Serving robot having floor-adaptive suspension

Abstract

The present invention provides a serving robot having a floor-adaptive suspension, wherein the robot is capable of safe autonomous driving by means of LiDARs and sensors capable of detecting and recognizing surrounding obstacles and floor state information in real time, a suspension of a simple configuration is used to increase stability during serving driving, all wheels are always forced against the floor by a constant load, thereby minimizing vibrations during driving, and the robot is configured not to tilt forward during braking such that, even when food is transported, the food is prevented from being spilled. The serving robot of the present invention has an autonomous driving driver comprising: a first pivot shaft positioned between a first caster wheel and a driving wheel and installed on a vehicle body frame; a first link arm having one end connected to the first pivot shaft and the other end on which the first caster wheel is installed; a second link arm installed on a rotation center shaft of a driving wheel and having one end connected to the first pivot shaft; a second pivot shaft positioned between a second caster wheel and the driving wheel and installed on the vehicle body frame; a third link arm installed on the second pivot shaft and having one end on which the second caster wheel is installed; and a fourth link arm configured to connect the other ends of the second link arm and the third link arm so that the second link arm and the third link arm interwork with each other in the opposite rotating directions.

Description

Serving robot equipped with road-adaptive suspension

[0001] The present invention relates to a serving robot, and more specifically, to a serving robot equipped with a road surface adaptive suspension that enables safe autonomous driving using LiDAR and various sensors when transporting food or food utensils loaded on a multi-layered serving tray, while simultaneously driving stably without shaking and serving even on uneven or protruding road surfaces.

[0002] With the recent advancement of autonomous driving technology, self-driving serving robots have been introduced in businesses such as restaurants and cafes. By performing various service functions within the store, including handling entry and exit, as well as interacting with customers, these robots prevent congestion and provide a sense of comfort and security, thereby offering better customer service.

[0003] As prior art for such serving robots, there is, for example, known through Korean Registered Patent No. 10-2301734.

[0004] The serving robot of the prior art described above includes a receiving section in which a plurality of serving trays for receiving food are arranged in an upper and lower multi-layered structure and a monitor is provided on the upper part, an autonomous driving section for moving the receiving section to a target position by mounting it on a driving body, and a control section for controlling the monitor and the autonomous driving section.

[0005] In most of these serving robots, as shown in FIG. 1, caster wheels (1, 2) for preventing tilting are installed in the front and rear directions of the frame (3) of the driving body, and a driving wheel (4) is installed in the middle part, which is driven by a driving motor or an internal driving motor (not shown) installed on the frame (3) of the driving body.

[0006] Accordingly, driving and steering are performed together by controlling the rotational speed and rotational direction of the driving wheel (4), and tension devices (5, 6, 7) are installed between each caster wheel (1, 2) and driving wheel (4) and the frame (3) of the driving body so as to absorb shock when driving on an uneven road surface.

[0007] However, the tension device (5, 6, 7) of the conventional autonomous driving drive unit is formed by combining several parts including a guide shaft, a slide block, and a coil spring, and is installed independently on the caster wheel (1, 2) and the drive wheel (4), respectively, so the overall configuration of the autonomous driving drive unit is very complex. As a result, there are disadvantages such as reduced assembly efficiency during manufacturing due to the increase in the number of parts, increased manufacturing costs, and increased overall weight of the autonomous driving drive unit.

[0008] Furthermore, since the elastic force of the coil spring is used as the tension device (5, 6, 7), it is sensitive to spring tension and the vertical stroke is limited, so the drive wheel (4) or caster wheel (1, 2) may come off the ground.

[0009] In this case, if the drive wheel (4) is deviated from the ground, it may become impossible to drive, and if the load applied to the drive wheel (4) and the caster wheels (1, 2) changes, it may cause shaking during driving, so there is a problem that the broth may overflow when serving a container containing broth, or in severe cases, food or food utensils placed on the serving tray may fall to the floor.

[0010] In addition, since the tension devices (5, 6, 7) installed on the caster wheels (1, 2) and the drive wheel (4) operate independently, a phenomenon of tilting to one side may occur depending on the load applied to each tension device (5, 6, 7). As a result, when the serving robot brakes while driving autonomously, it may tilt forward due to inertia, causing problems such as food spilling. Since stable driving of the serving robot must be prioritized to improve serving services for customers, there is an urgent need for improvement in this regard.

[0011] The present invention aims to solve the aforementioned conventional problems, and its purpose is to provide a serving robot having a road surface adaptive suspension that enables stable driving while applying a suspension with a simple configuration to the autonomous driving drive unit, reduces overall weight by reducing the number of parts, and improves assembly ease and reduces manufacturing costs during manufacturing.

[0012] Another objective of the present invention is to provide a serving robot having a road surface adaptive suspension that can maximize stability during autonomous driving and maintain horizontal stability without load fluctuations during driving even with changes in the road surface, prevent shaking or inability to drive during serving by ensuring that all wheels are always in contact with the ground with a constant load, and prevent food from spilling when serving by eliminating the phenomenon of tilting forward during braking.

[0013] In addition, another objective of the present invention is to provide a serving robot that further maximizes safety during autonomous driving by including multiple LiDARs and sensors capable of detecting and recognizing information on surrounding obstacles and floor conditions in real time during autonomous driving for serving.

[0014] To achieve the above objective, the present invention relates to a serving robot comprising a receiving section having a monitor on the upper part and a plurality of serving trays arranged in an upper and lower multi-layered structure, and an autonomous driving section having a driving body for mounting the receiving section, wherein the autonomous driving section comprises: 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 connecting the left and right first caster wheels, second caster wheels, and driving wheels so as to be interlocked.

[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 serving 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 linked in opposite rotational directions.

[0016] In addition, the present invention features a serving robot configured such that, while the driving wheel and the first and second caster wheels are in contact with a horizontal plane, the rotational center axis of the driving 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 a serving 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 a serving 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] In addition, the present invention features a serving robot that further includes a Lidar for detecting the position and shape of surrounding obstacles and a Real Sensor for detecting forward 3D scanning and object movement, which is installed on the front side of the autonomous driving unit.

[0020] In addition, the present invention features a serving robot further comprising an ultrasonic sensor installed at the front and rear of the autonomous driving unit and at the front of the receiving unit to detect the distance to obstacles at the front and rear.

[0021] In addition, the present invention features a serving robot further comprising an ultrasonic sensor and a TOF sensor installed on the serving tray to detect the presence or absence of an object on the serving tray.

[0022] In addition, the present invention is characterized by a serving robot in which the receiving portion is detachably installed from an autonomous driving unit.

[0023] According to the characteristic configuration of the present invention described above, the suspension function for stable driving even on uneven ground during the driving of the serving robot is provided by the first to fourth link arms connecting the first and second caster wheels and the drive wheel, thereby simplifying the configuration of the autonomous driving drive unit and minimizing the weight and number of parts, which improves assembly and productivity during manufacturing and has the effect of significantly reducing manufacturing costs.

[0024] In addition, the autonomous driving unit of the serving 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, thereby increasing the load that presses the middle driving wheel against the ground. 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. This maximizes stability during serving driving, allowing food to be transported more safely without shaking, thereby producing the effect of further enhancing serving services for customers.

[0025] In addition, the autonomous driving unit of the serving robot according to the present invention can eliminate the phenomenon of tilting forward during braking by means of a suspension function consisting of the first to fourth link arms, and thereby has the effect of resolving the problem of food spilling due to sudden stopping while driving.

[0026] In addition, the serving robot according to the present invention detects the location and shape of surrounding obstacles, forward 3D scans and object movements, distances from front and rear obstacles, and the presence or absence of objects on the serving tray by means of a LiDAR and various sensors installed in the autonomous driving unit, receiving unit, and serving tray, thereby securing the field of view necessary for obstacle avoidance during autonomous driving for serving and detecting and recognizing floor condition information in real time, thereby maximizing the safety of autonomous driving, and has the effect of efficiently performing a dish clearing function that collects dishes (after the service provided by the customer is completed) left by the customer and transports them to the kitchen.

[0027] FIG. 1 is a cross-sectional view showing an autonomous driving drive unit applied to a conventional serving robot.

[0028] FIG. 2 is a front perspective view of a serving robot according to the present invention.

[0029] FIG. 3 is a rear perspective view of a serving robot according to the present invention.

[0030] FIG. 4 is a perspective view of a serving robot according to the present invention viewed from below.

[0031] FIG. 5 is an exploded perspective view of a serving robot according to the present invention.

[0032] FIG. 6 is a perspective view of a serving robot showing the interior of the drive body of the autonomous driving drive unit in FIG. 2.

[0033] FIG. 7 is a perspective view of a serving robot with one drive wheel removed from FIG. 6.

[0034] FIG. 8 is a perspective view of the autonomous driving drive unit of a serving robot according to the present invention, viewed from below.

[0035] FIG. 9 is a side view of an autonomous driving drive unit with one drive wheel removed in a serving robot according to the present invention.

[0036] FIGS. 10 to 13 are diagrams comparing the operation states of the autonomous driving unit of a serving robot according to the present invention and a conventional autonomous driving unit.

[0037] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0038] FIGS. 2 to 4 show a serving robot equipped with a road surface adaptive suspension according to the present invention. As illustrated, the serving robot of the present invention includes a receiving portion (50) for placing food, food utensils, or containers, and a driving body (10a) for carrying the receiving portion (50) and an autonomous driving unit (10) for moving the receiving portion (50) to a target position.

[0039] The receiving section (50) is formed by arranging a plurality of serving trays (51) in an upper and lower multi-layered structure, and is equipped with a monitor (52) with a touchscreen function on the upper side so as to be able to input or display various information required for the serving service of the serving robot.

[0040] In addition, the serving robot of the present invention is configured to perform safe autonomous driving and return / exit functions by detecting the location and shape of surrounding obstacles, forward 3D scans and movement of objects, distances from front and rear obstacles and the presence or absence of objects on the serving tray through a LiDAR (61), Real Sensor (62), Ultrasonic Sensor (63), and Time of Flight Sensor (64) installed in the autonomous driving unit (10) and the receiving unit (50).

[0041] That is, the lidar (61) performs omnidirectional distance measurement and mapping using laser pulses and is installed on the front side of the driving body (10a) of the autonomous driving unit (10) as shown in FIG. 2 to detect the location and shape of surrounding obstacles, and the real sensor (62) measures the depth and movement of objects in front using infrared and camera images and is installed on the lower part of the lidar (61) to perform 3D scanning of the front and detect the movement of objects.

[0042] The ultrasonic sensor (63) is used to measure the distance to the front and rear using sound waves. As shown in FIGS. 2 and 3, it is installed on the left and right sides of the real sensor (62) installed on the driving body (10a) of the autonomous driving unit (10), the monitor (52) of the receiving unit (50), and the rear of the driving body (10a), respectively, to detect the distance to the front and rear obstacles. As shown in FIG. 3, it is also installed on the bottom surface of the serving tray (51), respectively, to detect the presence or absence of an object on the serving tray (51) when performing the entry and exit functions.

[0043] The TOF sensor (64) is used to measure forward distance and depth using the speed of light and time difference, and is installed on each serving tray (51) as shown in FIG. 3 to determine whether there is an object on the serving tray (51) when performing the loading and unloading function.

[0044] Meanwhile, as shown in FIG. 5, it is preferable to mount the receiving portion (50) on the upper surface of the driving body (10a) of the autonomous driving unit (10) and install it so that it can be detachably attached using a detachable means not shown. This allows the receiving portion to be replaced with a serving tray suitable for the type or method of serving service, thereby enabling compatible use.

[0045] As shown in FIGS. 6 to 9, the autonomous driving unit (10) has first and second caster wheels (12, 13) installed on the front and rear left and right sides of the body frame (11) provided in the driving body (10a), and driving wheels (14) are installed on the left and right sides at the middle point of the body frame (11). It is preferable that the driving wheels (14) on both sides have an internal type with a driving motor (not shown), or they may be configured as an external type driven by a driving motor separately provided in the body frame (11).

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] The second link arm (32) is rotatably installed on the drive wheel (14) and is rotatably connected to the first pivot shaft (21).

[0051] 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.

[0052] 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.

[0053] 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).

[0054] In addition, the autonomous driving unit (10) of the serving robot according to the present invention is preferably configured such that, while the driving 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 driving 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.

[0055] 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).

[0056] 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).

[0057] The operation of the serving robot according to the present invention, configured as described above, is as follows.

[0058] As shown in FIGS. 2 and 3, the serving robot detects the location and shape of surrounding obstacles during autonomous driving by means of a LiDAR (61), a Real Sensor (62), an Ultrasonic Sensor (63), and a TOF Sensor (64) positioned at the front and rear, detects the movement of objects and the distance to obstacles at the front and rear, thereby enabling it to secure the necessary field of view for driving and avoid obstacles, allowing it to safely move to a target location without colliding with surrounding obstacles.

[0059] In addition, as shown in FIG. 4, the presence or absence of an object on the serving tray (51) is detected by the ultrasonic sensor (63) and the TOF sensor (64) placed on the serving tray (51), so the function of taking out and taking out food for serving can be reliably performed.

[0060] Furthermore, the serving robot of the present invention can further increase driving stability during serving by preventing shaking as much as possible when driving on irregular ground through the autonomous driving unit (10) equipped with a road surface adaptive suspension.

[0061] That is, FIGS. 10 to 13 are diagrams showing the operation state of an autonomous driving unit of a serving robot according to the present invention and an autonomous driving unit equipped with a conventional tension device. As shown in FIG. 10 (a), the autonomous driving unit of the present invention is composed of first to fourth link arms (31, 32, 33, 34) connecting the rotation center axis (14a) of the driving wheel (14) and the first and second pivot axes (21, 22). Compared to a conventional autonomous driving unit with a tension device (5, 6, 7) applied as shown in FIG. 10 (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.

[0062] In addition, the autonomous driving drive unit of the present invention distributes the load acting on the vehicle body frame (11) to both sides centered on the drive wheel (14) by means of the first and second pivot axes (21, 22), so that 50% acts on the middle drive 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 drive wheel (14) and the ground is large, so power transmission is reliably achieved, allowing for smooth driving.

[0063] In contrast, since the conventional autonomous driving drive unit has the middle drive wheel (4) and the two caster wheels (1, 2) installed individually by their respective tension devices (5, 6, 7), the load acting on the vehicle body frame (1) acts unevenly, ranging from 0 to 100% depending on the position of the load. 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.

[0064] In addition, when driving on an uneven road surface as shown in FIG. 11 (a) and FIG. 12 (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, as shown in FIG. 11 (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. 12 (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 serving robot tilts forward and backward, and thus stable driving is not achieved.

[0065] That is, in the present invention, as shown in FIG. 11 (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.

[0066] In addition, as shown in FIG. 12 (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 serving robot can continue stable driving without tilting forward or backward.

[0067] Next, as shown in FIG. 13 (a), the autonomous driving drive unit of the present invention is connected to the intermediate drive 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. 13 (b), the conventional autonomous driving drive unit is supported separately by the drive wheel (4) and the front and rear caster wheels (1, 2) 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), causing it to tilt forward, and as a result, food may spill out during the serving drive of the serving robot.

[0068] As such, according to the serving robot 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 drive wheel (14) allow the drive wheel (14) and the first and second caster wheels (12, 13) to always be in contact with the ground even on uneven surfaces, enabling stable and smooth driving, and there is no tilting when braking, making it very useful when serving food where there is a high risk of spilling.

[0069] 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 surfaces as shown in FIGS. 10 to 13, they 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, making it very suitable for serving food.

[0070] In addition, in this embodiment, the driving wheels (14) on both sides are driven by a driving motor not shown, and the suspension is applied to an autonomous driving unit, but it is not limited thereto and can also be applied to a suspension of an autonomous driving unit that does not drive the driving wheels (14) by a driving motor.

[0071] 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 serving robot comprising a receiving section having a monitor on the upper part and a plurality of serving trays arranged in an upper and lower multi-layered structure, and an autonomous driving section for moving the receiving section by mounting it on a driving body, The above-mentioned autonomous driving drive unit is, 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 A serving robot characterized by including a plurality of link arms that interconnect the first caster wheel, the second caster wheel, and the drive wheel on the left and right sides.

2. In claim 1, 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 A serving robot characterized by comprising a fourth link arm that freely 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 mutually opposite rotational directions.

3. A serving robot according to claim 2, characterized in that, while the driving wheel and the first and second caster wheels are in contact with a horizontal plane, the rotational center axis of the driving 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.

4. A serving robot according to claim 3, 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.

5. A serving robot according to claim 4, 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.

6. A serving robot according to claim 1, further comprising a LiDAR installed on the front side of the autonomous driving drive unit for detecting the position and shape of surrounding obstacles, and a Real Sensor for detecting forward 3D scanning and object movement.

7. A serving robot according to claim 6, further comprising ultrasonic sensors installed at the front and rear of the autonomous driving unit and at the front of the receiving unit to detect the distance to front and rear obstacles.

8. A serving robot according to claim 7, further comprising an ultrasonic sensor and a TOF sensor installed on the serving tray to detect the presence or absence of an object on the serving tray.

9. A serving robot according to claim 1, characterized in that the receiving portion is installed detachably from the autonomous driving portion.

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