US 12,409,546 B2
Mobile robot apparatus
Donghan Koo, Suwon-si (KR); Sangmin Hyun, Suwon-si (KR); Yongtae Kim, Suwon-si (KR); Junggap Kuk, Suwon-si (KR); and Kuyoung Choi, Suwon-si (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on Dec. 7, 2022, as Appl. No. 18/077,003.
Application 18/077,003 is a continuation of application No. PCT/KR2021/008303, filed on Jun. 30, 2021.
Claims priority of application No. 10-2020-0087366 (KR), filed on Jul. 15, 2020; and application No. 10-2020-0144675 (KR), filed on Nov. 2, 2020.
Prior Publication US 2023/0098075 A1, Mar. 30, 2023
Int. Cl. B25J 5/00 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01)
CPC B25J 5/007 (2013.01) [B25J 9/1035 (2013.01); B25J 9/126 (2013.01); B25J 9/1664 (2013.01); B25J 13/089 (2013.01); B25J 19/021 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A mobile robot apparatus comprising:
a body;
a first wheel provided at a first side surface of the body;
a second wheel provided at a second side surface of the body opposite to the first side surface;
a first drive device configured to provide a driving force to each of the first wheel and the second wheel;
a second drive device comprising a rack in at least one of the first wheel and the second wheel and a pinion in the body and engaged with the rack, wherein the second drive device is configured to move the body in a vertical direction relative to at least one of a first center axis of the first wheel and a second center axis of the second wheel by rotating the pinion; and
at least one processor configured to, individually or collectively, control the second drive device to move the body to contact a surface on which the mobile robot apparatus is disposed, or move the body away from the surface on which the mobile robot apparatus is disposed.