Wheel Assembly Structure for Preventing Wheel Slip and Mobile Robot Using It

摘要

Disclosed are a wheel assembly structure for preventing wheel slip and a mobile robot using the same. A wheel assembly of a mobile robot according to an embodiment of the present invention includes a main wheel for moving the mobile robot, a driving motor and a gear for rotating the main wheel, and a second gear provided on one side by rotation of the main wheel. 1 A wheel gearbox assembly that is rotated within a predetermined range by generating a hinge torque on the hinge shaft; and a wheel lower cover coupled to the wheel gear box assembly to protect a lower portion and having a first hinge shaft mounting portion coupled to the first hinge shaft at one end thereof.