JP2014023930A - Robot cleaning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot cleaning device that can reduce noise caused by friction with a floor.SOLUTION: The robot cleaning device includes: a main body having an opening; a brush unit that is rotatably disposed in the opening of the main body; and a blade assembly 80 that guides introduction of dust by the brush unit, the blade assembly 80 including: a blade 82 that guides dust toward an inner side of the main body; a support member 83 that is coupled to the blade 82 so as to support the blade 82 and that has one side in which a coupling groove is formed; and an insertion member 90 that is inserted into the coupling groove of the support member 83. The robot cleaning device can prevent noise from occurring due to abnormal contact between the blade 82 and the floor while the robot cleaning device travels.

Description

  One or more embodiments relate to a robot cleaner, which relates to a robot cleaner that can improve the structure of a blade assembly to reduce noise during cleaning.

  The autonomous traveling robot refers to a device that performs a predetermined task while traveling in an arbitrary area without a user's operation. The robot can travel considerably autonomously, and such autonomous traveling is embodied in various ways. For example, the robot may travel along a route defined using a map, or may travel without a route defined using a sensor that senses the surrounding environment.

  A robot cleaner is a device that cleans a floor while traveling in a cleaning area without user operation, and is specifically used to remove dust or wipe the floor at home. The garbage here may mean (dirt) dust, dust, dust, debris and other dust particles that can be collected by a vacuum cleaner or an automatic or semi-automatic cleaning device.

  The robot cleaner includes a brush unit that sweeps dust and a blade that guides the dust to a dust collection box. Conventionally, when cleaning is performed in an uneven floor section, there is a problem that noise is generated due to friction between the blade and the floor.

  One or more embodiments provide a robot cleaner that can reduce noise due to friction with the floor.

  One or more embodiments include a main body having an opening, a brush unit rotatably provided in the opening of the main body, and a blade assembly for guiding inflow of dust by the brush unit, The blade assembly includes a blade that guides dust to the inside of the main body, a support member that is coupled to the blade to support the blade and that has a coupling groove on one side, and is inserted into the coupling groove of the support member There is provided a robot cleaner comprising the inserted member.

  It is only necessary that a coupling protrusion for coupling to the coupling groove is provided on one side of the insertion member.

  The support member only needs to be provided with at least one detachment prevention protrusion for preventing the insertion member from detaching. The separation preventing projections may be provided on both sides of the coupling groove so as to face the coupling groove.

  The insertion member may be configured by a plate coupled to the support member and a contact portion coupled to the plate. The contact portion may be formed of a flexible material.

  The blade assembly may further include a fixing member disposed adjacent to the blade such that a portion of the blade is in close contact with the floor. The blade assembly may further include at least one elastic member coupled to an end of the blade so that the blade can move in the front-rear direction of the traveling direction of the robot cleaner.

  One side of the elastic member may be coupled to the end portion of the blade, and the other side of the elastic member may be coupled to the fixing member.

  The blade may be formed of an elastic material so that the blade can move in the front-rear direction of the traveling direction of the robot cleaner.

  The blade may have at least one moving unit for moving in the front-rear direction of the traveling direction of the robot cleaner.

  The fixing member and the support member may be integrally formed by injection molding. The fixing member and the support member may be integrally injection-molded, and the blade may be injection-molded between the fixing member and the support member.

  The blade has a first part fixed to the main body, and a second part extending from the first part to the floor side, and the support member contacts the first part of the blade. What is necessary is just to have a support part and the 2nd support part adjacent to the 2nd part of the said braid | blade.

  The fixing member only needs to have a first fixing portion that contacts the first portion of the blade and a second fixing portion adjacent to the second portion of the blade.

  One or more embodiments include a main body having an opening, a brush unit rotatably provided in the opening of the main body, and a blade assembly that guides inflow of dust by the brush unit. Is a blade for guiding dust to the inside of the main body, a support member coupled to the blade to support the blade, coupled to one side of the support member, and by friction between the support member and the floor Provided is a robot cleaner comprising an insertion member for preventing noise.

  The insertion member may be disposed on the back surface of the support member so as to be positioned between the support member and the floor. The insertion member includes a plate coupled to the support member and a contact portion made of a flexible material coupled to the plate, and the insertion member may be fitted to one side of the support member.

  A coupling groove for insertion of the insertion member may be provided on one side of the support member, and a coupling protrusion for coupling to the support member may be provided on one side of the insertion member.

  Detachment prevention protrusions for preventing the insertion member from detaching may be provided on both sides of the coupling groove.

  One or more embodiments include a main body having an opening, a brush unit rotatably provided in the opening of the main body, and a blade assembly for guiding inflow of dust by the brush unit, The blade assembly has at least one wrinkle portion that guides dust to the inside of the main body and is movable in the front-rear direction of the traveling direction, and the blade assembly supports the blade. Provided is a robot cleaner comprising a coupled support member.

  The wrinkle portion only needs to have at least one of a mountain that is bent above the blade and a valley that is bent below the blade.

  The support member may be provided with a coupling groove, and may further include an insertion member having a coupling protrusion to be inserted into the coupling groove. The support member may be provided with at least one detachment prevention protrusion so as to face the coupling groove in order to prevent the insertion member from detaching.

  The insertion member includes a plate coupled to the support member and a contact portion coupled to the plate, and the contact portion may be formed of a flexible material.

  The blade may be made of an elastic material so as to be movable in the front-rear direction of the traveling direction. The blade may be made of hydrogenated nitrile butadiene rubber (HNBR). The blade assembly may further include a fixing member disposed adjacent to the blade such that a portion of the blade is in close contact with the floor.

  The robot cleaner according to one or more embodiments can prevent noise caused by abnormal contact between the blade and the floor while the robot cleaner is running.

It is a perspective view which shows the robot cleaner which concerns on one or more Examples. It is sectional drawing which shows the robot cleaner which concerns on one or more Examples. It is a low surface perspective view of a robot cleaner concerning one or more embodiments. 2 is an enlarged cross-sectional view illustrating a blade assembly according to one or more embodiments. FIG. FIG. 5 is a perspective view showing the back of a blade assembly according to one or more embodiments, such as the blade assembly shown in FIG. 4. It is a figure which shows the state from which the insertion member was isolate | separated from the support member based on one or more Examples. FIG. 7 is a diagram illustrating a portion of an insert member and support member according to one or more embodiments, such as the insert member and support member shown in FIG. 6. It is a figure which shows the state from which the insertion member was isolate | separated from the support member based on one or more Examples. FIG. 9 illustrates a portion of an insert member and support member according to one or more embodiments, such as the insert member and support member shown in FIG. 8. 2 is an enlarged cross-sectional view illustrating a blade assembly according to one or more embodiments. FIG. FIG. 11 is an exploded view of a blade assembly according to one or more embodiments, such as the blade assembly shown in FIG. It is a figure which expands and shows the braid | blade which concerns on one or more Examples. FIG. 3 is a side cross-sectional view of a blade according to one or more embodiments. FIG. 3 is a side cross-sectional view of a blade according to one or more embodiments. 2 is an enlarged cross-sectional view illustrating a blade assembly according to one or more embodiments. FIG. FIG. 16 is an exploded view of a blade assembly according to one or more embodiments, such as the blade assembly shown in FIG. 2 is an enlarged cross-sectional view illustrating a blade assembly according to one or more embodiments. FIG.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same elements. Here, embodiments of the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. Thus, it will be understood by those of ordinary skill in the art that various changes, modifications, and equivalents of the systems, devices and / or methods disclosed herein are included in the present invention. I will. Accordingly, the embodiments described below with reference to the drawings are merely illustrative for illustrating aspects of the present invention.

  FIG. 1 is a perspective view of a robot cleaner 10 according to one or more embodiments, and FIG. 2 is a robot cleaner according to one or more embodiments, such as the robot cleaner 10 shown in FIG. FIG. 3 is a bottom perspective view of a robot cleaner according to one or more embodiments, such as the robot cleaner 10 shown in FIG.

  As shown in FIGS. 1 to 3, the robot cleaner 10 includes a main body 11, a driving unit 20, a cleaning unit 30, and a control unit (not shown).

  The main body 11 may have various shapes. As an example, the main body 11 may be formed in a circular shape. Since the circularly formed main body 11 has a constant turning radius, contact with surrounding obstacles can be avoided and the direction can be easily switched. In addition, it can prevent that the main body 11 becomes unable to move due to a surrounding obstacle during traveling.

  The main body 11 only needs to include various components for cleaning, for example, the drive unit 20, the cleaning unit 30, various sensors 12 and 13, the display unit 14, and a control unit (not shown).

  The drive unit 20 may be configured to allow the main body 11 to travel in the cleaning area. The drive unit 20 includes left and right drive wheels 21 a and 21 b and casters 22. The left and right drive wheels 21a and 21b may be provided with power from a motor (not shown). The left and right drive wheels 21a and 21b are attached to the lower central area of the main body 11, and the casters 22 are attached to the lower front area of the main body 11 so that the main body 11 can maintain a stable posture. You can do it.

  On the other hand, the left and right drive wheels 21 a and 21 b and the caster 22 may constitute one assembly and be detachably attached to the main body 11.

  The cleaning unit 30 may remove dust from the floor on which the main body 11 is placed and its periphery. The cleaning unit 30 may include a side brush 40, a brush drum unit 50, and a dust collection box 60.

  The side brush 40 is rotatably attached to one side of the peripheral portion on the lower surface of the main body 11. Specifically, it is attached to a location that deviates from the center F of the main body 11 and is inclined in the oblique direction from the front F of the main body 11. The side brush 40 can move the dust accumulated around the main body 11 to the floor on which the main body 11 is placed. Due to the presence of the side brush 40, the cleaning range can be extended to the peripheral area of the floor on which the main body 11 is placed. In particular, the side brush 40 makes it possible to clean the dust accumulated in the corner that is the boundary between the floor and the wall.

  The brush drum unit 50 is attached at a position outside the central region of the bottom surface of the main body 11. Compared to the left and right drive wheels 21 a and 21 b attached to the central region of the bottom surface of the main body 11, the main body 11 is attached to a location more biased toward the rear R.

  The brush drum unit 50 can clean the dust accumulated on the floor on which the main body 11 is placed. The brush drum unit 50 includes a dust inflow path 50a that forms a dust inflow path, and includes a brush unit 51 that is provided in the dust inflow path 50a and sweeps out dust on the floor.

  The brush unit 51 includes a roller 51a and a brush 51b planted on the outer peripheral surface of the roller 51a. Power is transmitted to the roller 51a from a motor (not shown), and the brush 51b can disturb the dust accumulated on the floor by the rotation of the roller 51a. The roller 51a is formed of a rigid body, but is not limited to this. The brush 51b may be formed of any material having an elastic force.

  The brush unit 51 is preferably controlled at a constant speed in order to keep the cleaning performance constant. The brush unit 51 may have a lower rotational speed when cleaning a non-smooth floor surface such as a carpet than when cleaning a smooth floor surface. What is necessary is just to maintain the rotational speed of the brush unit 51 constant.

  The dust collection box 60 is attached to the rear R of the main body 11. The inlet 64 of the dust collection box 60 may be in communication with the dust inflow passage 50 a of the brush drum unit 50. In this way, the dust that the brush unit 51 sweeps can be stored in the dust collection box 60 through the dust inflow path 50a.

  The dust collection box 60 is separated into a large dust collection box 61 and a small dust collection box 62 by a partition wall 63. Correspondingly, the inlet 64 is also separated into a first inlet 64 a provided at the inlet of the large dust collection box 61 and a second inlet 64 b provided at the inlet of the small dust collection box 62. .

  The brush unit 51 should collect dust with relatively large particles in the dust collection box 61, and the blower unit 52 sucks in floating dust with relatively small particles, such as hair, and collects small dust. Collect in box 62. In particular, a brush cleaning member (not shown) may be provided at a position adjacent to the second inflow port 64b, and the hair entangled with the brush unit 51 may be removed. Hair or the like taken by a brush cleaning member (not shown) may be stored in a dust collection box 62 that is smaller than the suction force of the blower unit 52.

  In addition, the dust collection box 60 is provided with a dust amount detection unit 65 that detects whether or not the dust is full. The dust amount detection unit 65 includes a light emitting unit 65a that emits a beam and a light receiving unit 65b that receives the beam. When the amount of light received by the light receiving unit 65b becomes a certain value or less, it may be determined that the dust collection box 60 is full of dust.

  On the other hand, the brush drum unit 50, the brush unit 51, and the dust collection box 60 may be detachably attached to the main body 11 as one assembly.

  The various sensors 12 and 13 may be the proximity sensor 12 and / or the vision sensor 13. For example, when the robot cleaner 10 travels in an arbitrary direction without a predetermined route, that is, in a cleaning system without a map, the robot cleaner 10 may travel through the cleaning area using the proximity sensor 12. On the other hand, when the robot cleaner 10 travels along a predetermined route, that is, in a cleaning system that requires a map, the vision sensor 13 for receiving the position information of the robot cleaner 10 and generating a map. May be used. The vision sensor 13 corresponds to an example of a position recognition system, and is not limited to this, and may be of various types.

  The display unit 14 can display various states of the robot cleaner 10. For example, the state of battery charge, whether or not the dust box 60 is full of dust, the cleaning mode of the robot cleaner 10, the sleep mode, etc. may be displayed.

  The control unit (not shown) may control the driving unit 20 and the cleaning unit 30 so that the cleaning is performed efficiently. The control unit (not shown) can receive signals from the various sensors 12 and 13 to avoid obstacles and switch the running mode.

  Further, when the control unit (not shown) receives a signal from the dust amount detection unit 65 and determines that the dust box 60 is full, the control unit (not shown) docks to a maintenance station (not shown). The dust in the dust collection box 60 may be automatically emptied or an alarm may be given to the user.

  In addition, the control unit (not shown) may receive a signal from a dust inflow detection unit (not shown) and perform cleaning by distinguishing between a region where dust flows and a region where dust does not flow. For example, in the area where dust flows, the cleaning efficiency may be improved by repeatedly traveling, decreasing the traveling speed, or increasing the rotational force of the brush unit 51 or the suction force of the air blowing unit 52. Conversely, in areas where no trash flows, the cleaning order may be post-ordered or the number of trips may be reduced.

  FIG. 4 is an enlarged cross-sectional view illustrating a blade assembly 80 according to one or more embodiments. As shown in FIG. 4, a blade assembly 80 that guides the inflow of dust is disposed inside the main body 11. The blade assembly 80 is disposed behind the brush unit 51 and plays a role of dust removal for receiving dust that has been swept away by the brush unit 51.

  The blade assembly 80 includes a blade 82, a fixing member 81, and a support member 83.

  The blade 82 is fixed to the main body 11 and plays a role of guiding dust to the inside of the main body 11. The blade 82 has a first portion 82a disposed on the upper side and a second portion 82b extending from the first portion 82a toward the floor. The second portion 82b of the blade 82 is inclined downward. The second portion 82b of the blade 82 further extends as a guide portion 82d that guides the inflow of dust from the floor. The dust flows into the inside of the main body 11 along the guide portion 82d. A bent portion 82c is provided between the guide portion 82d and the second portion 82b, and the inflow of dust can be efficiently guided by adjusting the angle between the guide portion 82d and the floor. Although not shown, a plurality of guide portions may be provided apart from each other.

  The blade 82 may be formed of a flexible material such as rubber and provided so as to be inclined downward toward the floor. Here, the tip of the blade 82 may be in close contact with the floor.

  The support member 83 serves to limit the movement of the blade 82 within a predetermined range, and is coupled to the blade 82. The support member 83 only needs to be coupled to the lower side of the blade 82. The fixing member 81 is disposed adjacent to the blade 82 so that at least a part of the blade 82 is in close contact with the floor. The fixing member 81 only needs to be coupled to the upper side of the blade 82. The fixing member 81 and the support member 83 are preferably provided so that the blade 82 has appropriate rigidity and flexibility. By doing so, the function of the blade 82 can be enhanced and the cleaning efficiency can be increased.

  The first portion 82 a of the blade 82 is firmly fixed by the first fixing portion 81 a of the fixing member 81 and the first support portion 83 a of the support member 83. That is, the first portion 82 a of the blade 82 is sandwiched between the first fixing portion 81 a of the fixing member 81 and the first support portion 83 a of the support member 83 so as not to move.

  A second fixing portion 81 b of the fixing member 81 is provided adjacent to the upper side of the second portion 82 b of the blade 82. A second support portion 83 b of the support member 83 is provided adjacent to the lower side of the second portion 82 b of the blade 82. That is, the second portion 82b of the blade 82 is movable between the second fixing portion 81b of the fixing member 81 and the second support portion 83b of the supporting member 83, and the movement is limited within a predetermined range. It is like that. In particular, the second support portion 83 b of the support member 83 can ensure the operational reliability of the blade 82 by preventing the second portion 82 b of the blade 82 from being bent in the direction opposite to the traveling direction of the main body 11. it can.

  An insertion member 90 is disposed on one side of the support member 83 to prevent noise caused by friction between the support member 83 and the floor. The insertion member 90 is disposed on the back side of the support member 83 so as to be positioned between the support member 83 and the floor. The blade 82 comes into contact with the floor while the robot cleaner 10 is running. In particular, when cleaning the uneven tatami mat, the tip of the second portion 82b of the blade 82 enters the tatami valley into the tatami mountain. The blade may be damaged if it hits. This not only damages the tatami mat but also causes noise during cleaning by the robot cleaner 10, but such a problem can be prevented by the presence of the insertion member 90. Since the insertion member 90 is disposed on the back side of the support member 83, noise generated while the robot cleaner 10 is traveling can be reduced.

  Here, the insertion member 90 is provided on the support member 83, but the present invention is not limited to this, and the insertion member 90 may be provided at the tip of the blade 82.

  FIG. 5 is a perspective view showing the back side of a blade assembly according to one or more embodiments, such as the blade assembly 80 shown in FIG. 4, and FIG. FIG. 7 is a view showing a state in which the insertion member 90 is separated from the support member 83, and FIG. 7 shows a part of the insertion member and the support member, such as the insertion member 90 and the support member 83 shown in FIG. FIG.

  As shown in FIGS. 5 to 7, the fixing member 81 is provided with a threaded protrusion 81 c, and the blade 82 and the support member 83 have holes inserted into the protrusion 81 c of the fixing member 81. 82e and 83d are formed. The hole 82e of the blade 82 and the hole 83d of the support member 83 are sequentially fitted into the protrusion 81c of the fixing member 81, and then the screw S is screwed into the protrusion 81c of the fixing member 81, whereby the blade assembly 80 is engaged. It only needs to be completed.

  The insertion member 90 may be fitted to one side surface of the support member 83, but is not limited thereto. For example, the insertion member 90 may be disposed on the second support portion 83b of the support member 83 so as to face the floor.

  According to one or more embodiments, the insertion member 90 includes a plate 90a coupled to the support member 83 and a contact portion 90b coupled to the plate 90a. The contact part 90b should just be formed with the flexible material, and this is for minimizing the damage of a floor. For example, the contact portion 90b may be made of a material such as a brush, rubber, sponge, or fiber structure.

  A coupling portion 91 for coupling the insertion member 90 to the support member 83 is provided on the contact surface between the insertion member 90 and the support member 83. The coupling portion 91 includes a coupling protrusion 91 a provided on one side of the insertion member 90 and a coupling groove 91 b provided on one side of the support member 83. In the drawing, the coupling groove 91b is provided on the back surface of the support member 83, and one surface is opened. The coupling protrusion 91a of the insertion member 90 is coupled to the opened surface. The coupling protrusion 91a of the insertion member 90 is provided on the plate 90a and has a shape corresponding to the coupling groove 91b. In the drawing, the coupling groove 91b and the coupling protrusion 91a are rectangular, but are not limited thereto.

  FIG. 8 is a diagram illustrating a state in which the insertion member 190 is separated from the support member 183 according to one or more embodiments, and FIG. 9 is similar to the insertion member 190 and the support member 183 illustrated in FIG. FIG. 6 is a view showing a part of an insertion member 190 and a support member 183 according to one or more embodiments.

  As shown in FIGS. 8 and 9, the coupling portion 191 may include a separation preventing protrusion 192. The support member 183 is provided with at least one detachment prevention protrusion 192 for preventing the insertion member 190 from detaching. The separation preventing projections 192 are provided on the outer edge of the coupling groove 191b, and are provided on both side edges with the coupling groove 191b interposed therebetween. Of the both side edges of the coupling groove 191b, the separation prevention protrusion 192 provided on one side edge is defined as a first separation prevention protrusion 192a, and the separation prevention protrusion 192 provided on the other side edge is defined as a second separation prevention protrusion 192b. Define.

  Here, the first detachment prevention protrusion 192a and the second detachment prevention protrusion 192b are arranged so as to face the coupling groove 191b. However, the present invention is not limited to this, and is provided, for example, so as to be shifted from each other. It may be done. A plurality of pairs of separation prevention protrusions 192 may be provided. The first detachment prevention protrusion 192a and the first detachment prevention protrusion 192a, and the second detachment prevention protrusion 192b and the second detachment prevention protrusion 192b may be arranged at equal intervals. The presence of the separation preventing protrusion 192 can prevent the insertion member 190 from being detached while the robot cleaner 10 is running.

  10 is an enlarged cross-sectional view illustrating one or more blade assemblies 280, and FIG. 11 is a blade according to one or more embodiments, such as the blade assembly 280 illustrated in FIG. FIG. 12 is an exploded view of the assembly 280, and FIG. 12 is an enlarged view of the blade 282 according to one or more embodiments.

  As shown in FIGS. 10 to 12, the blade assembly 280 may be configured such that the blade 282 can move in the front-rear direction of the traveling direction of the robot cleaner. As shown in FIGS. 10 to 12, the blade 282 may include at least one wrinkle portion 282b, 282c. The wrinkle portions 282 b and 282 c are configured by a mountain 282 b bent upward of the blade 282 and a valley 282 c bent downward of the blade 282. Thereby, according to driving | running | working of a robot cleaner, the wrinkle parts 282b and 282c can have predetermined or. The blade 282 may be made of an elastic material. According to one or more embodiments, the blade 282 may be made of hydrogenated nitrile butadiene rubber (HNBR). Hydrogenated nitrile butadiene rubber (HNBR) has flexibility and mechanical properties and strength, so that the robot cleaner can be prevented from being damaged by friction with the floor. Further, when traveling on a floor with gaps or unevenness, the blade 282 is movable by a predetermined amount because the wrinkles 282b, 282c and hydrogenated nitrile butadiene rubber (HNBR) are included. The vacuum cleaner can be cleaned efficiently. Thereby, it becomes possible to use the robot cleaner under various floor conditions.

  In addition, the blade contact surface 282d that contacts the floor may be formed obliquely so as to play a role of guiding the dust on the floor so as to flow into the inside of the main body. The support member 283 restricts the movement of the blade 282 within a predetermined range, and for this purpose, the hole 282 a provided in the blade 282 is fitted into the protrusion 281 c of the fixing member 281. In addition, after the blade 282 is fitted, the hole 283c of the support member 283 is fitted into the protrusion 281c of the fixing member 281. The hole 282 a of the blade 282 may be shaped so that the blade 282 is movable with respect to the fixing member 281.

  13 is a side sectional view of a blade 382 according to one or more embodiments, and FIG. 14 is a side sectional view of a blade 482 according to one or more embodiments.

  As shown in FIGS. 13 and 14, the blade may have various shapes. Referring to FIG. 13, the blade 382 has a crease 382a, but only a mountain 382a bent upward is formed. Therefore, the blade 382 extends from the mountain 382a to the blade contact surface 382c via the inclined portion 382b. This makes it easier to process than the other embodiments.

  Referring to FIG. 14, the blade 482 also has a wrinkle portion, and in this wrinkle portion, peaks 482a and 482c and valleys 482b are alternately arranged. The first mountain 482a is located, and then the second mountain 482c is located between the valley 482b and the valley 482b. This makes the blade 482 relatively large.

  FIG. 15 is an enlarged cross-sectional view illustrating one or more blade assemblies 580, and FIG. 16 illustrates one or more blades, such as the blade assembly 580 illustrated in FIG. It is an exploded view which shows an assembly.

  As shown in FIGS. 15 and 16, the blade assembly 580 includes at least one elastic member 584 coupled to the end of the blade 582 so as to be movable in the front-rear direction of the traveling direction of the robot cleaner. Also good. A spring may be used as the elastic member 584.

  One side of the elastic member 584 is coupled to the end of the blade 582, and the other side of the elastic member 584 is coupled to the fixing member 581. Since the elastic member 584 is inserted into the protruding portion 581c of the fixing member 581 and the blade 582 is coupled, the blade 582 is movable with respect to the fixing member 581. It is sufficient that at least one elastic member 584 is provided. In the drawing, the elastic members 584 are coupled to both sides of the blade 582.

  An insertion member 590 is inserted below the support member 583 in the same manner as in other embodiments to reduce the frictional force with the floor.

  FIG. 17 is an enlarged cross-sectional view showing a blade assembly according to another embodiment of the present invention. As shown in FIG. 17, the support member 681 and the fixed member 683 may be integrally injection-molded, and the blade 682 may be injection-molded between the support member 681 and the fixed member 683. A mold is provided between the support member 681 and the fixing member 683 so as to correspond to the shape of the blade 682, and a resin as a material of the blade 682 is preferably press-fitted therein.

  A coupling groove 691b is integrally formed on one side of the support member 683 that is in contact with the floor so that the insertion member 690 is inserted. As in the other embodiments, the insertion member 690 is provided with a coupling protrusion 691a, and the insertion member 690 is inserted into the support member 683 so that the coupling protrusion 691a contacts the coupling groove 691b.

  While aspects of the present invention have been specifically illustrated and described with reference to the respective examples, these examples are merely illustrative of the invention and are intended to limit the invention. It should not be interpreted as a thing. The description of specifics and aspects within each example should generally be considered as applicable to other similar features or aspects in other examples. The techniques described above may be performed in a different order and / or components in the described system, architecture, device or circuit may be combined in different ways or substituted for other components or equivalents thereof. Or even if complemented, you will get the same results as well.

  Accordingly, although specific embodiments have been shown and described above, the invention is not limited to these embodiments and is described in the appended claims if the person has ordinary knowledge in the technical field to which the invention belongs. Various modifications can be made without departing from the spirit of the technical idea of the present invention.

DESCRIPTION OF SYMBOLS 10 Robot cleaner 20 Drive part 30 Cleaning part 40 Side brush 50 Brush drum unit 60 Dust collection box 70 Garbage inflow detection unit 80,180,280,380,480,580,680 Blade assembly 81,181,281,381,481 , 581,681 fixing member 82,182,282,382,482,582,682 blade 83,183,283,383,483,583,683 support member 90,190,290,390,490,590,690 insertion member 91,191 coupling part 192 separation prevention projection

Claims (15)

A body having an opening;
A brush unit rotatably provided in the opening of the main body;
A blade assembly for guiding inflow of dust by the brush unit;
With
The blade assembly includes:
A blade for guiding dust to the inside of the main body;
A support member coupled to the blade to support the blade and provided with a coupling groove on one side;
An insertion member inserted in the coupling groove of the support member;
A robot cleaner characterized by comprising:   The robot cleaner according to claim 1, wherein a coupling protrusion coupled to the coupling groove is provided on one side of the insertion member.   The robot cleaner according to claim 2, wherein the support member is provided with at least one detachment preventing protrusion for preventing the insertion member from detaching.   The robot cleaner according to claim 3, wherein the separation preventing protrusions are provided on both sides of the coupling groove so as to face the coupling groove.   The robot cleaner according to claim 1, wherein the insertion member includes a plate coupled to the support member and a contact portion coupled to the plate.   The robot cleaner according to claim 5, wherein the contact part is formed of a flexible material.   The robot cleaner according to claim 1, wherein the blade assembly further includes a fixing member disposed adjacent to the blade so that a part of the blade is in close contact with the floor.   The blade assembly may further include at least one elastic member coupled to an end of the blade so that the blade can move in the front-rear direction of the traveling direction of the robot cleaner. The robot cleaner according to 1.   The robot cleaner according to claim 8, wherein one side of the elastic member is coupled to an end of the blade, and the other side of the elastic member is coupled to the fixing member.   The robot cleaner according to claim 1, wherein the blade is formed of an elastic material so that the blade can move in the front-rear direction of the traveling direction of the robot cleaner.   The robot cleaner according to claim 10, wherein the blade has at least one moving part for moving in the front-rear direction of the traveling direction of the robot cleaner.   The robot cleaner according to claim 7, wherein the fixing member and the support member are integrally formed by injection molding.   The robot cleaner according to claim 12, wherein the fixing member and the support member are integrally injection-molded, and the blade is injection-molded between the fixing member and the support member.   The blade has a first part fixed to the main body, and a second part extending from the first part to the floor side, and the support member contacts the first part of the blade. The robot cleaner according to claim 1, further comprising: a support portion and a second support portion adjacent to the second portion of the blade.   The robot according to claim 14, wherein the fixing member includes a first fixing portion that contacts the first portion of the blade, and a second fixing portion adjacent to the second portion of the blade. Vacuum cleaner.

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