as the cross-sectional shape of the mounting protrusion 445. Illustratively, mounting boss 445 and first magnetically attractive element 444 are each non-perfectly circular, e.g., more than one-half and less than one circular.

In addition, the second magnetic member 447 can also be circular, rectangular, square or triangular. In order to make the battery compartment door 443 cover the mounting opening 442, the first magnetic attraction member 444 can be easily and completely attracted with the second magnetic attraction member 447, and therefore, optionally, the magnetic attraction surface of the second magnetic attraction member 447 is larger than the magnetic attraction surface of the first magnetic attraction member 444, that is, the orthographic projection of the first magnetic attraction member 444 on the second magnetic attraction member 447 is entirely located in the second magnetic attraction member 447, and the second magnetic attraction member 447 is larger than the first magnetic attraction member 444, so that even if a certain deviation occurs during the alignment of the battery compartment door 443, the first magnetic attraction member 444 can be ensured to be better attracted with the second magnetic attraction member 447.

Optionally, the first magnetic attraction element 444 and the second magnetic attraction element 447 are in surface contact, and the contact area between the two elements is large, so that the magnetic attraction force is good.

Optionally, at least one first magnetic attraction element 444 is disposed on two opposite sides of the battery compartment door 443, and each first magnetic attraction element 444 is correspondingly disposed on one second magnetic attraction element 447. Illustratively, two first magnetic-attraction elements 444 are respectively disposed on two opposite sides of the battery compartment door 443, and the two first magnetic-attraction elements 444 are distributed along a side edge of the battery compartment door 443. For example, taking the left-right and up-down directions as an example, two first magnetic-attraction elements 444 are respectively disposed on the left and right sides of the battery compartment door 443, and the two first magnetic-attraction elements 444 on the same side are distributed along the up-down direction and are respectively disposed close to the upper and lower sides of the battery compartment door 443, so that the battery compartment door 443 can be well fixed. Of course, in other embodiments, one or more first magnetic attraction members 444 may be disposed on each side of the battery bay door 443.

Further, in order to achieve accurate alignment of the first magnetic attraction piece 444 and the second magnetic attraction piece 447, the quick release structure may further include a plug-in piece 448, the plug-in piece 448 is fixed to the battery compartment door 443, the chassis body is provided with a first insertion hole, and the plug-in piece 448 is inserted into the first insertion hole to position the battery compartment door 443. Plug 448 may be a pin, post, guide bar, stud, or the like that can be used to insert into a hole. Optionally, a penetrating direction of the first insertion hole is parallel to a direction of the magnetic attraction force between the first magnetic attraction member 444 and the second magnetic attraction member 447. That is, in some embodiments, the through direction of the first insertion hole is perpendicular to the battery compartment door 443 and the housing 410, and the through direction of the first insertion hole is along the opening direction of the mounting port 442.

Further, the battery compartment door 443 is further provided with a fixing projection 446, and the plug 448 is fixed to the fixing projection 446.

With reference to fig. 11 to fig. 13, further, the quick release structure further includes a door lock 449, the door lock 449 is fixed to the battery compartment door 443, the chassis body has a lock hole 40c, and the door lock 449 can be locked with or separated from the lock hole 40 c. Specifically, in some embodiments, the door lock 449 includes an operating portion 4492 and a lock tongue 4491 driven by the operating portion 4492 to swing in a vertical plane, the lock hole 40c is horizontally elongated, the operating portion 4492 penetrates the lock hole 40c in the up-down direction, and the lock tongue 4491 swings into and out of the lock hole 40c to lock or unlock the battery compartment door. Operating portion 4492 itself drives latch 4491 to swing in a vertical plane by rotating. The operation portion 4492 may be a handle or a key, and the handle may be substantially circular for the user to grip. Bolt 4491 may be elongated and parallel to the vertical surface along its length. Illustratively, when the latch 4491 is in a horizontal state, that is, the latch 4491 extends in a horizontal direction, the latch 4491 is disengaged from the lock hole 40 c. When the latch bolt 4491 rotates upward by 90 degrees and is in a vertical state, the latch bolt 4491 is locked with the lock hole 40c, that is, the latch bolt 4491 extends into the lock hole 40c, so as to prevent the battery compartment door from separating from the chassis body. When the operating part 4492 is rotated in the reverse direction by a predetermined angle, for example, 90 °, the latch bolt 4491 may be disengaged from the locking hole 40c again.

Alternatively, in other embodiments, the door lock 449 may have other structures, such as a locking tongue and a locking hole 40c that are fastened by an elastic snap-fit.

In some embodiments, the chassis body has a protruding structure 40b located above the mounting opening, the protruding structure 40b protrudes outward in an opening direction of the mounting opening, the locking hole 40c is provided on the protruding structure 40b and penetrates the protruding structure 40b in an up-down direction, the battery compartment door 443 includes a protruding portion 4431 covering the protruding structure 40b, and the door lock 449 is mounted on the protruding portion 4431. Namely, a part of the area of the battery compartment door 443 is in a bulge structure to form a protruding portion 4431 so as to avoid the protruding structure 40b on the chassis body, and simultaneously, a groove correspondingly formed on the inner side of the protruding portion 4431 is matched with the protruding structure 40b on the chassis body, so that a certain positioning function is realized.

In order to facilitate the installation of the first electrical component 451 and the second electrical component 452, further, the main body frame 430 is further provided with a first mounting plate 431 and a second mounting plate 432, the first mounting plate 431 and the second mounting plate 432 divide the installation cavity into the first cavity 414, the second cavity 415 and the third cavity 416, a space between the first mounting plate 431 and the second mounting plate 432 forms the second cavity 415, the first mounting plate 431 is used for installing the first electrical component 451, and the second mounting plate 432 is used for installing the second electrical component 452. Alternatively, the first mounting plate 431 and the second mounting plate 432 are vertically disposed, and the first electrical element 451 may be fixed to the first mounting plate 431 by a screw or a snap, and similarly, the second electrical element 452 may be fixed to the second mounting plate 432 by a screw or a snap. The first electrical component 451 is fixed to the first mounting plate 431, and the second electrical component 452 is fixed to the second mounting plate 432, and the forces corresponding to the two electrical components act on the main body frame 430, not the housing 410, so that the housing 410 is prevented from being deformed by a force.

Referring to fig. 7 and 9, in some embodiments of the present application, the main body frame 430 includes a first frame 433 and a second frame 434 connected to each other, wherein the first frame 433 is disposed around the first opening 412 and abuts against a side wall of the housing 410; the second frame 434 is fixed to the first frame 433 in a downward protruding manner, and abuts against the bottom wall of the housing 410, and a second cavity 415 for placing the battery 470 is formed in the second frame 434. In this embodiment, the first frame 433 is in a shape of a square ring, and supports the first opening 412 of the housing 410, thereby achieving a structural support effect. The second frame 434 is provided to penetrate therethrough, and the penetrating direction thereof faces the third opening 417 of the housing 410. For example, the second frame 434 is square and abuts against the bottom wall of the housing 410, thereby providing a structural reinforcement effect to the bottom wall of the housing 410. A first cavity 414 is formed between one side of the second frame 434 and the housing 410, and a third cavity 416 is formed between the other side of the second frame 434 and the housing 410. Thus, the main body frame 430 is similar to a square tube structure.

Alternatively, the housing 410 may be riveted to the body frame 430, a plurality of rivets may be provided around the housing 410 to be riveted to the body frame 430, and a plurality of rivets may be provided on the bottom wall of the housing 410 to be riveted to the body frame 430. In addition, the housing 410 and the body frame 430 may be fixed by screw locking or welding.

Further, after the housing 410 and the main frame 430 are installed and fixed, surface treatment such as powder spraying or electrophoresis can be performed on the whole body, so that the risk that the appearance structure is corroded by rainwater is reduced. The outer case 410 and the cover plate 420 may be made of a metal structure such as an aluminum skin, the internal body frame 430 may also be made of a metal material such as stainless steel or aluminum, and the first mounting plate 431 and the second mounting plate 432 are welded or screwed to the body frame 430, respectively.

Referring again to fig. 5 and 7 in combination, the housing 410 includes a first side wall 418 and a second side wall 419, the first side wall 418 having a third opening 417 for accessing the battery 470. Chassis 40 also includes camera 455, camera 455 being disposed on second sidewall 419; and/or chassis 40 may further include an aircraft plug 456, where aircraft plug 456 is disposed on second sidewall 419. Optionally, the second side wall 419 is provided with both a camera 455 and an aviation plug 456. Taking square housing 410 as an example, first sidewall 418 and second sidewall 419 are square sidewalls and are connected to each other, wherein second sidewall 419 is located behind chassis 40.

Further, the chassis 40 further includes a third electrical element 453 and a fourth electrical element 454, and the third electrical element 453 and the fourth electrical element 454 are disposed on a side of the battery compartment 440 facing away from the mounting opening 442. In this embodiment, two opposite sides of the battery compartment 440 may be provided with battery compartment doors 443, wherein one of the battery compartment doors 443 covers the mounting opening 442 of the battery compartment 440, and covers the battery 470. Another battery compartment door 443 covers the third electrical component 453 and the fourth electrical component 454. The specific connection manner of the two battery compartment doors 443 can be seen in the above embodiments, and is not described herein again.

The chassis 40 in this application realizes the integration of chassis skeleton texture 40a and outward appearance piece through adopting welding and riveting technology, and shell 410 adopts whole welding back and the riveting of inside main part frame 430, wholly carries out surface treatment such as dusting or electrophoresis again, can ensure that the outward appearance is watertight, need not extra waterproof design, reduces part quantity and man-hour of assembly simultaneously, reduces each item cost. By using the main body frame 430 and the housing 410, the structure is reasonably designed, the space is reasonably distributed and distributed, the maintenance convenience and the lightweight design of the chassis 40 are realized, and the load which is nearly twenty times of the self weight of the structure of the chassis 40 can be loaded. The middle part of the structure is a battery chamber 440, the front and the back parts are installation spaces for a first electric element 451 and a second electric element 452, and the bottom of the structure of the bottom plate 40 is provided with a detachable structure design, namely a cover plate 420, so that the electric elements in the bottom plate 40 can be maintained from the upper part and the lower part of the bottom plate 40.

By adopting the structure, the main structure can be realized by adopting three main body components (the shell 410, the cover plate 420 and the main body frame 430), the number of the components is greatly reduced, the cost of research and development, production, assembly and the like is saved, the maintenance convenience of the electrical element in narrow space is realized, and the aims of load with dead weight nearly twenty times and light body dead weight are realized.

At present, the robot is required to have long-time work and cruising ability in many fields, and the power consumption of mobile robots such as inspection robots and food delivery robots is large. However, the current robot has the problem of short endurance time and long charging time due to the limited energy density of the battery 470, which results in short actual working time and low working efficiency of the robot.

In view of the above, please refer to fig. 13 to fig. 16, an embodiment of the present application further provides a battery quick release structure, the battery quick release structure is respectively connected to a battery 470 and a battery compartment 440, the battery compartment 440 has a receiving cavity 441, the receiving cavity 441 has an opening, and the battery 470 is installed in the receiving cavity 441; the quick release structure of battery includes:

the driving portion 461, the first engaging portion 462 and the second engaging portion 463, the first engaging portion 462 is fixed to the driving portion 461, the driving portion 461 is movably connected to one of the battery 470 and the battery compartment 440, the second engaging portion 463 is fixed to the other of the battery 470 and the battery compartment 440, one of the first engaging portion 462 and the second engaging portion 463 is an engaging protrusion, and the other is an engaging groove. First clip portion 462 can clip with second clip portion 463 to restrict battery 470 and break away from mounting opening 442, and under the motion of drive portion 461, the clip is protruding can also slide to the notch of clip groove, so that battery 470 can break away from battery compartment 440 from mounting opening 442.

In the embodiment of the present application, taking the driving portion 461 movably connected to the battery compartment 440 as an example, when the driving portion 461 moves relative to the battery compartment 440, the first engaging portion 462 connected to the driving portion can be driven to slide relative to the second engaging portion 463, and at this time, the engaging protrusion can move towards the direction of the notch of the engaging groove, so that the battery 470 can be detached from the battery compartment 440 from the mounting opening 442, and the battery 470 can be taken out for maintenance or replacement. After the battery 470 is pushed to the position in the battery compartment 440, the driving portion 461 is moved in the opposite direction relative to the battery compartment 440, and the driving portion 461 drives the engaging protrusion to slide into the engaging groove, so that the engaging protrusion is finally engaged with the engaging groove, and the battery 470 is restricted from moving out of the mounting opening 442.

The robot in the embodiment of the application can realize the quick release of the battery 470 only by applying the acting force to the driving part 461, has a simple structure, is convenient to disassemble and assemble the battery 470, and can quickly and simply realize the battery replacement of the battery 470, thereby increasing the endurance and the working time of the robot, such as a mobile robot, and greatly improving the working efficiency of the mobile robot.

The driving part 461 can be rotatably or slidably connected to the battery chamber 440. In some embodiments, the drive portion 461 is rotatably connected to one of the battery 470 and the battery compartment 440. For example, the driving part 461 is rotatably connected to the battery 470.

Taking the rotary connection as an example, the quick release of the battery 470 can be realized only by rotating the driving part 461, and the problem of short endurance and long charging time of the mobile robot can be solved by quickly changing the battery, thereby improving the working efficiency of the mobile robot.

In some embodiments, the first latch portion 462 is a latch protrusion, and the second latch portion 463 is a latch groove, the direction of the notch is along the direction of the mounting opening 442. Therefore, when the clamping protrusion moves to the notch of the clamping groove, the driving part 461 can be pulled to directly pull out the battery 470 from the mounting opening 442, and the clamping protrusion also breaks away from the notch of the clamping groove. In one embodiment, a clamping groove is formed in the position of the battery compartment 440 close to the mounting opening 442, and a notch of the clamping groove penetrates through an end surface of the battery compartment 440 having the mounting opening 442.

In addition, the first engaging portion 462 may be an engaging groove, and the second engaging portion 463 may be an engaging protrusion. In addition, the notches of the locking grooves may be disposed in an intersecting manner with respect to the opening direction of the mounting opening 442.

In some embodiments, the clamping groove comprises a first groove section 4631 and a second groove section 4632 arranged in an included angle or an arc shape, the first groove section 4631 has two first groove walls opposite to each other, and the extending direction of the first groove walls intersects with the direction of the mounting opening 442; the second slot segment 4632 has a slot opening; the snap projections can snap into the two first groove walls to limit the removal of the battery 470 from the mounting opening 442. In this embodiment, the extending direction of the two first slot walls of the first slot section 4631 intersects with the opening direction of the mounting opening 442, so that when the clamping protrusion abuts against the first slot walls, an abutting force intersecting with the opening direction of the mounting opening 442 is provided, and the abutting force is staggered with the opening direction of the mounting opening 442, thereby preventing the clamping protrusion from being separated from the clamping slot from the opening direction of the mounting opening 442. Alternatively, the snap-in groove is in the shape of a quarter of a circular arc, and both the first groove section 4631 and the second groove section 4632 are approximately perpendicular. The arc-shaped clamping groove can be better matched with the rotating path of the driving part 461, so that the clamping protrusion can slide more smoothly in the clamping groove.

In some embodiments, the driving portion 461 has a shape similar to a handle, and specifically, the driving portion 461 includes a first connecting section 4611 and two second connecting sections 4612, the two second connecting sections 4612 are respectively disposed at two ends of the first connecting section 4611 and extend in the same direction; the two second connecting sections 4612 are respectively provided with a first clamping portion 462, and the two second connecting sections 4612 are respectively movably connected to two opposite sides of the battery 470.

Specifically, the battery 470 has a first side and two second sides 472, the two second sides 472 being disposed apart, the first side being located between the two second sides 472. The first connecting section 4611 can be located on one side of the first side, and the two second connecting sections 4612 are rotatably connected to the two second sides 472. A rotation shaft is provided on the second side 472, and the second connecting section 4612 is provided with a rotation hole to be rotatably coupled with the rotation shaft.

To facilitate the removal of the driving part 461, the driving part 461 is rotated outwards, and further, a hand-grasping slot 473 is provided on the side of the battery 470 exposed from the mounting opening 442, and the hand-grasping slot 473 is also provided facing the driving part 461. That is, the hand grip slot 473 also extends through the first side to face the drive part 461, so that the user can access the drive part 461 through the hand grip slot 473.

Further, the battery 470 may further include a pair of offset grooves 474, the offset grooves 474 extend from the first side surface to the two second side surfaces 472, the shapes of the offset grooves 474 are substantially matched with the driving portion 461, the driving portion 461 can rotate to be accommodated in the offset grooves 474, and the handle groove 473 is communicated with the offset grooves 474 on the first side surface.

Further, the battery quick-release structure further comprises a clamping plate 464, and the clamping plate 464 is provided with a clamping groove; the clamping plate 464 is used for fixing the battery 470 or the battery chamber 440. In a specific embodiment, the clamping plate 464 is fixed at the battery compartment 440, and when the clamping plate 464 is fixed at the outer side of the battery compartment 440, the battery compartment 440 is correspondingly provided with a groove, and the shape of the groove can be the same as that of the clamping groove, so that the clamping protrusion can penetrate out from the inside to the outside to be matched with the clamping groove. Due to the arrangement of the clamping plate 464, the strength of the clamping protrusion matched with the clamping groove can be improved, and the deformation of the battery bin 440 is reduced or even avoided.

Further, the battery quick release structure further comprises a limiting member 465, and the limiting member 465 is used for being detachably connected to the battery 470 or the battery compartment 440; the stopper 465 may abut against the driving portion 461 to restrict the movement of the driving portion 461. After the driving portion 461 is located in the receding groove 474, the limiting member 465 abuts against the outer side of the driving portion 461 to limit the rotation of the driving portion 461, so that the clamping protrusion can be clamped with the clamping groove, and the battery 470 can be prevented from falling out. When it is necessary to remove the battery 470, the stopper 465 is removed so that the driving portion 461 can be rotated outward to be opened.

Optionally, the position-limiting member 465 is provided with an insertion portion for inserting the battery 470 at a side exposed out of the mounting opening 442. Or in other embodiments, the position-limiting member 465 is fixed to the battery 470 by a screw or a snap.

In some embodiments, the stop 465 is an electrical plug that electrically connects the battery 470 and an external electrical component, respectively. The electrical plug can be used as a limiting part 465 of the driving part 461 and also can be used as an electrical connection structure to play a dual role, so that an independent limiting part 465 is not required to be additionally arranged on the driving part 461, the structure of the battery 470 can be fully utilized to realize a limiting function, and the increase of the control cost is facilitated.

The embodiment of the present application further provides a battery module, where the battery module includes a battery 470, a battery compartment 440, and a battery quick release structure, and please refer to the above embodiment for the specific structures of the battery 470, the battery compartment 440, and the battery quick release structure, which is not described herein again.

The embodiment of the present application further provides a robot, which may be a mobile robot or other types of robots, and the robot may include structures such as a battery module and a chassis 40, and please refer to the above embodiment for specific structures of the battery module and the chassis 40, which is not described herein again.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A dispensing robot, comprising:

the vehicle body comprises a chassis module and a plurality of walking devices, the walking devices are arranged at the bottom of the chassis module, and a bearing platform is arranged at the top of the chassis module;

the storage box comprises a container, a box door and a switch device, wherein the container is arranged on the bearing platform, the box door seals an opening of the container, and the switch device is connected to the box door and used for driving the box door to move relative to the container so as to seal or open the opening; and

and the navigation obstacle avoidance module is arranged on the chassis module and/or the storage box and comprises a plurality of sensors, and the sensors are used for identifying the space environment around the vehicle body.

2. A dispensing robot as recited in claim 1, wherein the storage compartment includes an upright standing on the platform adjacent the container, the switch device being mounted on the upright.

3. The dispensing robot of claim 2, wherein the plurality of sensors includes a lidar disposed at a top end of the mast for identifying a spatial image of the vehicle body surroundings;

and/or the presence of a gas in the gas,

the sensors comprise a plurality of distance measuring sensors which are respectively arranged on the front side and the rear side of the chassis module and are used for identifying obstacles in a preset distance in the front-rear direction of the vehicle body;

and/or the presence of a gas in the gas,

the plurality of sensors further comprise a first vision sensor arranged on the front side of the storage box and a second vision sensor and a third vision sensor respectively arranged on the left side and the right side of the vehicle body, the first vision sensor is used for identifying the obstacles outside the preset distance, and the second vision sensor and the third vision sensor are respectively used for identifying the obstacles on the left side and the right side.

4. The dispensing robot as recited in claim 2, wherein the platform is provided with a surrounding edge, and the surrounding edge surrounds the platform to form a receiving space, and the container is detachably disposed in the receiving space.

5. The dispensing robot as recited in claim 4, further comprising a front housing and two side covers, wherein the two side covers cover two sides of the perimeter respectively, the front housing is disposed at the front end of the carrying platform and integrated with the two side covers and the perimeter at the top of the chassis module, and wherein the upright is encased in the front housing.

6. The dispensing robot of claim 1, further comprising a human-machine interaction module disposed on the storage compartment, the human-machine interaction module including a touch screen and/or a wireless communication unit coupled to a controller of the dispensing robot for receiving commands and transmitting corresponding control signals to the controller.

7. The dispensing robot of claim 1, wherein the chassis module comprises a chassis skeletal structure comprising:

the mounting structure comprises a shell, a first fixing piece and a second fixing piece, wherein a mounting cavity is formed in the shell, the mounting cavity is provided with a first opening which is arranged upwards, the shell is also provided with a second opening, and the shell is of an integrated structure;

the cover plate is used for sealing and covering the second opening, and the cover plate is detachably connected with the shell; and the number of the first and second groups,

and the main body frame is arranged in the shell through the first opening and is abutted and fixed with the shell so as to support the shell.

8. The dispensing robot of claim 7, wherein the body frame includes a first frame and a second frame connected, the first frame disposed around the first opening and abutting a sidewall of the housing; the second frame is fixed to the first frame to project downward and abuts against the bottom wall of the housing.

9. A dispensing robot as recited in claim 1, wherein the chassis module comprises a battery door quick release structure for connecting the battery door and the chassis body, the chassis body is provided with a receiving cavity for receiving the battery, the receiving cavity has a mounting opening, and the battery door covers the mounting opening; wherein, rapid disassembly structure includes:

the first magnetic attraction piece is arranged on the battery compartment door;

the second magnetic attraction piece is arranged on the chassis body; and

the first magnetic part is magnetically connected with the second magnetic part, so that the battery compartment door cover is closed to the mounting opening.

10. The dispensing robot of claim 1, wherein the chassis module comprises a quick release structure for batteries, which is connected to the batteries and the battery compartment, respectively, the battery compartment has a receiving cavity, the receiving cavity has a mounting opening, and the batteries are mounted in the receiving cavity; wherein, battery rapid disassembly structure includes:

the battery comprises a driving part, a first clamping part and a second clamping part, wherein the first clamping part is fixed on the driving part, the driving part is movably connected with one of the battery and the battery bin, the second clamping part is fixed on the other of the battery and the battery bin, one of the first clamping part and the second clamping part is a clamping protrusion, and the other clamping part is a clamping groove; and

first joint portion can with second joint portion joint, in order to restrict the battery is followed the installing port breaks away from, just under the motion of drive division, the joint arch can also to the notch in joint groove slides, so that the battery can be followed the installing port breaks away from the battery compartment.