WHEEL ASSEMBLY STRUCTURE FOR PREVENTING WHEEL SLIP AND MOBILE ROBOT USING THE SAME

Disclosed are a wheel assembly structure for preventing wheel slip and a mobile robot using the same. A wheel assembly of the mobile robot according to an exemplary embodiment of the present disclosure includes a wheel gear box assembly which includes a main wheel to move a mobile robot, a driving motor and a gear which rotate the main wheel and generates a hinge torque to a first hinge axis equipped at one side by the rotation of the main wheel to be rotatable within a predetermined range; and a wheel lower cover which is coupled to the wheel gear box assembly to protect a lower portion and includes a first hinge axis mounting unit coupled to the first hinge axis at one side end.