Autonomous mobile logistics robot

Abstract

The present invention provides an autonomous mobile logistics robot which: can automate loading and unloading operations so that loading and unloading of items into and from a loading container are autonomously performed, thereby enabling quick and smooth transport of items and thus improving transport efficiency; can stably travel even though a suspension of a simple configuration is applied to a driving part for autonomous travelling; enables the number of components to be reduced, thereby having a reduced total weight; and can maintain horizontality and maximize autonomous travelling stability, without a load change during travelling even when a road surface changes. To this end, the autonomous mobile logistics robot of the present invention comprises: a loading container having a loading space of an item; a horizontal movement unit installed in the loading container to move the item in the horizontal direction so as to automatically supply or discharge the item into or from the loading space; a vertical movement unit installed in the loading container to move the horizontal movement unit in the vertical direction; and an autonomous travelling drive unit installed below the loading container to move the loading box.

Description

autonomous logistics robots

[0001] The present invention relates to an autonomous logistics robot, and more specifically, to an autonomous logistics robot capable of automatically loading goods discharged through a discharge line, moving to another location autonomously, and then automatically unloading and supplying them to a supply line.

[0002] With the recent advancement of autonomous driving technology, autonomous robots are being introduced into product production lines and logistics center material handling systems to automate the task of autonomously transporting manufactured products or distributed goods to other locations, thereby enabling efficient operation.

[0003] For example, Korean Registered Patent No. 10-2301734 discloses a logistics transport robot for automated process interlocking operation, wherein a plurality of items are loaded onto a tray of a logistics transport robot, and whenever an item is loaded onto the tray, the type of the loaded item and the unloading location are determined, and after all items are loaded onto the tray, a transport path of the logistics transport robot is determined according to the unloading location for each of the plurality of items, and based on the determined transport path, a picking robot located at the unloading location is commanded to pick the item loaded on the tray, and based on whether the weight reduced as the item is picked corresponds to the weight range of the item to be unloaded at the unloading location, the type of item at the unloading location is determined to have been normally unloaded.

[0004] However, the aforementioned conventional logistics transport robot has the disadvantage of increasing operating costs because the loading and unloading operations of goods onto trays are performed by a separate picking robot, which is inefficient as the loading and unloading operations are not quick and smooth, and a picking robot must be provided at every unloading location.

[0005] The present invention aims to solve the aforementioned conventional problems, and its purpose is to provide an autonomous logistics robot that can increase transport efficiency by making the item transport operation quick and smooth through the automation of placing or taking off items onto a tray, and reduce operating costs associated with using a separate picking robot.

[0006] Another objective of the present invention is to provide an autonomous logistics robot that enables stable driving while applying a suspension of simple configuration to the drive unit for autonomous driving, reduces the number of parts to decrease the overall weight, maximizes stability during autonomous driving and maintains horizontal stability without load fluctuations during driving even with changes in the road surface, prevents shaking or inability to drive during goods transport by ensuring that all wheels are always in contact with the ground with a constant load, and prevents goods from falling from the cargo compartment by eliminating the phenomenon of tilting forward during braking.

[0007] To achieve the above objective, the present invention is characterized by an autonomous logistics robot comprising: a loading box having a space for loading goods; a horizontal movement unit installed in the loading box to move goods in a horizontal direction to automatically supply or discharge them into the loading space; a vertical movement unit installed in the loading box to move the horizontal movement unit in a vertical direction; and an autonomous driving drive unit installed at the bottom of the loading box to move the loading box.

[0008] In addition, the present invention features an autonomous logistics robot comprising a horizontal movement unit, a conveyor mechanism arranged in the front and rear horizontal directions of a cargo compartment for placing goods, and a first electric motor for driving the conveyor mechanism.

[0009] In addition, the present invention features an autonomous logistics robot comprising a vertical movement unit, a screw rod installed vertically on the rear side of the cargo box, a screw block provided in the horizontal movement unit and screw-fitted with the screw rod, and a second electric motor for rotating the screw rod.

[0010] In addition, the present invention features an autonomous logistics robot comprising a human body detection means installed in the cargo compartment, wherein the human body detection means consists of light-emitting and light-receiving sensors positioned on both sides of the entrance of the cargo compartment through which goods enter and exit.

[0011] In addition, the present invention features an autonomous logistics robot in which the autonomous driving unit is equipped with an infrared sensor for equipment communication, a LiDAR sensor for obstacle detection and autonomous driving, and a camera for equipment docking and obstacle detection.

[0012] In addition, the present invention features an autonomous logistics robot in which a bumper sensor for detecting obstacle collisions is installed around the drive body of the autonomous driving unit.

[0013] In addition, the present invention is characterized by an autonomous logistics robot in which the cargo box is installed so as to be detachable from the autonomous driving unit.

[0014] In addition, the present invention features an autonomous driving logistics robot comprising: a driving body installed at the bottom of the cargo box; a first caster wheel installed on the front left and right sides of a body frame provided on the driving body; a second caster wheel installed on the rear left and right sides of the body frame; a driving wheel installed on the middle left and right sides of the body frame; and a plurality of link arms that interconnect the left and right first caster wheels, second caster wheels, and driving wheels in a manner that allows for mutual interlocking.

[0015] In addition, in the present invention, the structure for connecting the left and right first caster wheels, second caster wheels, and drive wheels to be interlocked by a plurality of link arms comprises: a first pivot shaft located between the first caster wheel and the drive wheel and fixedly installed on the vehicle body frame with the left-right direction as the axis; a first link arm with one end rotatably connected to the first pivot shaft and the first caster wheel installed on the other end; a second link arm rotatably installed on the rotational center axis of the drive wheel and having one end rotatably connected to the first pivot shaft; a second pivot shaft located between the second caster wheel and the drive wheel and fixedly installed on the vehicle body frame with the left-right direction as the axis; and a third link arm rotatably installed on the second pivot shaft and having the second caster wheel installed on one end. The autonomous logistics robot is characterized by comprising a fourth link arm that rotatably connects the other ends of the second link arm and the third link arm so that the second link arm and the third link arm are coupled in opposite rotational directions.

[0016] In addition, the present invention features an autonomous logistics robot configured such that, while the drive wheel and the first and second caster wheels are in contact with a horizontal plane, the rotational center axis of the drive wheel and the first and second pivot axes are located on the same horizontal line, and the body frame is configured to maintain a horizontal position.

[0017] In addition, the present invention features an autonomous logistics robot further comprising first and second elastic members that are elastically installed between the ends of the first and third link arms, on which the first and second caster wheels are installed, and the vehicle body frame, and which provide elastic force to the first and second caster wheels in a direction that separates them from the vehicle body frame.

[0018] In addition, the present invention features an autonomous logistics robot further comprising a third elastic member elastically installed between the end of the third link arm to which the fourth link arm is connected and the vehicle body frame, and providing elastic force to the connecting portion of the third and fourth link arms in a direction separated from the vehicle body frame.

[0019] According to the characteristic configuration of the present invention described above, the loading and unloading operation of goods to be transported is automated by means of a horizontal movement unit and a vertical movement unit provided in the loading box without a separate picking robot, thereby allowing for the rapid and smooth transport of goods in an automatic shipping system of a product manufacturing factory or a logistics transport system of a distribution center, which can increase work efficiency, and there is no need to place a separate picking robot at every unloading location, which has the effect of significantly reducing operating costs associated with purchase and installation.

[0020] In addition, the autonomous driving logistics robot of the present invention can drive stably even on uneven ground by means of a suspension function provided in the autonomous driving drive unit, and since this suspension function is achieved by first to fourth link arms connecting the first and second caster wheels and the drive wheel, the configuration of the autonomous driving drive unit can be simplified and the weight and number of parts can be reduced as much as possible, thereby improving assembly and productivity during manufacturing and significantly reducing manufacturing costs.

[0021] In addition, the autonomous driving drive unit of the autonomous driving logistics robot according to the present invention has the rotational center axis of the driving wheel connected to the first to fourth link arms that perform a suspension function and the first and second pivot axes located on the same horizontal line as the lower part of the vehicle body frame, so that the load that presses the middle driving wheel against the ground can be increased. As a result, power transmission with the ground is reliably achieved, and the load acting on each wheel does not change even with changes in the road surface, and all wheels can always press against the ground with a constant load, thereby maximizing stability during goods transport so that goods can be transported more safely without shaking, and also has the effect of preventing goods from falling due to sudden stopping while driving by eliminating the phenomenon of tilting forward even when braking.

[0022] In addition, the autonomous logistics robot according to the present invention detects the movement path, the location and shape of surrounding obstacles, a forward 3D scan, and human movement by means of a LiDAR and various sensors installed in the autonomous driving unit and the cargo compartment, thereby securing the field of view necessary for avoiding obstacles during autonomous driving for transporting goods and detecting and recognizing floor condition information in real time, thus maximizing safety during autonomous driving.

[0023] FIG. 1 is a perspective view of an autonomous logistics robot according to the present invention.

[0024] FIG. 2 is a partially separated perspective view of an autonomous logistics robot showing the main internal components of FIG. 1.

[0025] FIG. 3 is a front view of an autonomous logistics robot according to the present invention.

[0026] FIG. 4 is a rear view of an autonomous logistics robot according to the present invention.

[0027] FIGS. 5 and 6 are operation state diagrams of an autonomous logistics robot according to the present invention.

[0028] FIG. 7 is a bottom perspective view showing the interior of a drive body with one drive wheel removed from the autonomous driving drive unit of an autonomous logistics robot according to the present invention.

[0029] FIG. 8 is a side view of the autonomous driving drive unit shown in FIG. 7.

[0030] FIGS. 9 to 12 are diagrams comparing the operating states of the autonomous driving drive unit of the autonomous logistics robot according to the present invention and the conventional autonomous driving drive unit.

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0032] FIGS. 1 and 2 illustrate an autonomous logistics robot according to the present invention. As illustrated, the autonomous logistics robot of the present invention comprises a storage box (51) having a space for storing goods, a horizontal movement unit (60) installed in the storage box (51) for moving goods in a horizontal direction within the storage box (51) to automatically supply and discharge them, a vertical movement unit (70) installed in the storage box (51) for moving the horizontal movement unit (60) in a vertical direction, and an autonomous driving unit (10) installed at the bottom of the storage box (51) for moving the storage box (51).

[0033] The storage box (51) is configured in a box shape that is open to the front and upward, and is installed on the autonomous driving unit (10) to function as a safety cover to prevent abnormal access to the inside of the equipment. Although not shown, it is preferable that the side walls be configured in a detachable structure so that they can be easily separated when necessary.

[0034] A touch LCD (52) for inputting commands to the autonomous logistics robot and checking the operating status, a status indicator LED lamp (53), and an emergency stop button (54) are installed on the upper part of the cargo box (51). The status indicator LED (53) is configured to display the status by distinguishing, for example, green (normal operation), red (emergency stop), and orange (when an abnormality occurs).

[0035] In addition, as shown in FIGS. 1 and 3, human body detection means are installed on both sides of the entrance where goods are supplied or discharged into the cargo box (51) at the front of the autonomous logistics robot. The human body detection means is configured, for example, by installing light-emitting and light-receiving sensors (55a, 55b) to detect when a human body approaches or enters near or inside the cargo box (51). In the autonomous driving unit (10), an infrared sensor (56a) for equipment communication, a LiDAR sensor (56b) for obstacle detection and autonomous driving, and a camera (56c) for equipment docking and obstacle detection are installed to detect the location and shape of surrounding obstacles, forward 3D scans and object movements, and distances to obstacles in front and behind, thereby enabling safe autonomous driving.

[0036] In addition, a bumper sensor (56d) for detecting obstacle collisions is installed around the drive body (10a) of the autonomous driving unit (10) so that the driving can be automatically stopped in an emergency when colliding with an obstacle, and as shown in FIG. 4, a detachable battery pack (56e) can be mounted on the rear side of the autonomous driving logistics robot, and it is preferable to install an emergency stop button (56f) on the rear side of the autonomous driving unit (10).

[0037] The horizontal movement unit (60) is installed in the storage box (51) to move goods in the horizontal direction within the storage box (51) for automatic supply and discharge, and consists of a conveyor mechanism (62) installed on a support frame (61) arranged horizontally in the storage box (51) as shown in FIGS. 2 and 5, and a first electric motor (63) for driving the conveyor mechanism (62).

[0038] The conveyor mechanism (62) is composed of a belt pulley (62b) positioned at the front and rear of the storage box (51) and a conveyor belt (62a) that is rotatably supported thereon, thereby moving an item placed on the conveyor belt (62a) in the front and rear directions of the storage box (51).

[0039] The first electric motor (63) is installed to rotate and drive the belt pulley (62b) on one side (in this embodiment, the inner side), and drives the belt pulley (62b) through a power transmission mechanism (64) consisting of a belt and a belt pulley, but is not limited thereto and may use other power transmission mechanisms such as a reduction gear or a chain.

[0040] The vertical movement unit (70) is configured to move the horizontal movement unit (60) in a vertical direction to match the height of the conveyor (C) of the transfer system for discharging or receiving goods at the unloading position, and comprises a screw rod (71) installed in a vertical direction and rotatably supported, a screw block (72) fixedly installed on the support frame (61) of the horizontal movement unit (60) and screw-fitted with the screw rod (71), and a second electric motor (73) for rotating the screw rod (71). The vertical movement of the horizontal movement unit (60) can be performed smoothly without shaking by using a linear guide means.

[0041] The autonomous driving unit (10) is designed to mount a cargo box (51) on its upper side and move it autonomously, and is explained with reference to FIGS. 7 and FIGS. 8.

[0042] FIGS. 7 and 8 show the internal configuration of the autonomous driving unit (10) with one driving wheel (14) removed. First and second caster wheels (12, 13) are installed on the left and right sides of the front and rear of the vehicle frame (11) provided within the driving body (10a), and driving wheels (14) are installed on the left and right sides of the middle point of the vehicle frame (11). It is preferable that the driving wheels (14) on both sides be of the type with an internal driving motor (not shown), or they may be configured as external types driven by a driving motor separately provided in the vehicle frame (11).

[0043] In addition, the first and second caster wheels (12, 13) and the drive wheel (14) are equipped with a suspension that enables stable driving even on uneven road surfaces, and the suspension consists of a plurality of link arms that connect the left and right first caster wheels (12), second caster wheels (13), and drive wheel (14) so ​​as to be interconnected.

[0044] The structure in which the first caster wheel (12), the second caster wheel (13), and the drive wheel (14) on the left and right sides are interconnected by a plurality of link arms comprises first and second pivot shafts (21, 22) installed on both the left and right sides of the vehicle body frame (11). The first pivot shaft (21) is located between the first caster wheel (12) and the drive wheel (14) and is fixedly installed on the vehicle body frame (11) with the left and right directions as the axis.

[0045] The second pivot shaft (22) is located between the second caster wheel (13) and the drive wheel (14) and is fixedly installed on the vehicle body frame (11) with the left and right directions as the axis.

[0046] Additionally, the first and second caster wheels (12, 13) are connected to the drive wheel (14) by the first to fourth link arms (31, 32, 33, 34). One end of the first link arm (31) is rotatably connected to the first pivot shaft (21), and the first caster wheel (12) is installed on the other end.

[0047] The second link arm (32) is rotatably installed on the drive wheel (14) and is rotatably connected to the first pivot shaft (21).

[0048] The third link arm (33) is rotatably installed on the second pivot shaft (22), and the second caster wheel (13) is installed at one end.

[0049] The fourth link arm (34) is intended to connect the other ends of the second and third link arms (32, 33), and is rotatably connected to the other ends of the second link arm (32) and the third link arm (33) so that the second link arm (32) and the third link arm (33) move in opposite rotational directions.

[0050] That is, by setting the connection part between the second link arm (32) and the fourth link arm (34) to be located at the lower part of the connection part between the third link arm (33) and the fourth link arm (34), when the second link arm (32) rotates clockwise around the rotational center axis (14a) of the drive wheel (14), the fourth link arm (34) pushes up the third link arm (33) to rotate counterclockwise around the second pivot axis (22), and when the second link arm (32) rotates counterclockwise around the rotational center axis (14a) of the drive wheel (14), the fourth link arm (34) pulls down the third link arm (33) to rotate clockwise around the second pivot axis (22).

[0051] In addition, the autonomous driving drive unit (10) of the autonomous driving logistics robot according to the present invention is preferably configured such that, while the drive wheel (14) and the first and second caster wheels (12, 13) are in contact with a horizontal plane, the rotation center axis (14a) of the drive wheel (14) and the first and second pivot axes (21, 22) are located on the same horizontal line, and at this time, the vehicle body frame (11) maintains a horizontal position.

[0052] In addition, first and second elastic members (41, 42) are elastically installed between the ends of the first and third link arms (31, 33), on which the first and second caster wheels (12, 13) are installed, and the vehicle body frame (11). The first and second elastic members (41, 42) are composed of compression coil springs and have both ends supported by the first and third link arms (31, 33) and the vehicle body frame (11), respectively, thereby providing elastic force so that the first and second caster wheels (12, 13) are always separated from the vehicle body frame (11).

[0053] In addition, a third elastic member (43) is elastically installed between the end of the third link arm (33), to which the fourth link arm (34) is connected, and the vehicle body frame (11). The third elastic member (43) is also composed of a compression coil spring and has both ends supported by the third link arm (33) and the vehicle body frame (11), respectively, thereby providing elastic force so that the connecting portions of the third and fourth link arms (34) are always separated from the vehicle body frame (11).

[0054] The operation of the autonomous logistics robot according to the present invention, which is configured as described above, is as follows.

[0055] As illustrated in FIGS. 5 and 6, the autonomous logistics robot can load items (W) that are manufactured and discharged from a manufacturing plant, for example, or classified in a logistics warehouse's transport system and discharged via a conveyor (C), into a loading container (51).

[0056] That is, by driving the second electric motor (73) of the vertical movement unit (70) to rotate the screw rod (71), the horizontal movement unit (60) can be moved up and down by the screw block (73) that is screw-fitted with it, so that it can be positioned at the same horizontal height as the upper surface of the conveyor (C).

[0057] Next, when the first electric motor (63) of the horizontal movement unit (60) is driven, the belt pulley (62b) can be rotated by the power transmission mechanism (64), and thereby the conveyor belt (62a) is driven from the outside to the inside, so that the item (W) discharged from the conveyor (C) can be moved onto the conveyor belt (62a) and at the same time moved into the inside of the storage box (51) to be loaded, and when the item (W) reaches the loading position, a position detection sensor not shown detects this and stops the driving of the first electric motor (63), thereby causing the item (W) to stop at the loading position.

[0058] When the loading of the item (W) is completed, the item (W) can be moved by driving the autonomous driving unit (10). When moving the item (W), the vertical moving unit (70) is driven as shown in FIG. 5 so that the horizontal moving unit (60) is always positioned at the bottom, thereby lowering the center of gravity and minimizing shaking, so that stability is maintained during driving and the item can be prevented from falling due to shaking as much as possible.

[0059] When the autonomous logistics robot transports goods and arrives at a loading / unloading location at another place, as described above, the second drive motor (73) of the vertical movement unit (70) is driven to move the horizontal movement unit (60) up and down, thereby matching the height of the conveyor (C) to which the goods (W) are to be transferred and supplied, and then the first drive motor (63) of the horizontal movement unit (60) is driven to drive the conveyor belt (62a) on which the goods (W) are placed from the inside to the outside, thereby allowing the goods (W) to be supplied onto the conveyor (C).

[0060] As such, the autonomous logistics robot of the present invention can independently perform loading and unloading operations by means of a horizontal movement unit (60) and a vertical movement unit (70) installed in a loading box (51), so there is no need to place conventional picking robots at every unloading location, thereby allowing for efficient material transport operations and significantly reducing operating costs.

[0061] Meanwhile, the autonomous driving unit (10) can safely drive to a desired location without colliding with obstacles by using an infrared sensor (56a) for equipment communication, a LiDAR sensor (56b) for obstacle detection and autonomous driving, and a camera (56c) for equipment docking and obstacle detection, which are positioned at the front as shown in FIGS. 1 and 3, to detect the location and shape of surrounding obstacles, a 3D scan of the front and movement of objects, and distances to obstacles in the front and rear. Additionally, it can prevent collisions with obstacles by using a bumper sensor (56d) provided around the driving body (10a) of the autonomous driving unit (10), and automatically stop driving in the event of a collision with an obstacle.

[0062] Furthermore, the autonomous driving logistics robot of the present invention can further increase driving stability when transporting goods by preventing shaking as much as possible when driving on irregular ground through the autonomous driving drive unit (10) equipped with a road surface adaptive suspension.

[0063] That is, FIGS. 9 to 12 are diagrams showing the operation state of the autonomous driving drive unit (10) of the autonomous driving logistics robot according to the present invention and the autonomous driving drive unit (10) equipped with a conventional tension device. As shown in FIG. 9 (a), the autonomous driving drive unit (10) of the present invention is composed of first to fourth link arms (31, 32, 33, 34) connecting the rotation center axis (14a) of the drive wheel (14) and the first and second pivot axes (21, 22). Compared to the conventional autonomous driving drive unit (10) with a tension device (5, 6, 7) applied as shown in FIG. 9 (b), the configuration is greatly simplified, allowing for a reduction in weight and a reduction in the number of parts by more than 60%, thereby significantly reducing manufacturing costs.

[0064] In addition, the autonomous driving unit (10) of the present invention distributes the load acting on the vehicle body frame (11) to both sides centered on the driving wheel (14) by means of the first and second pivot axes (21, 22), so that 50% acts on the middle driving wheel (14) and 25% each acts on the first and second caster wheels (12, 13) on both sides, and as a result, the contact force between the driving wheel (14) and the ground is large, so power transmission is reliably achieved, allowing for smooth driving.

[0065] In contrast, in the conventional autonomous driving drive unit (10), the middle drive wheel (4) and the two caster wheels (1, 2) are each individually installed by their respective tension devices (5, 6, 7). Therefore, depending on the position of the load acting on the vehicle body frame (1), it acts unevenly with each of them ranging from 0 to 100 percent. Consequently, if the load acting on the middle drive wheel (4) and the ground is low and there is insufficient contact force, not only is smooth driving not achieved due to slipping, but in severe cases, a spinning phenomenon occurs.

[0066] In addition, when driving on an uneven road surface as shown in FIG. 10 (a) and FIG. 11 (a), the autonomous driving unit (10) of the present invention has very good driving stability because the intermediate driving wheel (14) and the front and rear first and second caster wheels (12, 13) are always in close contact with the ground by the first to fourth link arms (31, 32, 33, 34). However, in the case of a conventional autonomous driving unit (10), as shown in FIG. 10 (b), the front and rear caster wheels (1, 2) come into contact with the ground and the intermediate driving wheel (4) comes off the ground, making driving unstable or impossible. Also, as shown in FIG. 11 (b), if the intermediate driving wheel (4) comes into contact with the ground and the front and rear caster wheels (1, 2) come off the ground, the autonomous driving logistics robot tilts forward and backward, and thus stable driving is not achieved.

[0067] That is, in the present invention, as shown in FIG. 10 (a), when the ground on the front and rear sides of the first and second caster wheels (12, 13) is high and the ground on the middle side of the drive wheel (14) is low, the first and third link arms (31, 33) rotate around the first and second pivot shafts (22) by the height difference, thereby bringing the drive wheel (14) into close contact with the ground, so that the driving force of the drive wheel (14) is maintained and smooth driving can be continued.

[0068] In addition, as shown in FIG. 11 (a), even when the ground on the front and rear sides of the first and second caster wheels (12, 13) is low and the ground on the middle side of the drive wheel (14) is high, the first and third link arms (31, 33) rotate around the first and second pivot axes (21, 22) by the height difference, thereby bringing the front and rear first and second caster wheels (12, 13) into close contact with the ground, so that the autonomous logistics robot can continue stable driving without tilting forward or backward.

[0069] Next, as shown in FIG. 12 (a), the autonomous driving unit (10) of the present invention is connected to the intermediate driving wheel (14) and the front and rear first and second caster wheels (12, 13) by the first to fourth link arms (31, 32, 33, 44) even when the load shifts forward due to inertia during braking, so all wheels can maintain contact with the ground. However, as shown in FIG. 12 (b), the conventional autonomous driving unit (10) has the driving wheel (4) and the front and rear caster wheels (1, 2) supported separately by tension devices (5, 6, 7), so when the load shifts forward due to inertia during braking, a large load is applied to the front caster wheel (1) and it tilts forward, and as a result, a phenomenon may occur where goods fall during the transport drive of the autonomous logistics robot.

[0070] As such, according to the autonomous driving unit (10) of the present invention, the first to fourth link arms (31, 32, 33, 34) connecting the first and second caster wheels (12, 13) on the front and rear sides and the intermediate driving wheel (14) allow the driving wheel (14) and the first and second caster wheels (12, 13) to always be in contact with the ground even on uneven road surfaces, enabling stable and smooth driving, and there is no tilting when braking, making it very useful for transporting items that may be easily damaged by falling.

[0071] In addition, according to the first to third elastic members (41, 42, 43) installed between the body frame (11) and the first and third link arms (31, 33), when the first and third link arms (31, 33) repeatedly rotate forward and reverse at a predetermined angle around the first and second pivot axes (21, 22) while driving on flat and uneven roads as shown in FIG. 10 and FIG. 11, the members elastically contract and expand, thereby mitigating the impact during the operation of the first and third link arms (31, 33) and enabling more stable and unwavering driving.

[0072] Optimal embodiments have been disclosed in the drawings and specification as described above. Specific terms have been used herein, but they are used only for the purpose of describing the invention and are not intended to limit the meaning or the scope of the invention as described in the claims. Therefore, those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the invention should be determined by the technical spirit of the appended claims.

Claims

1. A cargo box having a cargo storage space; A horizontal movement unit installed in the above-mentioned storage compartment to move items horizontally and automatically supply or discharge them within the storage space; A vertical movement unit installed in the above cargo box for moving the above horizontal movement unit in a vertical direction; and An autonomous logistics robot characterized by including an autonomous driving unit installed at the bottom of the above-mentioned cargo box to move the cargo box.

2. In claim 1, the horizontal movement unit is, An autonomous logistics robot characterized by comprising a conveyor mechanism arranged in the front and rear horizontal directions in a cargo compartment for placing goods, and a first electric motor for driving the conveyor mechanism.

3. In claim 1 or 2, the vertical movement unit is, An autonomous logistics robot characterized by comprising a screw rod installed vertically on the rear side of the above-mentioned cargo box, a screw block provided in the above-mentioned horizontal movement unit and screw-fitted with the above-mentioned screw rod, and a second electric motor for rotating the above-mentioned screw rod.

4. In claim 1, further comprising a human body detection means installed in the cargo compartment, An autonomous logistics robot characterized by the above-mentioned human body detection means comprising light-emitting and light-receiving sensors positioned on both sides of the entrance of a cargo compartment through which goods enter and exit.

5. An autonomous logistics robot according to claim 1, characterized in that the autonomous driving unit is equipped with an infrared sensor for equipment communication, a LiDAR sensor for obstacle detection and autonomous driving, and a camera for equipment docking and obstacle detection.

6. An autonomous logistics robot according to claim 1, characterized in that a bumper sensor for detecting obstacle collisions is installed around the driving body of the autonomous driving unit.

7. An autonomous logistics robot according to claim 1, characterized in that the cargo box is installed so as to be detachably connected to the autonomous driving unit.

8. In claim 1, the autonomous driving drive unit comprises a drive body installed at the bottom of the cargo box; A first caster wheel installed on the front left and right sides of the vehicle body frame provided in the above-mentioned drive body; Second caster wheels installed on the rear left and right sides of the above-mentioned vehicle body frame; Drive wheels installed on the middle left and right sides of the above-mentioned body frame; and An autonomous logistics robot characterized by including a plurality of link arms that can interconnect the first caster wheel, second caster wheel, and drive wheel on the left and right sides.

9. In claim 8, the structure in which the left and right first caster wheels, second caster wheels, and drive wheels are interconnected by a plurality of link arms is, A first pivot shaft located between the first caster wheel and the drive wheel, and fixedly installed on the body frame with the left-right direction as the axis; A first link arm having one end rotatably connected to the first pivot shaft and the other end having the first caster wheel installed thereon; A second link arm rotatably installed on the rotational center axis of the above-mentioned drive wheel, with one end rotatably connected to the above-mentioned first pivot axis; A second pivot shaft located between the second caster wheel and the drive wheel, and fixedly installed on the vehicle body frame with the left-right direction as the axis; A third link arm rotatably installed on the second pivot shaft and having the second caster wheel installed at one end; and An autonomous logistics robot characterized by comprising a fourth link arm that rotatably connects the other ends of the second link arm and the third link arm so that the second link arm and the third link arm are coupled in opposite rotational directions.

10. An autonomous logistics robot according to claim 9, characterized in that, while the drive wheel and the first and second caster wheels are in contact with a horizontal plane, the rotational center axis of the drive wheel and the first and second pivot axes are located on the same horizontal line, and the body frame is set to maintain a horizontal position.

11. An autonomous logistics robot according to claim 9 or 10, further comprising first and second elastic members elastically installed between the ends of the first and third link arms on which the first and second caster wheels are installed and the vehicle body frame, and providing elastic force to the first and second caster wheels in a direction separated from the vehicle body frame.

12. The autonomous logistics robot according to claim 11, further comprising a third elastic member elastically installed between the end of the third link arm to which the fourth link arm is connected and the vehicle body frame, and providing elastic force in a direction in which the connecting portion of the third and fourth link arms is separated from the vehicle body frame.

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