KR20140107991A

KR20140107991A - Robot cleaner

Info

Publication number: KR20140107991A
Application number: KR1020130022328A
Authority: KR
Inventors: 장승락; 김진범
Original assignee: (주)마미로봇
Priority date: 2013-02-28
Filing date: 2013-02-28
Publication date: 2014-09-05

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner, and more particularly, An intake fan incorporated in the robot body to provide a suction force; A dust collecting unit coupled to the receiving space of the robot main body and collecting dust or foreign matter introduced together with the air; A brush rotatably installed in the robot body to sweep dust or foreign matter on the floor; And an air duct which is fixed to the robot body so as to be able to ascend and descend, an elastic force is applied to the intake duct so that the brush is brought into close contact with the floor surface, and the air duct is lifted and lowered together with the brush, And a connector. Since the intake duct is elastically coupled to the robot body by the duct connector, the intake duct and the brush can be buffered while being lifted and lowered without colliding with the bottom surface of the duct body or the obstacle, So that the bottom surface can be cleaned more cleanly.

Description

Robot Cleaner {ROBOT CLEANER}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner, and more particularly, to a robot cleaner for removing dust or foreign matter on a floor while traveling on a floor of a building.

Generally, the robot cleaner is an automatic apparatus that autonomously runs a cleaning zone such as a house or an office without user's operation, or sucks foreign matter such as dust from a floor surface while traveling in a set pattern.

A prior art robot cleaner is Korean Patent Laid-Open No. 10-2005-34112.

The prior art is detachably installed at the rear of the body made up of the upper body 231, the lower body 232 and the base 233 so as to communicate with the suction passage 220 provided with the brush as shown in FIG. 1, And an air suction fan 270 installed to suck air through the suction passage 220 and the dust container 250 while being rotated via a suction motor 260 to one side of the dust container 250. [ And an air discharging passage provided so as to discharge the air sucked by the suction fan 270 to the outside of the body.

In the prior art, a filter (not shown) is installed in the discharge passage 255 formed in the dust container 250 to prevent the suction motor 260 and the suction fan 270 from being damaged so that air is sucked by the suction fan 270. 700 are installed.

The robot cleaner of this prior art collects foreign matter into the dust container 250 through the suction flow path 220 by the brush and the suction fan 270 and moves the air filtered by the filter 700 to the rear of the suction fan 270 And discharged to the outside through an extended discharge passage.

However, in the prior art robot cleaner, since the dust or foreign matter introduced into the dust container 250 is filtered only by the filter 700, dust is accumulated in the filter 700, so that the filter 700 is easily contaminated, The suction force is lowered.

In addition, the prior art has a problem that it is impossible to buffer the brush because it is a structure in which only the brush installed in the suction passage 220 can not move up and down.

1, the robot cleaner of the prior art is provided with a rotating plate 400 at a lower portion thereof, and a mop 500 is attached to the rotating plate 400 to clean the bottom surface thereof.

However, according to the prior art, since the mop 500 always travels in a state in which it is in close contact with the floor surface, there is a problem in that it can not selectively clean the wet-cloth.

On the other hand, in buildings such as hospitals, various pathogens are present in the room, and cleaning and periodic disinfection must be performed. In recent years, there has been a demand for a robot cleaner capable of cleaning the floor surface and disinfecting the floor surface.

KR 10-2005-0034112 A

The present invention has been made in order to solve the problems of the prior art as described above, and it is an object of the present invention to provide a dust collecting apparatus and a dust collecting apparatus which are capable of separating foreign matters into dust collecting baskets while sucking dust or foreign matter, The present invention has been made in view of the above problems, and it is an object of the present invention to provide a robot cleaner which can be lifted up and down according to the curvature of the floor surface.

Another object of the present invention is to provide a robot cleaner capable of simultaneously performing vacuum cleaning and wet-cloth cleaning by bringing the mop into close contact with the floor surface, and performing only vacuum cleaning by separating the mop from the floor surface.

Another object of the present invention is to provide a robot cleaner capable of cleaning and disinfecting the floor surface of a room such as a hospital by spraying disinfectant on the floor surface.

According to another aspect of the present invention, there is provided a robot cleaner comprising: a main body having a main body and a main body, A robot body having an accommodating space for exhausting air and communicating the intake duct and the exhaust duct; An intake fan incorporated in the robot body to provide a suction force to the intake duct; A dust collecting unit detachably coupled to a receiving space of the robot main body to collect dust and foreign substances introduced into the intake duct through the intake duct while communicating the intake duct and the exhaust duct; A brush rotatably installed in the intake duct of the robot body and sweeping dust or foreign substances on the floor surface while partially rotating on a bottom surface; And an air duct which is fixed to the robot body so as to be able to ascend and descend, an elastic force is applied to the intake duct so that the brush is brought into close contact with the floor surface, and the air duct is lifted and lowered together with the brush, And a dust collecting unit connected to the intake duct and communicating with the other end of the intake duct to disturb the dust or foreign matter introduced into the intake duct through the intake duct, A cyclone for filtering and discharging air through the exhaust duct while falling and separating the air; And a dust collecting container integrally formed with the cyclone and detachably received in the receiving space together with the cyclone, the dust collecting container collecting dust and foreign matter falling from the cyclone.

The cyclone may include, for example, an intake duct that is detachably connected to the intake duct and extends into the interior of the dust collector; A trap which is provided in the dust collecting box and connected to the intake passage and is formed as a circular tube with a lower light guide to open a lower portion for dropping dust or foreign matter into the dust collecting container while guiding the dust and foreign matter together with air; A vertical pipe installed in a vertical state while being spaced apart from an inner wall of the trap and having a dust or foreign matter along the inner wall of the trap and discharging the air guided to the lower portion of the trap to the lower end and discharging to the upper portion; An exhaust duct which is detachably coupled to the exhaust duct and extends to the inside of the dust collecting container to communicate an upper portion of the vertical pipe with the exhaust duct; And a filter installed at an upper portion of the vertical tube for filtering air discharged from the vertical tube.

The dust collecting container may include, for example, a container body having an upper portion formed with the intake passage, the trap, and the exhaust passage in an opened state, the upper portion of the same being formed to receive dust and foreign matter dropped from the trap; And an upper portion of the intake passage, the trap, and the exhaust passage while shielding the upper portion of the container body in a state where the vertical tube is integrally fixed, and the upper portion of the vertical tube and the exhaust passage are communicated And a dust collecting cover for providing a filter chamber in which the filter is installed.

The duct connector may include, for example, a duct flange integrally provided on both sides of the intake duct; A lifting rod in the form of a bolt in the form of a bolt which is vertically coupled to the robot body through the duct flange to guide vertical lifting and lowering of the duct flange and to which the duct flange is attached; And an elastic body fitted to the elevating rod in a stacked state on the duct flange and elastically supporting the duct flange while lowering the duct flange by providing an elastic force in a state interposed between the head of the elevating rod and the duct flange Can be configured.

According to the present invention, there is provided a robot comprising: a mop plate provided on a bottom surface of the robot body and detachably attached to a mop for polishing a bottom surface; And a lug plate connector fixing the lug plate to the bottom surface of the robot body so as to be able to move up and down so that the lug is brought into close contact with the floor surface or away from the floor surface.

Each of the mop plate connectors may include a mop plate connector, for example, one end of each of which is hinged to both sides of the mop plate, and a locking protrusion that is respectively coupled to the robot body is provided at the other end, A pair of link plates possibly connecting to the robot body; A guide rail provided on a bottom surface of the robot body and hingedly coupled to the linking plate of the link plate so as to horizontally move and guiding the folding and spreading of the link plate while rotating the linking pivot in a rotatable manner; An elastic body interposed between the mop plate and the robot main body, the elastic body elastically supporting the mop plate while pressing the mop plate down by an elastic force; And a hook provided on the robot main body to catch the rake plate in an elevated state, to lock the rake plate in a raised state, or to unlock the rake plate and lower the rake plate.

Further, the present invention further includes a sterilizing unit built in the robot main body and spraying a disinfectant on the floor while traveling together with the robot main body, wherein the sterilizing unit is built in the robot main body and stores the disinfectant Disinfectant tank; A spray pump connected to the disinfectant tank and spraying the disinfectant onto the floor while the disinfectant is supplied; And a pump connector that fixes the injection pump to the robot body in a state where the injection pump can rotate in a single direction and extends the injection radius of the disinfectant while reciprocating the injection pump.

The pump connector may include a rotary shaft rotatably coupled to the robot body, the rotary shaft having a spray hole for guiding the disinfectant sprayed from the spray pump to the bottom surface while the spray pump is integrally housed, A circular rotary block for rotating the injection pump while rotating; And a drive unit for performing a seesaw motion of the injection pump while reciprocating a part of the rotation block about the rotation axis.

The driving unit includes, for example, a rotary motor installed in the robot body to provide a rotational force; A cam rotated by the rotation motor; And a link which is rotatably connected at one end to the cap and is rotatably connected at the other end to the rotatable block so as to reciprocate by pressing the rotatable block while linearly moving along the rotation of the cam .

Preferably, the injection pump comprises a piezoelectric element pump for injecting the disinfectant in the form of fine particles while pumping the disinfectant by the vibration of the piezoelectric element.

According to the robot cleaner of the present invention as described above, since the intake duct is coupled to the robot body by the duct connector so as to be able to ascend and descend, elasticity is provided, so that the intake duct and the brush do not collide with the curved surface or the obstacle It can be buffered while being raised and lowered, and the brush is brought into close contact with the floor surface by the elastic force, so that the floor surface can be cleaned more cleanly.

In addition, since the dust or foreign matter introduced into the dust collecting unit through the intake duct is vortexed by the cyclone constituting the dust collecting unit, the dust falls by the gravity and is collected by the dust collecting container, and then the separated air is exhausted and filtered. As the overload is prevented, the suction force is not lowered.

Specifically, since the trap constituting the cyclone is formed as a circular pipe having a vertical cross-section, dust or foreign matter falls into a vortex state and a pressure difference is provided, so that the foreign matter can be collected smoothly by the dust receptacle, The separated air flows smoothly into the vertical tube and can be filtered by the filter.

In addition, since the dust collecting container is composed of the container body having the upper part opened together with the intake flow path, the trap and the exhaust flow path constituting the cyclone and is sealed by the dust collecting cover and the vertical flow path is integrally fixed to the dust collecting cover, And it is convenient to make and clean the dust collecting container.

Since the duct flange integrally formed with the intake duct is coupled to the robot body in a state of being penetrated by the lifting rod, the intake duct can be lifted and lowered along the lifting rod together with the brush, and an elastic body is provided between the duct flange and the head of the lifting rod The intake duct can be elastically supported by the elastic body.

Further, when the rake plate is provided on the bottom surface of the robot body, the rake plate is fixed to the robot body by the rake plate connector so that the rake can be closely contacted with or separated from the bottom surface. It is possible to perform only the cleaning and the cleaning of the wet-cloth simultaneously, or only the vacuum cleaning or the cleaning of the wet-cloth.

Specifically, since the rake plate, which is vertically movable by the link plate to the robot body, is elastically supported by the elastic body, the rake is closely attached to the bottom surface, So that only the vacuum cleaning can be performed with the mop being separated from the bottom surface.

In addition, when the disinfecting unit is built in the robot main body, the robot main body removes dust or foreign matter from the bottom surface, and the disinfectant is sprayed on the floor surface through the jet pump constituting the disinfecting unit. Can be cleaned and disinfected simultaneously.

Particularly, since the injection pump injects the disinfectant while reciprocating while being installed on the robot body so as to be able to rotate by the pump connector, the dispensing radius of the disinfectant is expanded and the disinfectant can be sprayed on the bottom surface.

Specifically, as the rotary block constituting the pump connector reciprocates around the rotary shaft by the drive unit, the spray pump can smoothly perform the seesaw motion while spraying the disinfectant.

Further, since the rotational motion of the cam by the rotational motor is converted into the linear motion by the link, the rotational block can stably reciprocate.

In addition, since the disinfectant is injected in the form of fine particles, the disinfectant is sprayed uniformly on the bottom surface, and thus the disinfecting effect of the bottom surface can be improved.

1 is a longitudinal sectional view showing a conventional robot cleaner.
2 is a bottom view of a robot cleaner according to the present invention.
3 is an exploded perspective view showing a robot cleaner according to the present invention.
4 is a perspective view showing the robot main body and the dust collecting unit of the present invention.
5 is a plan view showing the structure of the dust collecting unit and the intake duct shown in Fig.
Fig. 6 is an exploded perspective view showing the dust collecting unit shown in Fig. 4; Fig.
7 is a longitudinal sectional view showing the dust collecting unit shown in Fig.
Fig. 8 is an exploded perspective view showing the duct connector shown in Fig. 3; Fig.
Fig. 9 is a longitudinal sectional view showing the operation of the duct connector shown in Fig. 8; Fig.
10 is a longitudinal sectional view showing the present invention.
Fig. 11 is a longitudinal sectional view of the robot main body shown in Fig. 10 viewed from another direction. Fig.
12 is an enlarged view showing the disinfecting unit shown in Fig. 3; Fig.
Fig. 13 is a front view showing the disinfecting unit shown in Fig. 12; Fig.
14 is an operational state view showing the operation of the disinfecting unit shown in Fig.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted.

2 and 3, the robot cleaner having the floor disinfecting function according to the present invention includes a robot body 10, an intake fan 16, a dust collecting unit 20, a brush 14, and a duct connector 50 .

2, the robot main body 10 travels along the bottom surface by means of a drive wheel 11 provided on the bottom surface, and the intake duct 12 To collect dusts and foreign substances on the floor surface together with the air and collect them in the dust collecting unit 20 as shown in FIG. 4, and exhaust air through the exhaust duct 13.

The robot main body 10 is operated by a power source of a battery (not shown), and performs a cleaning operation by running the floor surface in a set pattern or freely traveling under the control of a controller such as a remote controller not shown.

In addition, the robot body 10 may be provided with a camera or sensing sensors along the outer circumferential surface thereof so as to run on the floor surface while sensing an obstacle or a wall. When the cleaning operation is completed, the robot body 10 is docked to a charging station It is possible.

4, the robot main body 10 is provided with a receiving space 15 through which the intake duct 12 and the exhaust duct 13 communicate with each other while the dust collecting unit 20 to be described later is detachably received And a body cover 15a for opening and closing the accommodation space 15 is provided.

As shown in FIG. 3, the suction fan 16 is built in the robot main body 10 and rotates by a power source of the battery so that a suction force by a vacuum negative pressure is supplied to the suction duct 16, (12).

The intake fan 16 is installed at the rear of the exhaust duct 13 and is connected to the intake duct 12 through a dust collecting unit 20 as described later to provide a suction force as shown in FIG.

4, the dust collecting unit 20 is detachably coupled to the receiving space 15 of the robot body 10 to communicate with the intake duct 12 and the exhaust duct 13, It is a component that collects dust or foreign matter that enters. The dust collecting unit 20 may include, for example, a cyclone 100 and a dust collecting container 200 as shown in FIG.

7, the cyclone 100 drops dust or foreign matter introduced into the intake duct 12 together with the air, thereby separating dust or foreign matter by gravity and primarily separating the air, 13).

The dust collecting box 200 is detachably accommodated in the receiving space 15 together with the cyclone 100 as shown in FIG. 4, and is formed in a container form as shown in FIG. 7 and separated from the cyclone 100 Collect dust or foreign matter.

The cyclone 100 includes the intake passage 110, the trap 120, the vertical tube 130, the exhaust passage 140, and the filter 150 as shown in Figs. 6 and 7, for example. can do.

The intake duct 110 is detachably coupled to the intake duct 12 as shown in FIG. 4, so that dust or foreign matter flows into the duct together with the air. As shown in FIGS. 6 and 7, Lt; / RTI >

7, the trap 120 is provided inside the dust collecting container 200 while communicating with the suction passage 110, and is formed as a circular pipe to swirl the dust or foreign matter along with the air along the inner wall, (200).

7, since the diameter of the trap 120 is narrower than the diameter of the outlet, the dust and foreign matter fall smoothly into the vortex state, Can be separated.

The vertical tube 130 is installed in the longitudinal direction of the trap 120 while being separated from the inner wall of the trap 120 as shown in FIG.

The vertical tube 130 communicates the exhaust duct 13 and the trap 120 through an exhaust duct 140 to be described later so as to supply the suction force of the intake fan installed at the rear of the exhaust duct 13 to the intake duct 110 And the air dropped along the trap 120 together with dust and foreign matter flows into the lower end and is discharged to the upper portion.

The exhaust duct 140 is detachably coupled to the exhaust duct 13 as shown in FIG. 4 and extends to the inside of the dust collecting container 200 as shown in FIG. 7, So that the exhaust duct 13 is communicated.

7, the filter 150 is detachably installed on the upper portion of the vertical tube 130 to filter the air discharged from the vertical tube 130 and discharge the air through the exhaust duct 13.

That is, the dust or foreign matter on the bottom surface flows into the intake duct 12 and the intake flow path 110 by the suction force of the suction fan, falls in a swirling state along the trap 120, and foreign matter, 200 and dust and light foreign substances are introduced into the vertical tube 130 and filtered by the filter 150 and then only the clean air is exhausted to the exhaust duct 13 through the exhaust passage 140 .

6, the dust collecting container 200 may be formed of the same body as the cyclone 100 while being formed of the container body 210 and the dust collecting cover 160 as shown in FIG.

6, the container body 210 may be formed in a state that the upper part thereof is opened while forming the same body with the above-described intake passage 110, the trap 120 and the exhaust passage 140, And receives dust or foreign matter separated from the dust.

6, the dust collecting cover 160 is integrally provided on the upper portion of the vertical tube 130 and is detachably coupled along the rim of the container body 210, and the vertical tube 130 is connected to the trap 120, The trap 120 and the upper portion of the exhaust passage 140 while shielding the upper portion of the container body 210, the intake passage 110, the trap 120 and the exhaust passage 140 while being spaced apart from each other.

That is, the cyclone 100 and the container main body 210 are made of the same body and are formed to be openable and closable by the dust cover 160, so that the cyclone 100 and the container main body 210 are easy to manufacture and easy to clean.

7, the dust cover 160 is provided with a filter chamber 150a for communicating the upper part of the vertical tube 130 with the exhaust passage 140 while the filter 150 described above is installed.

6 and 7, the upper portion of the filter chamber 150a may be shielded by the chamber cap 170 so as to be openable and closable.

The chamber cap 170 is divided into dust collecting covers 160 as shown in Figs. 6 and 7 so as to openably close the upper portion of the filter chamber 150a, so that the filter 150 installed in the filter chamber 150a, To be removed or replaced.

7, the filter 150 may be detachably mounted on the upper end of the vertical pipe 130 and may be replaced or cleaned after the exhaust passage 140 is opened by the chamber cap 170 have.

Meanwhile, as shown in FIG. 6, the container body 210 is divided into a plurality of openable and closable portions by a discharge cap 220, so that the container body 210 can easily collect dust and foreign substances accumulated therein.

Meanwhile, the dust collecting container 200 may be positioned in the receiving space 15 by the centering member 250 while being accommodated in the receiving space 15 as shown in FIG.

The centering member 250 is composed of a centering protrusion 251 provided in the accommodation space 15 and a centering holder 252 provided in a groove shape in the discharge cap 220 as shown in FIG. Thereby centering the dust collecting container 200 in the receiving space 15.

As shown in FIGS. 2 and 5, the brush 14 is rotatably incorporated in the intake duct 12, and a part of the brush 14 is rotated in a state of being closely attached to the floor, Dirt or foreign matter on the surface is swept away.

8, the brush 14 is formed into a bar shape having a plurality of bristles 14a on the outer circumferential surface thereof, and is coupled to the intake duct 12 through a rotation shaft 14b provided at both ends and rotated.

The intake duct 12 is provided with a rotary motor MT as shown in Fig. 8, and a rotary plate (not shown) to which the rotary shaft 14b of the brush 14 is coupled while being rotated by the rotary motor MT The brush 14 is rotatably received.

The duct connector 50 is a component for vertically fixing the intake duct 12 to the robot main body 10. The duct connector 50 includes a duct flange 51, a lifting rod 52 and an elastic body 53 ). &Lt; / RTI >

5 and 8, the duct flanges 51 are protruded and formed on both sides of the intake duct 12 in an identical manner.

8, the lifting rod 52 is bolted to the bolt hole 10a provided in the robot body 10 while passing through the duct flange 51, and the intake duct 12 is connected to the robot body (not shown) 10 so as to be movable up and down.

9, one end of the lifting rod 52 is fastened to the bolt hole 10a of the robot body 10 in a state where the lifting rod 52 is engaged with the duct flange 51 as shown in FIG. 9, And prevents the duct flange 51 from deviating as the head 52a catches the duct flange 51. As shown in Fig.

The elastic body 53 may be formed of a coil spring as shown in FIG. 8. The elastic body 53 is inserted into the head 52a of the lifting rod 52 and the duct flange 51 in a state interposed therebetween.

9 (a), the elastic body 53 presses the duct flange 51 by an elastic force to support the intake duct 12 in a lowered state. As the intake duct 12 rises Thereby lifting the duct flange 51 while buffering it.

9 (a), the intake duct 12 travels in a state of being in close contact with the floor surface, and as shown in FIG. 9 (b) And is brought into close contact with the floor surface in a cushioning state.

The present invention may further include a duct cover 56 as shown in FIG.

As shown in FIG. 5, the duct cover 56 is a member that can expose the brush 14 as shown in FIG. 5, and has a latching protrusion 56b for catching the intake duct 12 as shown in FIG. 8, And a hooking hook 56c coupled to the hook holder 56d provided on the intake duct 12 is detachably coupled to the intake duct 12. [ The duct cover 56 is also provided with an exposure window 56a along the longitudinal direction to shield the accommodation space 12a while exposing a part of the brush 14. [

On the other hand, the duct cover 56 can be reinforced with rigidity by providing a cover rib 58 as shown in Fig.

8, the cover ribs 58 are provided in the same manner as the duct cover 56 in the form of dividing the exposed window 56a to reinforce the rigidity of the duct cover 56, Thereby preventing the end portion of the exposure window 56a from being caught on the floor surface.

2 and 3, the robot cleaner of the present invention may further include a wiping plate 30 and a wiping plate connector 40. As shown in Figs.

The mop plate 30 is a plate-like member provided on the bottom surface of the robot main body 10 and detachably attached to the mop 1 as shown in Fig.

The mop plate 30 is provided with a coupling member such as a non-illustrated Velcro tape or a snap button so that the mop 1 is detachably attached.

The lug plate connector 40 is a component for vertically fixing the lug plate 30 to the robot body 10 and includes a link plate 41 and a guide rail 42 as shown in Fig. The elastic body 43 and the hook 44 as shown in FIG.

As shown in FIG. 10, one end of the link plate 41 is hingedly coupled to both sides of the mop plate 30 so as to be rotated in a single direction, and the link plate 41 is fixed to the robot body 41 through a latching protrusion 41a provided at the other end, (30) to the robot body (10) while being hingedly coupled to the robot body (10) horizontally.

10, the link plate 41 is folded about the lid plate 30 as the lid plate 30 descends, and as the lid plate 30 is lifted upward as shown in Fig. 10 And spreads coplanar with the mop plate 30.

12, the guide rail 42 is provided on the bottom surface of the robot body 10 in the form of a long hole so that the locking protrusion 41a of the link plate 41 is hinged to be horizontally movable, So that the link plate 41 is folded or spread.

That is, as shown in FIG. 10, the link plate 41 is raised or lowered while the latching protrusion 41a is horizontally moved along the guide rail 42, thereby lifting and raising the lid plate 30.

The elastic body 43 is a member for pressing and lowering the lid plate 30 and may be constituted by a coil spring as shown in Fig. 11, for example. Thereby holding the mop plate 30 in a resilient manner.

Such an elastic body 43 provides an elastic force to the mop plate 30 to lower the mop plate 30 and elastically supports the mop plate 30 in a lowered state to bring the mop 1 into close contact with the bottom surface. Therefore, the bottom surface can be wiped cleanly as it travels while pressing the mop 1 in close contact with the floor surface. Even when there is unevenness or bending on the bottom surface, As shown in FIG.

2 and 11, the hook 44 is horizontally movable to the robot body 10, and is hooked to both sides of the wiping plate 30 to lock the wiping plate 30 in a raised state.

11, the hook 44 locks the mop plate 30 in a state where the mop plate 30 is spaced from the bottom surface in accordance with the engagement of the both sides of the mop plate 30, And is horizontally moved by the user and separated from the mop plate 30 to allow the mop plate 30 to descend. At this time, the mop plate 30 is lowered by the elastic force of the elastic body 43 as the hook 44 is unlocked.

11, the lug plate connector 30 may further include a lifting guider 45.

The elevating guider 45 is a component for guiding the elevating and lowering of the mop plate 30 in a vertical state, and can include the elevating sleeve 45a and the elevating rail 45b as shown in FIG.

The elevating sleeve 45a protrudes perpendicularly to the mop plate 30 as shown in Fig. 11 and moves up and down together with the mop plate 30. As shown in Fig.

The elevating rail 45b is formed as a hole in the robot body 10 as shown in Fig. 11, and the elevating sleeve 45a is fitted and slid.

That is, the lifting sleeve 45a moves up and down only in the vertical direction as the lifting and lowering sleeve 45a is raised and lowered in a state of being fitted to the lifting rail 45b.

On the other hand, the lid plate connector 30 may further include a storage holder 46 as shown in Fig.

10 and 11, the storage holder 46 is formed as a groove on the bottom surface of the robot body 10, as shown in FIG. 12, in which the lid plate 30 is housed in a state of being buried. The guide rails 42 are formed on both side walls and the rake plate 30 rises and is housed in a state of being embedded in a plane with the bottom surface of the robot body 10. [

The robot cleaner of the present invention may further comprise a sterilizing unit 70 as shown in FIGS. 2 and 3.

4, the disinfecting unit 70 is a component that is embedded in the robot main body 10 and injects disinfectant onto the bottom surface from which dust or foreign matter has been removed according to the operation of the dust collecting unit 20. For example, The disinfectant tank 71, the jet pump 73, and the pump connector 75 as shown in FIG.

3 and 4, the disinfectant tank 71 is built in the robot main body 10 and stores the disinfectant while being shielded by the disinfecting cap 71a as shown in FIG. 13, The discharge port 71b is provided on both sides of the lower end so that the disinfectant is discharged to both sides through the supply pipe 73 as the supply pipes 73 are connected to each other.

13 and 14, the disinfectant tank 71 is fixed to the robot body 10 together with the drive unit 760, which will be described later, while being mounted on the bracket BK.

The injection pump 73 is a member for pumping and spraying the disinfectant stored in the disinfectant tank 71. The disinfectant pump 73 is connected to the supply pipe 73 in a state where the disinfectant is installed in the rotation block 750, It is supplied.

The injection pump 73 may be constituted by, for example, a piezoelectric element pump.

The piezoelectric element pump injects the disinfectant into the fine particle state by pumping the disinfectant by the vibration of the piezoelectric element.

That is, the piezoelectric element pump is a conventional pump member applied to a humidifier, a washing machine, or an ultrasonic motor. The detailed configuration of such a piezoelectric element pump is well known in the technical field to which the present invention belongs, and thus a detailed description thereof will be omitted.

Accordingly, the disinfectant is sprayed in a fine particle state by the piezoelectric element pump, so that it can be uniformly sprayed on the bottom surface.

The pump connector 75 fixes the injection pump 73 to the robot body 10 so that the injection pump 73 can be rotated in a single direction and reciprocates in the form of a seesaw motion of the injection pump 73 so that the amount of the disinfectant sprayed from the injection pump 73 It is a component that extends the injection radius. For example, the pump connector 75 may include a rotation block 750 and a drive unit 760 as shown in Figs. 13 and 14. Fig.

The rotation block 750 is formed in a circular block shape as shown in FIG. 13, and a groove-shaped receiving portion 751 in which the injection pump 73 is integrally received is provided. As shown in FIG. 14, A spray hole 753 communicating with the spray pump 73 is provided to discharge the disinfectant sprayed from the spray pump 73 to the floor surface.

13, the rotation block 750 is rotatably coupled to the robot body 10 by a rotation shaft 755 provided at the center, and is rotated by the rotation unit 755 while being pressed by a drive unit 760, Thereby rotating the injection pump 73 about the center of the injection pump 73.

That is, the injection pump 73 rotates together with the rotation block 750 in a state where the injection pump 73 is installed in the rotation block 750 and injects the disinfectant.

The drive unit 760 is a component that reciprocates the injection pump 73 while reciprocating the rotation block 750 about the rotation axis 755. The drive unit 760 includes a rotation motor 761 ), A cam 763, and a link 765. [

The rotation motor 761 is a member that provides a rotational force and is installed in a bracket BK fixed to the robot body 10 as shown in Figs. 13 and 14. The rotation motor 761 is driven by the above- It is controlled by the same controller.

The cam 763 is rotatably mounted on the bracket BK as shown in Fig. 13 and connected to the rotary motor 761 by the gear train GT to rotate the rotary motor 761, as shown in Fig. As shown in FIG.

The link 765 is a member which reciprocates the rotary block 760 while pressing the rotary block 760 by switching the rotary motion of the cam 763 to a linear motion. As shown in Fig. 14, the one end of the link 765 is rotatable And the other end is rotatably coupled to the rim of the rotating block 750.

This link 765 reciprocates the rotation block 750 about the rotation axis 755 as the cam 763 is rotated by the rotation motor 761 as shown in Figs.

Accordingly, the disinfection range of the bottom surface can be extended since the jet pump 73 reciprocally moves around the rotary shaft 750 together with the rotary block 750 and dispenses the disinfectant.

Here, it is preferable that the rotation block 750 reciprocates within the range of 30 degrees left and right while reciprocating by the link 765.

The operation and operation of the present invention including the above-described components will be described.

The robot main body 10 travels along the bottom surface of the cleaning area under the control of a controller (not shown), and sucks foreign matter and dust on the bottom surface by the operation of the suction fan 16.

At this time, the intake fan 16 is connected to the exhaust duct 140, the filter chamber 150a, the vertical tube 130, the trap 120, and the intake duct 140, as shown in Fig. 7 while providing a vacuum negative pressure through the exhaust duct 13. [ A suction force is provided to the intake duct 12 through the flow path 110 to suck dust and foreign matter into the intake duct 12 together with the air.

The intake duct 12 travels in the lowered state as the duct flange 41 is pressed by the elastic force of the elastic body 53 as shown in Figure 9A and the window 56a provided in the duct cover 56, The foreign object is sucked through.

5, the brush 14 is rotated in a state of being closely attached to the floor surface by the lowering of the intake duct 12, thereby sweeping away dust or foreign matter adhered to the floor, thereby preventing dust or foreign matter from entering the intake duct 12).

9 (b), when the curvature or obstacle protrudes from the bottom surface of the intake duct 12, the cover rib 58 of the duct cover 56 slides along the curvature of the floor surface And travels along the lifting rod 52 via the duct flange 51 while moving upward.

At this time, the elastic body 53 is compressed by the duct flange 51 rising along the lifting rod 52 as shown in FIG. 9 (b) to buffer the rise of the intake duct 12, and the duct flange 51 51 are elastically supported so that the intake duct 12 and the brush 14 run on the bottom surface in close contact with each other.

7, the intake duct 110 guides the dust or foreign matter introduced into the intake duct 12 to the trap 120, and the trap 120 sweeps dust or foreign matter with the air, To the analgesic 200.

At this time, foreign substances or dust heavy in weight fall down while falling along the inner wall of the trap 120 and are collected by the dust collecting container 200. Light dust is dropped along the trap, And is filtered by the filter 140.

Clean air, which is dust-filtered by the filter 140, is exhausted to the exhaust duct 13 along the filter chamber 150a and the exhaust passage 140.

4, the dust collecting container 200 is separated from the receiving space of the robot body 10 together with the cyclone 100 as shown in FIG. 4, As the discharge cap 220 is detached from the container body 210 as described above, it is opened to remove foreign matter therein.

On the other hand, when the filter 140 is exchanged or cleaned as shown in FIG. 6, the chamber cap 170 is separated from the dust cover 160 to open the filter chamber 150a, The upper end of the cyclone 100 is separated from the dust collecting container 200 as shown in FIG. 4 when the filter 120, the vertical pipe 130, or the intake and exhaust passages 110 and 140 are cleaned.

When the bottom surface of the cleaning area is, for example, a long plate, the user lowers the lid plate 30 as shown in Fig. 10 to clean the wet cloth by the lid 1 and vacuum cleaning by the intake duct 12 .

11, the hook 44 unlocks the hook of the mop plate 30 while the hook 44 is moved to both sides by the user, and the mop plate 30 pushes the elastic body (not shown) as the hook 44 is unlocked 43 so that the mop 1 is brought into close contact with the floor surface.

10, the link plate 41 is rotated by the locking projection 41a while horizontally moving along the guide rail 42 as shown in Fig. 10 by the lowering of the lid plate 30, .

At this time, the mop plate 30 descends along the lifting rail 45b through the lifting sleeve 45a, so that the mop 1 is vertically lowered and brought into close contact with the bottom surface. The mop plate 30 is moved by the robot main body 10 in a state in which the mop 1 is in tight contact with the floor surface to clean the bottom surface of the wet cloth and the elastic force of the elastic body 43 And performs cleaning of the wet-cloth.

On the other hand, if the bottom surface of the cleaning area is, for example, a carpet, the user lifts the lid plate 30 as shown in FIG. 11 and stores the lid plate 30 in a state of being buried in the storage holder 46.

At this time, the link plate 41 is horizontally moved while the latching protrusion 41a moves along the guide rail 42 as shown in Fig. 10 by the rise of the lid plate 30, and is spread out around the lid plate 30 And the hook 44 is moved by the user as shown in FIG. 11 to catch the mop plate 30, thereby locking the mop plate 30 in the raised state. Accordingly, the robot main body 10 performs only vacuum cleaning through the intake duct 12 while traveling in a state where the mop plate 30 is spaced from the bottom surface.

Then, the robot main body 10 travels while spraying the disinfectant onto the floor surface in accordance with the operation of the disinfecting unit 70. [

Specifically, the disinfectant tank 71 constituting the disinfecting unit 70 supplies the disinfectant to the jet pump 32 through the supply pipe 73, and the jet pump 32 is composed of the piezoelectric element pump, 750 to spray the disinfectant on the bottom surface in the form of fine particles.

At this time, the rotary motor 761 rotates the cam 763 through the gear train GT while rotating by the control rod and the battery as shown in Figs. 14 and 15, and the cam 763 rotates via the link 765, So as to perform a seesaw motion of the injection pump 32 about the rotary shaft 755 while reciprocating the rotary block 750 through the rotary shaft 755. Accordingly, the injection pump 32 reciprocates right and left together with the rotating block 750 to spray the disinfectant on the floor surface.

When the running program is completed, the robot main body 10 docks to a charging station (not shown) to charge the power source through the charging terminal.

As described above, according to the robot cleaner of the present invention, the dust or foreign matter introduced together with the air through the intake duct 12 is dropped while being vortexed by the cyclone 100 and is primarily collected by the dust collecting container 200, Since the separated air is filtered while being exhausted, the suction force is not lowered as the filtering member 150 is prevented from being overloaded.

Specifically, since the trap 120 constituting the cyclone 100 is formed as a circular pipe having a lower light-shielding structure, dust or foreign matter falls into a vortex state and a difference in air pressure is provided, so that foreign matter can be collected in the dust collecting container 200 smoothly Since the vertical tube 130 is installed along the longitudinal direction of the trap 120 while being separated from the inner wall of the trap 120, the separated air smoothly flows into the vertical tube 130, Lt; / RTI >

The dust collecting container 200 is provided with a container body 210 having an upper portion opened together with the trap 120 and the exhaust passage 140 of the intake passage 110 constituting the cyclone 100 together with the collecting container 200, And the vertical tube 130 is integrally fixed to the dust cover 160 so that the cyclone 100 and the dust collector 200 can be easily manufactured and cleaned.

Further, since the filter chamber 150a can be opened and closed by the chamber cap 170 detachably provided in the dust collecting cover 160, the filter 150 installed in the filter chamber 150a can be easily separated and cleaned or exchanged have.

In addition, since the container body 210 is configured to be openable and closable by the discharge cap 220, dust and foreign matter trapped in the container body 210 can be easily removed.

As the intake duct 12 is elastically coupled to the robot body 10 by the duct connector 50 so that the intake duct 12 and the brush 14 are prevented from being bent or obstructed by the floor surface, The brush 14 can be lifted and lowered without collision, and the brush 14 is brought into close contact with the floor surface by the elastic force, so that the floor surface can be more cleanly wiped off.

Specifically, since the duct flange 51 integral with the intake duct 12 is coupled to the robot body 10 in a state of being penetrated by the lifting rod 52, the intake duct 12 is lifted and lowered together with the brush 14 The intake duct 12 can be moved up and down along the rod 52 and the elastic duct 53 can be moved between the duct flange 51 and the head 52a of the lifting rod 52, Lt; / RTI >

In addition, since the duct cover 56 is coupled to the intake duct 12 so that the brush 14 is exposed and shielded, only a part of the brush 14 is exposed through the exposure window 56a and is brought into close contact with the floor surface, 14 can be protected.

In addition, since the exposure window 56a provided in the duct cover 56 is divided by the reinforcing ribs 58, the rigidity of the duct cover 56 can be reinforced, and in particular, the reinforcing ribs 58 slide along the bottom surface The duct cover 56 can be moved up and down in a state of being closely attached to the obstacle through the reinforcing ribs 58 without being caught by the exposure window 56a.

Further, since the mop plate 30 to which the mop 1 is attached is fixed to the robot body 10 by the mop plate connector 40 so as to be movable up and down, the mop 1 can be brought into close contact with or spaced from the bottom surface Depending on the condition of the bottom surface, vacuum cleaning and wet-cloth cleaning may be performed in parallel, or only vacuum cleaning or wet-cleaning may be selectively performed.

Specifically, the lug plate 30, which is vertically movable by the link plate 41 to the robot body 10, is elastically supported by the elastic body 43 in a descended state, so that the lug 1 is brought into close contact with the bottom surface The bottom surface of the mop can be wiped more cleanly and only the vacuum cleaning can be performed with the mop 1 separated from the bottom surface since the mop plate 30 is locked by the hook 44 in a raised state.

Since the mop plate 30 is guided by the elevating guider 45 composed of the elevating sleeve 45a and the elevating rail 45b, the mop plate 30 can be vertically moved up and down, Can be vertically raised and locked by the hook 44 in a fixed position.

Since the rake plate 30 is stored in the storage holder 46 provided in the robot body 10 so that the rake plate 30 can be elevated even when the height of the robot body 10 is low, The aesthetic appearance of the robot main body 10 can be improved.

The robot main body 10 is actively moving on the floor surface while removing dust or foreign matter from the floor surface through the intake duct 12 and is also supplied to the floor surface through the injection pump 73 constituting the sterilizing unit 70 Since the disinfectant is sprayed, the bottom surface such as a hospital can be cleaned and disinfected at all times.

Particularly, since the injection pump 73 injects the disinfectant while reciprocating in a state in which it is mounted on the robot body 10 so as to be able to rotate by the pump connector 75, the dispensing radius of the disinfectant is expanded, Can be sprayed without.

More specifically, as the rotary block 750 constituting the pump connector 75 reciprocates around the rotary shaft 755 by the drive unit 760, the injection pump 73 smoothly performs seesaw motion while spraying the disinfectant .

In addition, since the rotational motion of the cam 763 by the rotational motor 761 is converted into the linear motion by the link 765, the rotational block 750 can stably reciprocate.

Since the disinfectant is sprayed in the form of fine particles, the disinfectant is sprayed uniformly on the bottom surface, and thus the disinfecting effect of the bottom surface can be improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be apparent to those skilled in the art that various changes, substitutions, and alterations can be made therein without departing from the spirit of the invention.

10: robot body 11:
12: Intake duct 14: Brush
15: accommodation space 16: intake fan
20: dust collecting unit 30:
40: Mop plate connector 41: Link plate
41a: locking projection 42: guide rail
43: elastic body 44: hook
45: lifting guider 45a: lifting sleeve
45b: lift rail 46: storage holder
70: Disinfection unit 71: Disinfectant tank
72: supply pipe 73: injection pump
75: Pump connector 100: Cyclone
110: intake flow path 120: trap
130: Vertical tube 140:
150: filter 150a: filter chamber
160: dust collecting cover 170: chamber cap
200: dust collecting container 210: container body
220: exhaust cap 250: centering member
251: centering projection 252: centering holder
750: rotation block 755: rotation axis
760: drive unit 761: rotation motor
763: cam 765: link

Claims

And an intake duct is provided on the bottom surface of the intake duct so that dust or foreign matter on the bottom surface is sucked into the intake duct together with air while exhaust ducts are provided to exhaust the air and the intake duct and the exhaust duct are communicated with each other A robot main body having a receiving space for allowing the robot body to move;
An intake fan incorporated in the robot body to provide a suction force to the intake duct;
A dust collecting unit detachably coupled to a receiving space of the robot main body to collect dust and foreign substances introduced into the intake duct through the intake duct while communicating the intake duct and the exhaust duct;
A brush rotatably installed in the intake duct of the robot body and sweeping dust or foreign substances on the floor surface while partially rotating on a bottom surface; And
A duct connector for lifting and lowering the intake duct together with the brush in accordance with the bending of the floor surface, and a duct connector &Lt; / RTI >
Wherein the dust-
The air is introduced into the intake duct through the intake duct and the air is introduced into the intake duct through the intake duct, and dust and foreign substances introduced into the intake duct are vortexed to drop dust or foreign matter by gravity, A cyclone for filtering and exhausting; And
And a dust collecting container integrally formed with the cyclone and detachably received in the accommodating space together with the cyclone, the dust collecting container collecting dust and foreign matter falling from the cyclone.

2. The cyclone according to claim 1,
An intake duct which is detachably connected to the intake duct and extends to the inside of the dust collecting container;
A trap which is provided in the dust collecting box and connected to the intake passage and is formed as a circular tube with a lower light guide to open a lower portion for dropping dust or foreign matter into the dust collecting container while guiding the dust and foreign matter together with air;
A vertical pipe installed in a vertical state while being spaced apart from an inner wall of the trap and having a dust or foreign matter along the inner wall of the trap and discharging the air guided to the lower portion of the trap to the lower end and discharging to the upper portion;
An exhaust duct which is detachably coupled to the exhaust duct and extends to the inside of the dust collecting container to communicate an upper portion of the vertical pipe with the exhaust duct; And
And a filter installed on an upper portion of the vertical tube for filtering air discharged from the vertical tube.

The dust collecting container according to claim 2,
A container body having an upper portion formed with the intake flow path, the trap, and the exhaust flow path in an opened state, the upper portion of which is housed in the dust and foreign matter dropped from the trap; And
The upper portion of the intake passage, the trap, and the exhaust passage while sealing the upper portion of the container body in a state where the vertical tube is integrally fixed, while communicating the upper portion of the vertical tube with the exhaust passage And a dust collection cover for providing a filter chamber in which the filter is installed.

The duct connector according to claim 1,
A duct flange integrally provided on both sides of the intake duct;
A lifting rod in the form of a bolt in the form of a bolt which is vertically coupled to the robot body through the duct flange to guide the vertical lift of the duct flange and to which the duct flange is attached; And
And an elastic body which is fitted to the elevating rod in a stacked state on the duct flange and which elastically supports the duct flange while lowering the duct flange by providing an elastic force in a state interposed between the head of the elevating rod and the duct flange vacuum cleaner.

The method according to claim 1,
A mop plate provided on a bottom surface of the robot body and detachably attached to a mop for polishing a bottom surface; And
And a mop plate connector fixing the mop plate to the bottom surface of the robot body so as to be able to move up and down so that the mop is brought into close contact with the bottom surface or separated from the bottom surface.

The connector according to claim 5,
And a locking protrusion is provided at the other end, and the mop plate is folded or extended around the mop plate to connect the mop plate to the robot main body in such a manner that the mop plate can be raised and lowered A pair of link plates;
A guide rail provided on the bottom surface of the robot body and hingedly coupled to the linking plate of the link plate so as to horizontally move and guiding the folding and spreading of the link plate while rotating the linking pivot in a rotatable manner;
An elastic body interposed between the mop plate and the robot main body, the elastic body elastically supporting the mop plate while pressing the mop plate down by an elastic force; And
And a hook provided on the robot main body to catch the rake plate in an elevated state, to lock the rake plate in a raised state or to unlock the rake plate to lower the rake plate.

The method according to claim 1,
And a disinfecting unit built in the robot main body for spraying a disinfectant on the bottom surface while traveling together with the robot main body,
The sterilizing unit may include:
A disinfectant tank installed in the robot body to store the disinfectant;
A spray pump connected to the disinfectant tank and spraying the disinfectant onto the floor while the disinfectant is supplied; And
And a pump connector which fixes the injection pump to the robot body in a state where the injection pump can rotate in a single direction and increases the injection radius of the disinfectant while reciprocating the injection pump.

8. The pump connector according to claim 7,
A rotary shaft rotatably coupled to the robot main body and having a spray hole for guiding the disinfectant sprayed from the spray pump to the floor while the spray pump is integrally housed, A circular rotating block for pivoting and rotating; And
And a driving unit for causing a part of the rotation block to reciprocate about the rotation axis while seesawing the injection pump.

9. The apparatus according to claim 8,
A rotation motor installed in the robot body to provide a rotational force;
A cam rotated by the rotation motor; And
And a link which is rotatably connected at one end to the cap and is rotatably connected at the other end to the rotation block so as to reciprocate by pressing the rotation block while linearly moving according to the rotation motion of the cam.

8. The apparatus of claim 7, wherein the injection pump comprises:
Wherein the piezoelectric element pump is a piezoelectric element pump for spraying the disinfectant in the form of fine particles while pumping the disinfectant by the vibration of the piezoelectric element.