CN218614068U

CN218614068U - Distribution robot

Info

Publication number: CN218614068U
Application number: CN202121320786.7U
Authority: CN
Inventors: 陈焕昌; 何源; 刘松
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2020-12-31
Filing date: 2021-06-11
Publication date: 2023-03-14
Anticipated expiration: 2031-06-11
Also published as: CN215920468U; CN218614067U; CN218698842U; CN216067469U; CN216372212U; CN218614069U; CN215920466U; WO2022144035A1

Abstract

The utility model discloses a delivery robot, include: a distribution robot body; the walking mechanism is arranged at the bottom of the distribution robot body and used for driving the distribution robot body to walk; the obstacle detection module is arranged on the distribution robot body and/or the walking mechanism and used for detecting obstacles on the walking path; a tray mechanism comprising: a tray for storing items to be dispensed. The distribution robot is driven to walk by the walking mechanism, the walking path is planned by the navigation module, and the obstacle on the walking path is detected by the obstacle detection module, so that the objects to be distributed are distributed to the user.

Description

Distribution robot

Technical Field

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

Background

With the popularization of indoor mobile robots in the market, mobile robots have been increasingly applied to mass service scenes, for example, delivery robots that provide delivery services in indoor scenes such as restaurants, hotels, office buildings, and the like.

The existing mobile robot is single in function, so that the application range of the mobile robot is limited, and only certain specific tasks can be completed.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a distribution robot, so that the distribution robot has multiple functions and can automatically navigate to finish distribution of people.

The application provides a delivery robot, includes:

a delivery robot body;

the travelling mechanism is mounted at the bottom of the distribution robot body and used for driving the distribution robot body to travel;

the obstacle detection module is installed on the distribution robot body and/or the walking mechanism and is used for detecting obstacles on a walking path;

a tray mechanism, the tray mechanism comprising: the tray is detachably arranged on the distribution robot body.

Further, still include: install in anticollision institution on running gear, anticollision institution includes: the anti-collision device comprises an inner shell, an outer shell and an anti-collision assembly, wherein the inner shell is provided with a soft rubber shell part which is used for buffering collision; the shell is arranged on the soft rubber shell part, an accommodating cavity is formed between the shell and the soft rubber shell part, and the anti-collision assembly is arranged in the accommodating cavity; the anti-collision assembly is used for obtaining collision information when collision occurs.

Further, still include: the distribution robot comprises a distribution robot body, a recovery barrel and a plurality of trays, wherein the distribution robot body is provided with a plurality of storage tanks, the trays are sequentially detachably mounted on the distribution robot body along the height direction of the distribution robot body, the storage tanks are positioned between the trays and a travelling mechanism, and the recovery barrel is placed in the storage tanks; the mouth of the recycling bin faces the tray and is spaced from the tray.

Further, the traveling mechanism includes: the device comprises a base plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame, at least one driven wheel and a driving motor; a motor shaft of the driving motor is in transmission connection with wheel shafts of the two driving wheels and is used for driving the two driving wheels to rotate; the two driving wheel suspension assemblies and the driven wheel are arranged on the bottom plate, and the two driving wheel suspension assemblies are symmetrical relative to the driven wheel; the two driving wheel suspension assemblies correspond to the two driving wheels one by one, and each driving wheel suspension assembly comprises: the device comprises a fixed seat, a swing arm, a damping component and a connecting piece; the fixed seat is fixed on the bottom plate, one end of the swing arm is hinged to the fixed seat, the damping assembly is arranged along the height direction of the distribution robot body 10, one end of the damping assembly is connected to the top surface of the other end of the swing arm, and the driving wheel is rotatably mounted on the side surface of the other end of the swing arm; the connecting piece is fixed at the other end of the damping component; the connecting piece is used for being fixedly connected with the distribution robot body 10; the connecting frame is connected to the other ends of the swing arms of the two driving wheel suspension assemblies.

Further, the delivery robot further includes: the battery and the joint that charges that set up in running gear is last, the battery with the driving motor electricity is connected, the output of the joint that charges with the input electricity of battery is connected, the input of the joint that charges is used for connecting external power source.

Further, the tray mechanism further includes: at least two cantilever beams; the inside supporting mechanism that still is provided with of delivery robot body, supporting mechanism includes: the bottom plate, the supporting frame and at least two connecting seats; the bottom plate is fixed on the distribution robot body, the support frame is fixed on the bottom plate, and the at least two connecting seats are fixed on the support frame at the same height; the at least two cantilever beams correspond to the at least two connecting seats one by one, and one ends of the cantilever beams are detachably fixed on the connecting seats; the tray is fixed on the cantilever beam.

Further, the method also comprises the following steps: the advertisement screen is installed on the distribution robot body and used for putting advertisements.

Further, the method also comprises the following steps: the distribution robot comprises an image recognition module and a voice recognition module, wherein the image recognition module and the voice recognition module are both installed on the distribution robot body, the image recognition module is used for recognizing image information, and the voice recognition module is used for recognizing voice information sent by a user.

Further, the method also comprises the following steps: the touch screen is installed on the distribution robot body and used for inputting operation instructions.

Further, the dispensing robot body has a housing structure, one side of the housing structure is recessed inwards to form a recessed inner housing, and the tray is mounted on the inner housing; the width of the distribution robot body is 440-450 mm, and the width of the tray is 340-350 mm.

According to the delivery robot that this application provided, walk through the walking power of running gear output and detect the barrier on the walking route through barrier detection module, in order to keep away the barrier to the thing that waits to deliver that will store on installing the tray on the delivery robot body is delivered for the user. Therefore, the distribution robot can realize autonomous navigation to distribute the objects to be distributed, has a simple and compact structure and has multiple functions of navigation, obstacle avoidance and the like.

Drawings

Fig. 1 is a first perspective view of a dispensing robot provided in the present application;

fig. 2 is a second perspective view of the dispensing robot provided in the present application;

FIG. 3 is a schematic structural diagram of a crash mechanism provided herein;

FIG. 4 is an exploded view of FIG. 3;

FIG. 5 is a schematic structural diagram of a dispensing robot provided by the present application without a recycling bin installed;

FIG. 6 is a schematic structural diagram of a traveling mechanism provided in the present application;

fig. 7 is a schematic structural diagram of a tray mechanism provided in the present application.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the description of the methods may be transposed or transposed in order, as will be apparent to a person skilled in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

The delivery robot provided by the application is mainly used for executing delivery characters, and particularly can be applied to restaurants, office buildings and hotels to provide delivery services for customers. In this embodiment, the delivery robot is applied in a restaurant to perform delivery service for customers, and accordingly, the articles to be delivered are the cups with drinks, the bowls and dishes with food, the tableware used by customers, and the like.

Referring to fig. 1 and 2, the distribution robot provided in this embodiment mainly includes: a dispensing robot body 10, a traveling mechanism 20, an obstacle detecting module 40, and a tray mechanism 50.

The traveling mechanism 20 is installed at the bottom of the dispensing robot body 10, and the traveling mechanism 10 can output traveling power to drive the dispensing robot body 10 to travel. The running mechanism 20 specifically runs by driving the driving wheel by the driving motor.

Obstacle detection module 40 is installed on distribution robot body 10 and/or on running gear 20, and this obstacle detection module 40 can be with running gear 20 signal connection, specifically can be through the driving motor electricity connection of control mainboard with running gear 20, and obstacle detection module 40 is through sending obstacle information for the control mainboard, and the driving motor of running gear 20 is controlled based on obstacle information to the control mainboard afterwards. So that the traveling mechanism 20 can change the traveling direction to avoid the obstacle.

Specifically, the obstacle detecting module 40 is a depth camera and/or a laser radar and/or an RGBD camera, and the depth camera or the RGBD camera is used to detect obstacles in the surrounding environment on the world walking path through an image recognition technology. Lidar detects a laser point cloud of obstacles in the surrounding environment.

More specifically, the obstacle detection module 40 sends the detected obstacle information to the control main board, and controls the driving wheels in the traveling mechanism 20 to turn by the control main board so as to avoid the obstacle.

The tray mechanism 50 includes: a tray 51, the tray 51 being used for storing the articles to be delivered, the tray 51 being detachably mounted on the delivery robot body 10.

The delivery robot provided by the application walks by the walking power output by the walking mechanism 20, plans the walking path of the walking mechanism 20 by the navigation module 30 so as to walk to the position of the user, detects the barrier on the walking path by the barrier detection module 40 so as to avoid the barrier, and delivers the to-be-delivered objects stored on the tray 51 arranged on the delivery robot body 10 to the user. Therefore, the distribution robot can realize autonomous navigation to distribute the objects to be distributed, has a simple and compact structure and has multiple functions of navigation, obstacle avoidance and the like.

In one embodiment, the width of the dispensing robot body 10 is 440mm to 450mm, and the dispensing robot body 10 has a narrow width range, so that it can walk in a narrow space and has a certain passing ability. Meanwhile, the turning radius of the walking mechanism 20 is not more than 450mm, so that the distribution robot has small occupied area. As shown in fig. 1, a housing of one side of a housing structure of a dispensing robot body 10 is in a concave form, a tray 51 of a tray mechanism 50 is installed on the concave side of the housing structure, and the width of the tray 51 is between 340mm and 350mm, so that the installation space of the dispensing robot can be saved. Meanwhile, the traveling mechanism 20 is installed at the bottom of the dispensing robot body 10 of the housing structure, so that the center of gravity of the dispensing robot is lowered, and the traveling stability of the dispensing robot is improved.

As above, the concave shell structure is adopted, on one hand, the aesthetic degree of the dispensing robot can be increased, on the other hand, under the condition that the width of the dispensing robot body 10 is not increased, the contact area between the tray 51 and the dispensing robot body 10 can be effectively increased, not only can the parts at the joint of the tray 51 and the dispensing robot body 10 be shielded, but also the objects to be dispensed stored on the tray 51 can be shielded.

In the course of walking, the delivery robot inevitably collides with the obstacle, so to further buffer the collision process, the delivery robot provided by this embodiment further includes: and a collision avoidance mechanism 60, wherein the collision avoidance mechanism 60 is provided on the traveling mechanism 20, and the collision avoidance mechanism 60 can cushion collision and can control the traveling mechanism 20 to stop traveling.

Specifically, referring to fig. 3 and 4, the anti-collision mechanism 60 includes: the inner shell 61 has a soft rubber shell portion 611 made of a soft rubber material, and the soft rubber shell portion 611 made of the soft rubber material has certain elasticity, so that the soft rubber shell portion 611 can buffer collision. The housing 62 is mounted on the soft rubber housing portion 611, and a receiving cavity (not shown) is formed between the housing 62 and the soft rubber housing portion 611, and the anti-collision component is mounted in the receiving cavity. Optionally, the collision avoidance module is configured to obtain collision information in the event of a collision, and the collision avoidance module is further connected to the control main board and sends the collision information to the driving motor in the traveling mechanism 20, so that the control main board can control the driving motor in the traveling mechanism 20 to stop rotating in the event of a collision, thereby controlling the traveling mechanism 20 to stop traveling.

A plurality of clamping holes 612 are formed in the flexible glue housing portion 611, and the clamping holes 612 penetrate through the inner side wall and the outer side wall of the software housing portion 611, wherein the inner side wall of the flexible glue housing portion 611 is the inner side wall of the inner housing 61, and the outer side wall of the flexible glue housing portion 611 is the outer side wall of the inner housing 61. A plurality of clamping pieces 621 are further arranged on the inner side wall of the outer shell 61, and the plurality of clamping pieces are connected to the inner side wall of the inner shell 62, that is, one end of each clamping piece 621 is connected to the inner side wall of the inner shell 62, and the other end of each clamping piece 621 faces the outer side wall of the soft rubber shell portion 611. The positions of the holding pieces 621 correspond to the positions of the holding holes 612 one by one, and the holding pieces 621 are connected with the holding holes 612 in a clamping manner, so that the housing 62 is connected to the soft housing portion 611.

In this embodiment, a first receiving groove 613 is formed on an outer side wall of the soft housing portion 611, and all of the retaining holes 612 are disposed around a circumferential outer side of the first receiving groove 613. A second receiving groove 622 is formed on the inner side wall of the outer case 62, and all the aforementioned retainers 621 are provided around the circumferential outer side of the second receiving groove 622. The first receiving groove 613 and the second receiving groove 622 are formed as the receiving cavities after the housing 62 is mounted on the outer sidewall of the soft housing portion 611.

As shown in fig. 1, 2, and 5, the dispensing robot provided by the present application further includes: the recycling bin 70 is used for recycling the articles to be recycled, and the articles to be dispensed can be cups containing drinks, bowls and dishes containing food, tableware used by customers and the like. The distribution robot body 10 is further provided with a placement groove 11, the aforementioned two trays 51 are provided, the two trays 51 are sequentially detachably mounted on the distribution robot body 10 along the height direction of the distribution robot body 10, the placement groove 11 is located below the bottommost tray 51, and the recovery bucket 70 is placed in the placement groove 11. Namely, the placement groove 11 is located between the tray 51 and the traveling mechanism 20. On the one hand, the distribution robot is enabled to have a recycling function, and on the other hand, the recycling bin 70 can be easily taken from the placing groove 11, so that the recycling bin 70 is convenient to clean.

As shown in fig. 2, the mouth 71 of the recycling bin 70 faces the tray 51 and is spaced apart from the tray 51 to facilitate the insertion of the articles to be recycled into the recycling bin 70.

Referring to fig. 6, the traveling mechanism mainly includes: a base plate 21, two drive wheels 22, two drive wheel suspension assemblies 23, a connecting frame 24, at least one driven wheel 25, and a drive motor (not shown). The motor shaft of the driving motor is in transmission connection with the wheel shafts of the two driving wheels 22, and the driving motor is used for driving the two driving wheels 22 to rotate so as to output walking power. Two primary wheel suspension assemblies 23 and a driven wheel 25 are provided on the base plate 21, and the two primary wheel suspension assemblies 23 are symmetrical with respect to the driven wheel 25. In this embodiment, there are two driven wheels 25, two driven wheels 25 are oppositely disposed at two ends of the bottom plate 21, and the two driving wheel suspension assemblies 23 are symmetrical to each other about a straight line where the two driven wheels 25 are located. For example, the two driven wheels 25 are respectively disposed at both ends of the bottom plate 21 corresponding to the front-rear direction of the dispensing robot body 10, and the two driving wheel suspension assemblies 23 are respectively disposed at both sides of the bottom plate 21 corresponding to both side surfaces of the dispensing robot body 10.

Two drive wheel suspension assemblies 23 and two drive wheels 22 one-to-one, each drive wheel suspension assembly 23 all includes: a fixing base 231, a swing arm 232, a shock absorbing assembly 233, and a connecting member 234. The fixing base 231 is fixed on the base plate 21, one end of the swing arm 232 is hinged on the fixing base 231, the damping member 233 can generate a certain elastic deformation to provide an elastic restoring force, and the damping member 233 is disposed along the height direction of the dispensing robot body 10, that is, the damping member 233 is disposed along the vertical direction. One end of the damping member 233 is connected to the top surface of the other end of the swing arm 232, the driving wheel 22 is rotatably mounted on the side surface of the other end of the swing arm 232, and the connecting member 234 is fixed to the other end of the damping member 233. The connecting member 234 is used to be fixedly connected to the dispensing robot body 10, that is, the shock absorbing member 233 is located between the connecting member 234 and the top surface of the other end of the swing arm 232, and the connecting member 234 can limit the upward elastic deformation of the shock absorbing member by the weight of the dispensing robot body 10 itself. The connecting frame 24 is connected to the other end of the swing arm 232 of the two driving wheel suspension assemblies 23.

The driving wheel 22 can generate a driving force to drive the dispensing robot body 10 to move. When the running mechanism is in a state of a flat road, the two driving wheels 22 contact the flat ground, so that the two driving wheels 22 are in the same plane. When the traveling mechanism crosses the threshold, when the driving wheel 22 on one side moves upwards due to an uneven road, the other end of the swing arm 232 on the side is driven to swing upwards around one end of the driving wheel, and then the side damping component 233 deforms upwards to a certain extent, the swing arm 232 swinging upwards in the side drives the swing arm 232 on the other side to swing upwards through the connecting frame 24, and then the driving wheel 22 on the other side is driven to swing upwards through the swing arm 232 on the other side swinging upwards, so that the two driving wheels swing synchronously, the phenomenon that the driving wheel slips due to suspension of the mobile robot in the moving process is avoided, and the occurrence of the falling accident of the mobile robot is avoided.

In this embodiment, the two driven wheels 25 are universal wheels, and when the distribution robot needs to turn, the distribution robot can be controlled to turn toward the direction of the driving wheel 22 that stops rotating by controlling the driving wheel 22 on one side to stop rotating and the driving wheel 22 on the other side to rotate.

With continued reference to fig. 6, a driven wheel suspension assembly 251 is also provided on the base plate 21 to provide shock absorption for the driven wheel 25 and ensure the stability of the dispensing robot.

As shown in fig. 1, 2 and 5, the dispensing robot provided by the present application further includes: a storage battery (not shown in the figure) and a charging connector 80, which are arranged on the traveling mechanism 20, wherein the storage battery is electrically connected with the driving motor, and the storage battery supplies power to the driving motor. The output end of the charging connector 80 is electrically connected with the input end of the storage battery, and the input end of the charging connector 80 is used for being connected with an external power supply, so that the storage battery is charged through the charging connector 80, and the stable operation of the distribution robot is guaranteed.

With continued reference to fig. 1, the housing structure of the dispensing robot body 10 has a hollow chamber, and an advertisement screen 90 is further installed in the hollow chamber of the dispensing robot body 10, and the advertisement screen 90 is used for placing advertisements. The display surface of the advertisement screen 90 faces the shell structure, and the shell structure facing the display surface of the advertisement screen 90 is a transparent shell structure, so as to display advertisement information through the transparent shell structure.

In some embodiments, a touch screen 100 is further installed on the dispensing robot body 10, and the touch screen 100 is used for a user to input an operation instruction to operate the dispensing robot. Of course, the touch screen 100 may also display status information of the dispensing robot, for example, power information, etc.

Specifically, the touch screen 100 may be electrically connected to a driving motor through a central processing unit to control the driving motor to start. Of course, the touch screen 100 may also be connected to the navigation module 30, the obstacle detection module 40, the anti-collision module, and the like through the central processing unit, and may display status information of each module and control operation of each module.

In the present application, a better interaction mode is realized, an image recognition module 101 and a voice recognition module 102 are further installed on the top of the distribution robot body 10, the image recognition module 101 is used for recognizing image information, and the image information may be image information such as a two-dimensional code. The voice recognition module 102 is used for recognizing voice information sent by a user, and controlling the distribution robot through processing of the central processing unit. For example, the delivery robot may be awakened by the voice recognition module 102 issuing a "start" voice command.

In this embodiment, the storage battery is further connected to the touch screen 100, the image recognition module 101, the voice recognition module 102, the navigation module 30, and the obstacle detection module 40 at a point, so as to supply power to each component and ensure that each component works normally.

In one embodiment, the distribution robot body 10 is further provided with a power switch 12 and an emergency stop switch 13, and the power switch 11 is connected between the storage battery and each electric device to control the start and the stop of each electric device. The emergency switch 13 is connected between the storage battery and the driving motor in the traveling mechanism 20 to cut off the connection between the storage battery and the driving motor in case of emergency, so as to rapidly control the delivery robot to stop traveling.

As shown in fig. 1 and 7, the tray mechanism 50 further includes: at least two cantilevered beams 52. A support mechanism 53 is further provided inside the dispensing robot body 10, and the support mechanism 53 includes: the base plate 531, the supporting bracket 532, and at least two connecting seats 533. The bottom plate 531 is fixed to the traveling mechanism 11 of the dispensing robot body 10, the support frame 532 is fixed to the bottom plate 531 in the vertical direction, and the at least two connecting seats 533 are fixed to the support frame 532 at the same height. The positions of the cantilever beams 52 correspond to the positions of the connecting seats 533 one by one, and two cantilever beams 52 are disposed on each of the connecting seats 533. One end of the cantilever beam 52 corresponding to one-to-one is detachably fixed to the connecting seat 533, and the tray 51 is fixed to the cantilever beam 52, so that the tray 51 and the dispensing robot body 10 are detachably connected.

The detachable connection mode of the tray 51 can be realized by installing a decoration cover on the shell structure of the distribution robot body 10 after the tray 51 is detached, and the decoration cover can be used in a welcome state, so that the practicability of the distribution robot is improved.

In summary, the delivery robot provided in this embodiment walks by the walking power output by the walking mechanism, plans the walking path of the walking mechanism by the navigation module to walk to the position of the user, and detects the obstacle on the walking path by the obstacle detection module to avoid the obstacle, so as to deliver the object to be delivered stored on the tray mounted on the delivery robot body to the user. Therefore, the distribution robot can realize autonomous navigation to distribute the objects to be distributed, has a simple and compact structure and has multiple functions of navigation, obstacle avoidance and the like.

The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.

Claims

1. A dispensing robot, comprising:

a distribution robot body;

a tray mechanism, the tray mechanism comprising: the tray is used for storing the articles to be delivered and is detachably arranged on the delivery robot body.

2. The dispensing robot of claim 1, further comprising: install in anticollision institution on running gear, anticollision institution includes: the anti-collision device comprises an inner shell, an outer shell and an anti-collision assembly, wherein the inner shell is provided with a soft rubber shell part which is used for buffering collision; the shell is installed on the flexible glue casing portion, just the shell with be formed with between the flexible glue casing portion and hold the chamber, anticollision subassembly installs hold in the chamber, anticollision subassembly is used for obtaining collision information when bumping.

3. The dispensing robot of claim 1, further comprising: the distribution robot comprises a distribution robot body, a recycling bin and a plurality of trays, wherein the distribution robot body is provided with a plurality of storage slots, the trays are sequentially detachably mounted on the distribution robot body along the height direction of the distribution robot body, the storage slots are positioned between the trays and a travelling mechanism, and the recycling bin is placed in the storage slots; the mouth of the recycling bin faces the tray and is spaced from the tray.

4. The dispensing robot of claim 1, wherein the traveling mechanism comprises: the device comprises a base plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame, at least one driven wheel and a driving motor; a motor shaft of the driving motor is in transmission connection with wheel shafts of the two driving wheels and is used for driving the two driving wheels to rotate; the two driving wheel suspension assemblies and the driven wheel are arranged on the bottom plate; the two driving wheel suspension assemblies correspond to the two driving wheels one by one, and each driving wheel suspension assembly comprises: the damping device comprises a fixed seat, a swing arm, a damping component and a connecting piece; the fixed seat is fixed on the bottom plate, one end of the swing arm is hinged to the fixed seat, the damping assembly is arranged along the height direction of the distribution robot body, the bottom end of the damping assembly is connected to the swing arm, and the driving wheel is rotatably arranged on the swing arm; the connecting piece is fixed at the top end of the damping component; the connecting piece is used for being fixedly connected with the distribution robot body; the connecting frame is connected to the other ends of the swing arms of the two driving wheel suspension assemblies.

5. The dispensing robot of claim 4, wherein the dispensing robot further comprises: the battery and the joint that charges that set up in running gear is last, the battery with the driving motor electricity is connected, the output of the joint that charges with the input electricity of battery is connected, the input of the joint that charges is used for connecting external power source.

6. The dispensing robot of claim 1, wherein the tray mechanism further comprises: at least two cantilever beams; the inside supporting mechanism that still is provided with of delivery robot body, supporting mechanism includes: the bottom plate, the supporting frame and at least two connecting seats; the bottom plate is fixed on the distribution robot body, the support frame is fixed on the bottom plate, and the at least two connecting seats are fixed on the support frame; the at least two cantilever beams correspond to the at least two connecting seats one by one, and one ends of the cantilever beams are detachably fixed on the connecting seats; the tray is fixed on the cantilever beam.

7. The dispensing robot of claim 1, further comprising: the advertisement screen is installed on the distribution robot body and used for putting advertisements.

8. The dispensing robot of claim 1, further comprising: the distribution robot comprises an image recognition module and a voice recognition module, wherein the image recognition module and the voice recognition module are installed on the distribution robot body, the image recognition module is used for recognizing image information, and the voice recognition module is used for recognizing voice information sent by a user.

9. The dispensing robot of claim 1, further comprising: the touch screen is installed on the distribution robot body and used for inputting operation instructions.

10. The dispensing robot according to claim 1, wherein the dispensing robot body has a housing structure, one side of which is inwardly depressed to form an inner case which is inwardly depressed, the tray being mounted on the inner case; the width of the distribution robot body is 440-450 mm, and the width of the tray is 340-350 mm.