High-speed integrated mechanism-based autonomous mobile robot suitable for handling various outdoor driving environment, special terrain, and obstacles

Abstract

A mobile robot is provided. The mobile robot comprises: a first connection unit connected to a movable body unit; and a second connection unit connected to a movement unit which is in physical contact with the ground and moves therealong, wherein the second connection unit can be movably connected to the first connection unit. The first connection unit may be connected to the body unit to allow rotation about a reference shaft, and the second connection unit may be connected to the first connection unit to move linearly along the reference shaft.

Description

Autonomous mobile robot based on a high-speed integrated driving mechanism suitable for various outdoor driving environments, special terrains, and overcoming obstacles

[0001] The present invention relates to a mobile robot formed to be movable along the ground.

[0002] An autonomous robot is a robot that independently surveys its surroundings, detects obstacles, and uses wheels or legs to select the optimal path to reach its destination.

[0003] Recently, the demand for autonomous robots is gradually increasing due to labor supply shortages and the trend toward non-face-to-face interactions.

[0004] According to conventional technology, autonomous robots are currently used to the extent of automatically delivering food in places such as restaurants or delivering packages unmanned in apartment complexes. In particular, autonomous robots based on conventional technology implement a method in which the robot travels autonomously to a destination, after which the user (consumer) retrieves the delivered items.

[0005] In the case of existing autonomous robots, sufficient suspension is not provided to improve driving stability. This is because the configuration of the suspension is severely limited in order to keep the height relative to the ground as low as possible.

[0006] As a result, autonomous robots have a structure that is difficult to absorb shock and vibration, which can lead to liquid spills during delivery.

[0007] Therefore, the transport targets of existing autonomous robots are limited to items where there is no need to worry about liquid spills.

[0008] For example, the objects transported by autonomous robots are often light-weight items or food in packaging containers.

[0009] The present invention is intended to provide a four-wheeled autonomous mobile robot platform capable of driving stably at high speeds in indoor and outdoor environments.

[0010] A mobile robot is provided.

[0011] The above-described mobile robot may include a first connecting unit connected to a body unit that requires movement; and a second connecting unit connected to a moving part that moves along the ground while physically contacting the ground.

[0012] The above second connecting unit can be movably connected to the first connecting unit.

[0013]

[0014] The first connecting unit can be connected to the body unit so as to be rotatable with the reference axis as the center of rotation.

[0015] The second connecting unit can be connected to the first connecting unit so as to be movable linearly along the reference axis.

[0016]

[0017] The first connecting unit can be connected to the body unit so as to be rotatable with the reference axis as the center of rotation.

[0018] When the part in contact with the ground in the moving part is defined as the contact part, the second connecting unit can be connected to the first connecting unit such that the contact part is always located on the reference axis regardless of the movement of the second connecting unit relative to the first connecting unit.

[0019]

[0020] A fixing part that is fastened to the above body unit may be provided.

[0021] A rotating part connected to the fixed part so as to be rotatable around a reference axis may be provided.

[0022] A first extension part connected to the above-mentioned rotating part and extending along the above-mentioned reference axis may be provided.

[0023] The second connecting unit can be installed in the first extension so as to be movable along the reference axis.

[0024]

[0025] A rail extending along the reference axis may be provided in the first extension part.

[0026] The second connecting unit can be formed to move along the rail.

[0027]

[0028] The first extension part may extend from the rotating part along a first direction inclined to the reference axis.

[0029] The first extension part can be extended by a set length along the first direction and then changed direction to be extended along a direction parallel to the reference axis.

[0030] When one end of the first extension part extended parallel to the reference axis is defined as a matching part, the second connecting unit can be movably connected to the matching part.

[0031]

[0032] The above moving part may include wheels that make rolling contact with the ground.

[0033] An axle connected to the rotation center of the above wheel may be provided.

[0034] A second extension may be provided extending from the above-mentioned shaft perpendicular to the ground.

[0035] A rail extending perpendicularly to the ground is formed on the matching portion, and the second extension may be formed to be movable along the rail. Alternatively, a rail extending perpendicularly to the ground is formed on the second extension, and the matching portion may be formed to be movable along the rail.

[0036]

[0037] A fixing part that is fastened to the above body unit may be provided.

[0038] A rotating part connected to the fixed part so as to be rotatable around a reference axis may be provided.

[0039] A first motor may be provided that is connected to the fixed part and rotates the rotating part around the reference axis.

[0040] A first extension part extending from the rotating part along a first direction inclined to the reference axis may be provided.

[0041] The first extension part can be extended by a set length along the first direction and then changed direction to be extended along a direction parallel to the reference axis.

[0042] The above moving part may include wheels that make rolling contact with the ground.

[0043] An axle connected to the rotation center of the above wheel may be provided.

[0044] The above shaft may include a second motor that rotates the wheel.

[0045] A second extension may be provided extending from the above-mentioned shaft perpendicular to the ground.

[0046] When one end of the first extension part extended parallel to the reference axis is defined as a matching part, one side of the matching part facing the reference axis is defined as a first side, and the opposite side of one side of the second extension part facing the wheel is defined as a second side, a rail extending perpendicularly to the ground is formed on either the first side or the second side, and the other side of the first side or the second side can be formed to be movable along the rail.

[0047] An intermediate member may be provided that is located between the wheel and the second extension and is connected to the second extension.

[0048] When the portion extending along the first direction in the first extension portion is defined as a relief portion, an elastic shock-absorbing member connecting the relief portion and the intermediate member may be provided.

[0049]

[0050] A first axis perpendicular to the first direction and perpendicular to the reference axis may be formed in the escape portion.

[0051] A second axis perpendicular to the first direction and perpendicular to the reference axis may be formed in the intermediate member.

[0052] The above elastic member may include a pneumatic elastic means equipped with a cylinder and a piston.

[0053] The end of the cylinder can be connected to the first axis so as to be rotatable around the first axis.

[0054] The end of the piston can be connected to the second axis so as to be rotatable around the second axis.

[0055]

[0056] The above body unit may be included.

[0057] The upper surface of the above body unit can be formed in the shape of a flat plate.

[0058] A hooking means for hanging a rope capable of tying a transport object may be formed on the upper edge of the body unit.

[0059] Wheels connected to the body unit by the first connecting unit and the second connecting unit may be provided with two wheels on the left and right in front of the body unit and two wheels on the left and right behind the body unit.

[0060] A power box in which a battery is housed may be formed on the lower surface of the above body unit.

[0061] The above power box can be positioned between the front wheel and the rear wheel when viewed from the side.

[0062] A control panel may be formed on the side of the above power box.

[0063] The above control panel may be provided with a control button for the battery or a control button for the mobile robot.

[0064] A charging connector for the battery may be formed in the above control panel.

[0065] The mobile robot of the present invention can prevent various shocks generated during autonomous movement from being transmitted to the body unit of the robot.

[0066] While this may seem like a standard configuration, in reality, fully implementing shock absorption mechanisms in mobile robots entails many problems.

[0067] When considering the robot's driving force, battery, and self-weight, it is best for the robot's body unit, which corresponds to the chassis, to be formed as close to the ground as possible. This means that the space for installing elastic members necessary for shock absorption cannot be fully provided. As a result, very poor elastic members are used, or mobile robots are provided in which elastic members are excluded entirely.

[0068] However, in the case of mobile robots that exclude additional components such as dampers, including elastic members, the impact applied to the wheels is transmitted entirely to the body unit, making it virtually impossible to transport cargo that is sensitive to impact. Alternatively, to avoid impact, the robot faces a significant limitation of having to travel only on paved roads where there are almost no impact-applying elements.

[0069] In the present invention, a mechanism structure can be proposed that can sufficiently reduce the distance between the robot body unit and the ground while having shock absorption means including an elastic member.

[0070] In addition, the present invention can provide an additional method to form the center of gravity of a mobile robot as low as possible.

[0071] FIG. 1 is a perspective view showing a mobile robot according to one embodiment of the present invention.

[0072] FIG. 2 is a perspective view of a mobile robot according to one embodiment of the present invention, viewed from slightly below.

[0073] FIG. 3 is a side view showing a mobile robot according to one embodiment of the present invention.

[0074] FIG. 4 is a perspective view taken from slightly below of a moving member provided in a mobile robot according to one embodiment of the present invention.

[0075] FIG. 5 is a perspective view of a moving member provided in a mobile robot according to one embodiment of the present invention.

[0076] FIG. 6 is a front view of a moving member provided in a mobile robot according to one embodiment of the present invention.

[0077] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0078] In this specification, redundant descriptions of identical components are omitted.

[0079] Furthermore, when a component is described in this specification as being 'connected' or 'connected' to another component, it should be understood that it may be directly connected to or connected to the other component, or that there may be other components in between. On the other hand, when a component is described in this specification as being 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

[0080] Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention.

[0081] Additionally, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0082] Furthermore, in this specification, terms such as 'comprising' or 'having' are intended merely to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0083] Additionally, in this specification, the term "and / or" includes a combination of the plurality of described items or any of the plurality of described items. In this specification, "A or B" may include "A," "B," or "both A and B."

[0084] In addition, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted in this specification.

[0085] FIG. 1 is a perspective view showing a mobile robot (100) according to an embodiment of the present invention. FIG. 2 is a perspective view of a mobile robot (100) according to an embodiment of the present invention viewed from slightly below. FIG. 3 is a side view showing a mobile robot (100) according to an embodiment of the present invention. FIG. 4 is a perspective view of a moving member (130) provided in a mobile robot (100) according to an embodiment of the present invention viewed from slightly below. FIG. 5 is a perspective view of a moving member (130) provided in a mobile robot (100) according to an embodiment of the present invention. FIG. 6 is a front view of a moving member (130) provided in a mobile robot (100) according to an embodiment of the present invention.

[0086] The mobile robot (100) illustrated in the drawing may include a body unit (110) for which movement is required, a moving part (101) for moving the body unit (110) relative to the ground while in contact with the ground, and a moving member (130) for connecting the moving part (101) to the body unit (110).

[0087] The body unit (110) may include various circuit elements, circuit boards, etc., necessary for controlling the mobile robot (100). In addition, various sensors (170) for detecting surrounding conditions may be provided on the outer surface of the body unit (110).

[0088] The mobile robot (100) can be manufactured to realize various functions.

[0089] For example, when manufactured for the purpose of transporting or delivering a specific item, the body unit (110) may be formed in a structure that facilitates the transport of the specific item. As an example, the upper surface of the body unit (110) may be formed in the shape of a flat plate.

[0090] To prevent a transported object loaded on the upper surface of the body unit (110) from escaping to the outside, a locking means (109) capable of attaching a rope to tie the transported object may be formed on the upper edge of the body unit (110). The locking means (109) may be formed to protrude from the upper surface of the body unit (110). The protruding locking means (109) may function similarly to a stopper that blocks a transported object sliding on the upper surface of the body unit (110).

[0091] The moving part (101) may include a wheel that makes rolling contact with the ground. Alternatively, the moving part (101) may include an endless track.

[0092] A moving member (130) supported by a second motor that rotates a wheel or rotates an endless track may be provided. The moving member (130) may connect the moving part (101) to the body unit (110).

[0093] The moving member (130) may include a first connecting unit and a second connecting unit.

[0094] The first connecting unit can be connected to a body unit (110) that requires movement.

[0095] The second connecting unit can be connected to a moving part (101) that moves along the ground while physically contacting the ground. Additionally, the second connecting unit can be movably connected to the first connecting unit. The moving part (101), such as a wheel, can be connected to or supported by the body unit (110) through the first connecting unit and the second connecting unit.

[0096] Two wheels connected to the body unit (110) by the first connecting unit and the second connecting unit may be provided on the left and right sides in front of the body unit (110) and two wheels on the left and right sides behind.

[0097] As will be described later, the moving member (130) provided in the mobile robot (100) of the present invention can maintain a similar distance between the body unit (110) and the ground in terms of mechanical structure compared to a comparative embodiment in which the elastic member (270), etc. is lacking, despite the addition of the elastic member (270), etc.

[0098] However, since the elastic member (270) provided to absorb the shock is formed in a structure that moves up and down according to the shock, the distance between the ground and the body unit (110) is inevitably slightly increased compared to the comparative example.

[0099] This is because, for the normal operation of the elastic member (270), it is necessary to secure a distance for the elastic member (270) to move up and down. The distance between the body unit (110) and the ground increases by that distance, and as a result, the center of gravity of the mobile robot (100) rises, which is unavoidable.

[0100] The rise in the center of gravity is due to the distance between the body unit (110) and the ground, that is, the increase in the height of the body unit (110). Looking at this from another perspective, it may mean that the space between the lower surface of the body unit (110) facing the ground—that is, the lower surface of the body unit (110)—and the ground is increased. At this time, if a power box (150) in which a battery, etc. is stored is installed in that space, the center of gravity can be effectively lowered while making the upper surface of the body unit (110) flat.

[0101] In summary, it is preferable that a power box (150) in which a battery is stored be formed on the lower surface of the body unit (110). To avoid interfering with the movement of the moving part (101) or the moving member (130), the power box (150) may be positioned between the front wheel and the rear wheel when viewed from the side.

[0102] Additionally, a control panel (157) may be formed on one side of the power box (150).

[0103] A control panel (157) may be provided with a control button for the battery or a control button for the mobile robot (100). Additionally, a charging connector (159) for the battery may be formed on the control panel (157).

[0104] A door that can be opened and closed may be provided on the other side of the power box (150). The door may be configured to allow for the replacement of the battery.

[0105] A structure for lowering the height of the body unit (110) to the maximum extent is described, excluding the operating distance of the elastic member (270).

[0106] Referring to FIGS. 4, 5, and 6, the first connecting unit can be rotatably connected to the body unit (110) with reference axis f as the center of rotation. Through this, the mobile robot (100) can perform a pivoting motion.

[0107] The second connecting unit can be connected to the first connecting unit so as to be linearly movable along the reference axis f. Linear movement relative to the reference axis f can be used for normal operation of the elastic member (270).

[0108] The part of the moving part (101) that comes into contact with the ground can be defined as the contact part. For example, from the perspective of the body unit (110) or the moving member (130), the bottom part of the wheel can be interpreted as the contact part that comes into contact with the ground regardless of the movement or rotation of the wheel.

[0109] The second connecting unit can be connected to the first connecting unit such that the contact portion is always located on the reference axis f, regardless of the movement of the second connecting unit relative to the first connecting unit. When the contact portion is located on the reference axis f, smooth turning is possible because the contact portion remains on the reference axis f even if the first connecting unit is rotated to change the driving direction. On the other hand, if the contact portion is located at a point spaced apart from the reference axis f, the movement of multiple wheels may become tangled, making it practically difficult to change the driving direction.

[0110] There may be various comparative embodiments that ensure normal operation of the elastic member (270) while always positioning the contact portion on the reference axis f.

[0111] However, the moving member (130) provided in the mobile robot (100) of the present invention is characterized by having the following structure.

[0112] A fixing part (210) that is fastened to the body unit (110) may be provided.

[0113] A rotating part connected to a fixed part (210) so as to be rotatable around a reference axis f may be provided.

[0114] A first extension part (240) connected to the rotating part and extending along the reference axis f may be provided.

[0115] The fixed part (210), the rotating part and the first extension part (240) may be included in the first connecting unit.

[0116] The second connecting unit can be installed on the first extension (240) so as to be movable along the reference axis f.

[0117] For example, a rail (249) extending along a reference axis f may be provided on the first extension (240). The second connecting unit may be formed to move along the rail (249). Of course, the opposite is also possible.

[0118] The first extension part (240) is formed to extend from the rotating part connected to the fixed part (210), and if it extends directly along the reference axis f from the rotating part, it is difficult for the moving part (101) to be placed on the reference axis f. Therefore, the first extension part (240) can be extended from the rotating part along a first direction inclined to the reference axis f, for example, a horizontal direction (a direction parallel to the ground). Through this, the problem of physical interference between the moving part (101) and the first extension part (240), which need to be placed on the reference axis f, can be resolved.

[0119] The first extension part (240) can be extended by a set length along the first direction and then changed direction to be extended along a direction parallel to the reference axis f.

[0120] When one end of the first extension part (240) extended parallel to the reference axis f is defined as a matching part, the second connecting unit can be movably connected to the matching part.

[0121] When the moving part (101) includes a wheel that is in rolling contact with the ground, an axle part (260) connected to the center of rotation of the wheel may be provided.

[0122] A second extension (250) extending from the shaft (260) vertically to the ground may be provided.

[0123] The shaft portion (260) and the second extension portion (250) may be included in the second connecting unit.

[0124] A rail (249) extending vertically to the ground is formed at the matching portion, and a second extension (250) may be formed to be movable along the rail (249). At this time, a sliding means (259) that slides while fitted into the rail (249) may be provided on one side of the second extension (250) facing the rail (249).

[0125] Alternatively, a rail (249) extending vertically to the ground may be formed on the second extension (250), and a matching portion may be formed to be movable along the rail (249).

[0126] More specifically, the moving member (130) is described.

[0127] A fixed part (210) that is fastened to the body unit (110) is provided, and a rotating part connected to the fixed part (210) so as to be rotatable about a reference axis f may be provided.

[0128] A first motor (230) connected to a fixed part (210) may be provided. The first motor (230) can rotate the rotating part around a reference axis f. Rotation of the rotating part may mean changing or adjusting the steering angle to change the driving direction.

[0129] The first extension part (240) may extend from the rotation part along a first direction inclined to the reference axis f. The first extension part (240) may extend for a set length along the first direction and then change direction to extend along a direction parallel to the reference axis f.

[0130] The moving part (101) may include a wheel that makes rolling contact with the ground. The axle part (260) may be connected to the center of rotation of the wheel.

[0131] The shaft (260) may include a second motor that rotates the wheel.

[0132] The second extension (250) can be extended from the shaft (260) perpendicular to the ground.

[0133] One end of the first extension (240) extended parallel to the reference axis f can be defined as the matching portion. One side of the matching portion facing the reference axis f can be defined as the first surface. The opposite side of one side of the second extension (250) facing the wheel can be defined as the second surface.

[0134] A rail (249) extending perpendicularly to the ground may be formed on either the first or second surface. The other of the first and second surfaces may be formed to be movable along the rail (249).

[0135] An intermediate member (251) may be provided that is located between the wheel and the second extension (250) and connected to the second extension (250).

[0136] When the portion extending along the first direction in the first extension portion (240) is defined as the escape portion, an elastic shock-absorbing member (270) connecting the escape portion and the intermediate member (251) may be provided.

[0137] A first axis (281) perpendicular to the first direction and perpendicular to the reference axis f can be formed in the escape area.

[0138] A second axis (282) perpendicular to the first direction and perpendicular to the reference axis f may be formed in the intermediate member (251). The first axis (281) and the second axis (282) may be parallel to each other.

[0139] The elastic member (270) may include a pneumatic elastic means equipped with a cylinder and a piston.

[0140] The end of the cylinder can be connected to the first axis (281) so as to be rotatable around the first axis (281).

[0141] The end of the piston can be connected to the second axis (282) so as to be rotatable around the second axis (282).

[0142] According to the present embodiment, the matching part and the second extension part (250) may be formed to be linearly movable relative to each other. However, the matching part and the second extension part (250) may be spaced apart from a reference axis f on which a wheel is placed. As a result, the weight of the body unit (110) may act as a force to move the matching part linearly relative to the second extension part (250), as well as a force to rotate or tilt relative to the matching part.

[0143] However, according to the present embodiment, the elastic member (270) positioned between the matching portion and the reference axis f can be structured to receive most of the force applied through the body unit (110). Accordingly, the matching portion and the second extension portion (250) function as guides for moving the wheel in a straight line along the reference axis f, and the elastic member (270) can substantially support the load of the body unit (110).

[0144] Meanwhile, the elastic member (270) is connected to one side of the matching portion and one side of the second extension portion (250), and a damper may be additionally connected to the other side of the matching portion and the second extension portion (250). The damper may be formed externally similar to the elastic member (270) in the shape of a pneumatic cylinder. The elastic member (270) can change the vibration transmitted to the body unit (110) into a gentle waveform, and the damper can reduce the intensity of the vibration.

[0145] In some cases, a pneumatic cylinder having both the damper function and the elastic member (270) can be connected to both sides of the matching part and the second extension part (250) as shown in FIG. 5.

[0146] Although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by a person skilled in the art using the basic concept of the present invention as defined in the following claims also fall within the scope of the present invention.

Claims

1. A first connecting unit connected to a body unit requiring movement; Includes a second connecting unit connected to a moving part that moves along the ground while physically contacting the ground; The above second connecting unit is a mobile robot movably connected to the first connecting unit.

2. In Paragraph 1, The first connecting unit is connected to the body unit so as to be rotatable with the reference axis as the center of rotation, and The second connecting unit is a mobile robot connected to the first connecting unit so as to be able to move linearly along the reference axis.

3. In Paragraph 1, The first connecting unit is connected to the body unit so as to be rotatable with the reference axis as the center of rotation, and When the part of the above-mentioned moving part that comes into contact with the ground is defined as the contact part, A mobile robot connected to the first connecting unit such that the contact portion is always located on the reference axis, regardless of the movement of the second connecting unit relative to the first connecting unit.

4. In Paragraph 1, A fixing part is provided that is fastened to the above body unit, and A rotating part connected to the fixed part so as to be rotatable around a reference axis is provided, and A first extension part is provided that is connected to the rotating part and extends along the reference axis, and The second connecting unit is a mobile robot installed in the first extension so as to be movable along the reference axis.

5. In Paragraph 4, The first extension part is provided with a rail extending along the reference axis, and The second connecting unit above is a mobile robot formed to move along the rail.

6. In Paragraph 4, The first extension part extends from the rotating part along a first direction inclined toward the reference axis, and The first extension part is extended by a set length along the first direction, then changes direction and extends along a direction parallel to the reference axis, and When one end of the first extension portion extended parallel to the reference axis is defined as a matching portion, The second connecting unit above is a mobile robot movably connected to the matching part.

7. In Paragraph 6, The above-mentioned moving part includes wheels that make rolling contact with the ground, and An axle connected to the rotation center of the above wheel is provided, A second extension portion is provided that extends from the shaft portion perpendicularly to the ground, and A rail extending perpendicularly to the ground is formed at the matching portion, and the second extension is formed to be movable along the rail, or A mobile robot having a rail extending vertically to the ground formed in the second extension part and a matching part formed to be movable along the rail.

8. In Paragraph 1, A fixing part is provided that is fastened to the above body unit, and A rotating part connected to the fixed part so as to be rotatable around a reference axis is provided, and A first motor is provided that is connected to the fixed part and rotates the rotating part around the reference axis, and A first extension part is provided extending from the rotating part along a first direction inclined to the reference axis, and The first extension part is extended by a set length along the first direction, then changes direction and extends along a direction parallel to the reference axis, and The above-mentioned moving part includes wheels that make rolling contact with the ground, and An axle connected to the rotation center of the above wheel is provided, The above shaft includes a second motor that rotates the wheel, and A second extension portion is provided that extends from the shaft portion perpendicularly to the ground, and When one end of the first extension part extending parallel to the reference axis is defined as a matching part, one side of the matching part facing the reference axis is defined as a first surface, and the opposite side of one side of the second extension part facing the wheel is defined as a second surface, A rail extending perpendicularly to the ground is formed on either the first surface or the second surface, and the other of the first surface and the second surface is formed to be movable along the rail, An intermediate member is provided that is located between the wheel and the second extension and is connected to the second extension. When the portion extending along the first direction from the first extension portion is defined as the escape portion, A mobile robot equipped with an elastic shock-absorbing member connecting the above-mentioned escape part and the above-mentioned intermediate member.

9. In Paragraph 8, A first axis perpendicular to the first direction and perpendicular to the reference axis is formed in the escape portion, and A second axis perpendicular to the first direction and perpendicular to the reference axis is formed in the intermediate member, and The above elastic member includes a pneumatic elastic means equipped with a cylinder and a piston, and The end of the cylinder is connected to the first axis so as to be rotatable about the first axis, and A mobile robot in which the end of the piston is connected to the second axis so as to be rotatable about the second axis.

10. In Paragraph 1, Including the above body unit, A mobile robot in which the upper surface of the body unit is formed in the shape of a flat plate.

11. In Paragraph 10, A mobile robot having a hooking means formed on the upper edge of the body unit to hook a rope capable of tying a transport object.

12. In Paragraph 1, Two wheels connected to the body unit by the first connecting unit and the second connecting unit are provided on the left and right sides in front of the body unit and two wheels on the left and right sides behind the body unit. A mobile robot having a power box for housing a battery formed on the lower surface of the above-mentioned body unit.

13. In Paragraph 12, The above power box is a mobile robot positioned between the front wheel and the rear wheel when viewed from the side.

14. In Paragraph 12, A mobile robot with a control panel formed on the side of the above power box.

15. In Paragraph 14, The above control panel is provided with a control button for the battery or a control button for the mobile robot, and A mobile robot having a charging connector for the battery formed in the control panel above.

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