KR20210015595A - Moving Robot - Google Patents

Abstract

The present invention relates to a moving robot whose center of gravity is located on the virtual center vertical line, is located in front of the imaginary central horizontal line connecting the spin axis of a left spin mop and the spin axis of a right spin mop, is located in front of the center of gravity of a battery and water tank, and is disposed behind the center of gravity of a sweep module.

Description

Moving Robot {Moving Robot}

The present invention relates to a mobile robot that mops.

A mobile robot is a device for cleaning by inhaling foreign substances such as dust from the floor or by wiping foreign substances from the floor. Recently, a mobile robot capable of mopping has been developed. In addition, the robot mobile robot is a device that cleans while traveling by itself.

As a prior art, a robot mobile robot capable of moving by a mop surface is known. In the prior art, the robot moving robot is provided with a first rotating member and a second rotating member for fixing a pair of mop surfaces arranged in the left-right direction as a vertical axis. The robot moving robot according to the prior art moves as the first rotating member and the second rotating member rotate while only the mop surfaces fixed to the first rotating member and the second rotating member are in contact with the floor.

In the case of the prior art, when water is supplied to a mop attached to the first rotating member and the second rotating member, there is a problem in that it is difficult to evenly distribute water.

In addition, in the case of the prior art, the edge data is disposed in front of the dust bin in the dry module. The robot vacuum cleaner makes the body circular when viewed from the top for ease of rotation and aesthetics at the corner.At this time, if the edge data does not protrude from the body, the width of the edge data is limited to the diameter of the body, and moreover, the edge data Since the data is disposed in front of the dust bin and the spinmap, there is a problem that the width of the edge data is only similar to the radius.

Therefore, in the case of the prior art, in order to increase the width of the edge data, it has a structure that protrudes in front of the body of the dry module, and this structure does not facilitate rotation of the robot cleaner, and there is a problem that the volume of the robot cleaner increases. do.

In addition, in the case of the prior art, since the robot cleaner proceeds only with the frictional force of the spinmap, and the water level stored in the water tank is variable, it is difficult to effectively mop, and there is a problem in the driving force.

In particular, since it is very difficult to adjust the moving direction by friction with the rotating mop in the conventional wet robot, there is a disadvantage in that it is impossible to clean only by random driving and to run a pattern capable of meticulous cleaning.

In the case of Œm, the conventional technology has a disadvantage that it is difficult to thoroughly clean the corner of the floor or the area adjacent to the wall when only random driving is performed.

Korean Patent Publication 10-1654014 Korea Public Publication 1020160184448

The first object of the present invention is to increase the frictional force between the mop and the floor regardless of the change in the water level of the tank for effective mopping and driving of the robot cleaner, and to enable pattern driving that enables meticulous cleaning through accurate driving. will be.

A second object of the present invention is to make the body circular to facilitate rotation of the vacuum cleaner, while disposing it to the dry module so that it does not protrude outward, and to maintain the width of the edge data, the rear of the dust bin (the center of the body (Adjacent to), it is possible to maintain the cleaning range of the building module.

In the robot cleaner of the prior art, there is a problem that stability in the front-rear direction is poor as a structure that is supported by two points by a pair of mops on the left and right sides. The second task of the present invention is to solve this problem and improve the stability of the robot cleaner in the left and right directions and the front and rear directions due to the four-point support.

The third subject of the present invention is to arrange the battery, motor, water tank, dry module, and spin mop based on the rotation axis and the center vertical line of the spin mop, so that the center of gravity of the robot cleaner is skewed forward than the spin mop, thereby ensuring stable driving. It is to reconcile performance.

The prior art is a robot cleaner that moves by a pair of rotating mop surfaces on the left and right, and as the frictional force generated by the pair of rotating mop surfaces is frequently changed, there is a problem in that it is difficult to run straight straight. When it is difficult to drive straight ahead, there is a problem that an area that passes without mopping is increased on a floor surface that requires straight straight traveling, such as near a wall. The fourth problem of the present invention is to solve this problem.

When the robot cleaner mops, a relatively large foreign substance does not adhere well to the mop surface, and thus, there is a problem that it remains on the floor even after the robot cleaner mops. A fifth object of the present invention is to solve this problem, and to enable a relatively large foreign matter to be removed by a robot cleaner.

A sixth object of the present invention is to provide a device capable of performing dry cleaning and wet mopping in combination, thereby performing clean and efficient mopping.

In order to solve the above problems, the present invention is characterized in that the dust storage space is disposed in front of the edge data, and the entire edge data is vertically overlapped with the body.

In addition, the present invention is characterized in that the relatively heavy battery and motor are disposed on the upper portion of the spinmap.

In addition, the present invention is characterized in that the center of gravity of the mobile robot is positioned on a central vertical line, positioned in front of the central horizontal line connecting the rotation axes of the two spinmaps, and disposed behind the two casters.

Specifically, the present invention is a body; A left spin mob and a right spin mob rotatably installed on the body and supporting the body; A left mop motor and a right mop motor that supply driving force to the left and right spin mops and are installed in the body; And a battery that supplies power to the mop motors and is installed in the body, the left mop motor is disposed on the left spin mob, the right mop motor is disposed on the right spin mob, and at least of the battery A portion is characterized in that it is disposed on the left and right spinmap.

In addition, the present invention provides a body, a left caster and a right caster that supports the body and is in contact with the floor, and is rotatably installed on the body, supports the body, and is disposed behind the left caster and the right caster. Including a spinmap and a right spinmap, the center of gravity (WC) of the mobile robot may be located behind the geometric center (TC) of the body.

In addition, the present invention further includes a left mop motor and a right mop motor that supply driving force to the left and right spin mops and are installed in the body, the left mop motor is disposed on the left spin mob, and the The right mop motor may be disposed above the right spin mop.

The left mop motor and the right mop motor may be disposed to vertically overlap a virtual central horizontal line connecting the spin rotation axis of the left spin mop and the spin rotation axis of the right spin mop.

The left mop motor may be disposed to be vertically overlapped with the left spin mob, and may be disposed to be biased to the left from the spin rotation axis of the left spin mob.

The left mop motor may be disposed to be vertically overlapped with the left spin mob, and may be skewed in a left forward direction from the spin rotation axis of the left spin mob.

The right mop motor may be disposed to be vertically overlapped with the right spin mob, and may be disposed to be skewed in a right direction from the spin rotation axis of the right spin mop.

The right mop motor may be disposed to be vertically overlapped with the right spin mob, and may be skewed in a left forward direction from the spin rotation axis of the right spin mop.

The left mop motor and the right mop motor may be arranged symmetrically with respect to a virtual central vertical line.

The present invention further includes a battery that supplies power to the mop motors and is installed in the body, and at least a part of the battery may be disposed on the left and right spin mops.

The battery may be disposed to vertically overlap a virtual central horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map.

The spin rotation axis of the left spin map and the spin rotation axis of the right spin map may be disposed behind a center of the body.

In addition, the present invention further includes a water tank that stores water supplied to the mop module and is disposed on the body, and the water tank may be disposed to vertically overlap a virtual central vertical line.

The battery may be disposed to be vertically overlapped with the center vertical line, and may be disposed in front of the water tank.

The center of gravity of the battery and the center of gravity of the water tank may be disposed on the center vertical line.

The center of gravity of the battery may be located on a virtual center horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map, and the center of gravity of the water tank may be located behind the center horizontal line.

The center of gravity (WC) of the mobile robot may move along the central vertical line according to the amount of water in the tank.

The center of gravity of the battery is located between the center of the body and the virtual center horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map, and the center of gravity of the water tank is rearward than the center horizontal line. Can be located.

The present invention further includes a sweep module that is spaced apart from the spin mobs in the body and collects foreign substances on the floor, and the center of the sweep module may be located on a virtual central vertical line.

The center of the sweep module may be disposed in front of the center of the body.

The present invention further includes a sweep module disposed in the body to be spaced from the front of the spin mops and collecting foreign substances on the floor, wherein the sweep module includes a dust housing having a storage space for storing foreign substances; An edge data rotatably installed in the dust housing and disposed behind the storage space; And a sweep motor that provides rotational force to the edge data, wherein the rotation axis of the edge data is parallel to a virtual central horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map, and the The center of the edge data may be located on a virtual center vertical line.

The present invention further includes a left caster and a right caster disposed at both ends of the dust housing and in contact with the floor, the left caster and the right caster are disposed on a line parallel to the center horizontal line, the center horizontal line and the edge data It can be placed more forward.

The left caster and the right caster may be disposed in front of the center of the body.

The center of gravity of the mobile robot and the geometric center of the body (TC) are located in a virtual rectangle that sequentially connects the left caster, the right caster, the spin rotation axis of the right spin map, and the spin rotation axis of the left spin map. Can be.

The center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (BC) of the battery (Bt) are, the left caster, the right caster, the spin rotation axis of the right spinmap and the left It may be located in a virtual rectangle that sequentially connects the spin rotation axes of the spinmap. The center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (SC) of the sweep module 2000 May be positioned in a virtual rectangle that sequentially connects the left caster, the right caster, the spin rotation axis of the left spin map, and the spin rotation axis of the right spin map.

In addition, the present invention is a body; A left spin mob and a right spin mob rotatably installed on the body and supporting the body; A left mop motor and a right mop motor that supply driving force to the left and right spin mops and are installed in the body; A sweep module disposed in the body to be spaced apart from the spin mops in a forward direction, and collecting foreign substances on the floor; A battery that supplies power to the mop motors and is located behind the sweep module in the body; And a water tank that stores water supplied to the mop module and is located behind the battery in the body, wherein the battery center, the center of the water tank, and the center of the sweep module are arranged on a virtual center vertical line, The left spin map and the right spin map are disposed symmetrically with respect to an imaginary central vertical line, the left map motor is disposed on the left spin map, and the right map motor is disposed on the right spin map.

In addition, the present invention is a body; A left spin mob and a right spin mob rotatably installed on the body and supporting the body; A left mop motor and a right mop motor that supply driving force to the left and right spin mops and are installed in the body; A sweep module disposed in the body to be spaced apart from the spin mops in a forward direction, and collecting foreign substances on the floor; A battery that supplies power to the mop motors and is located behind the sweep module in the body; And a water tank that stores water supplied to the mop module and is located behind the battery in the body, wherein a center of gravity of the mobile robot is located on a virtual central vertical line, and the spin rotation axis of the left spin mob and the It is located in front of the virtual center horizontal line connecting the spin rotation axis of the right spin map, and the center of gravity of the mobile robot is located in front of the center of gravity of the battery and the water tank, and is disposed behind the center of gravity of the sweep module. .

In addition, the present invention provides a driving force to the body, the left and right spin mops and the left and right spin mops that are rotatably installed on the body, and are installed on the body. A motor and a right mop motor, the left mop motor is disposed above the left spin mob, the right mop motor is disposed above the right spin mob, and the left mop motor is disposed to vertically overlap the left spin mob And, it is arranged to be biased in a left forward direction from the spin rotation axis of the left spin mob, the right mop motor is disposed to be vertically overlapped with the right spin mop, and is arranged to be skewed in a right forward direction from the spin rotation axis of the right spin mop. .

In the present invention, since the body is formed in a circular shape and the dry module does not protrude to the outside of the body, it is easy to freely rotate at any position in the cleaning area, and the width of the edge data can be kept large, so that the cleaning range is wide and relatively There is an advantage of collecting large foreign matter and performing the mopping operation at the same time.

In addition, the present invention has the advantage of improving the frictional force of the mop and increasing the efficiency of mopping by arranging a battery and a motor that are relatively heavier than other parts on the top of the spin mop so as to vertically overlap the spin mop.

In addition, the present invention improves the frictional force of the mop, improves the efficiency and accuracy of mopping, and in the vacuum cleaner running with the frictional force of the mop, it is possible to perform accurate pattern driving, thereby enabling thorough cleaning than the landon driving. exist.

In addition, it is provided in contact with the floor by a pair of spin mops arranged in the left and right directions, and auxiliary wheels spaced from the spin mops forward and spaced apart in the left and right directions. By placing the center of gravity of a pair of auxiliary wheels and a pair of spin mops in a virtual square made, based on the support point of the mop module, the sweep module prevents the robot cleaner from overturning to the front, and the robot The rollover of the vacuum cleaner to the rear is prevented by the mop surface of the mop module, and there is an advantage that stable driving is possible regardless of the water level of the tank.

In addition, since the sweep module provides a frictional force against the shaking of the mop module in the left and right direction, there is an effect that the robot cleaner can move straight ahead while moving by the frictional force of the mop surface.

In addition, the present invention connects the center of gravity of the relatively heavy battery to the geometric center of the body and the central axis of a pair of spinmaps while exposing the tank to the rear of the body in order to intuitively recognize the space constraints and the water level to the user. Arrangement between one central horizontal plane and a pair of mop motors above the central horizontal line or above the central horizontal line, there is an advantage in that the robot cleaner is biased forward than the center of gravity horizontal line of the robot cleaner through the placement of relatively heavy parts. do.

In addition, two points (Pla, Plb) receiving the greatest frictional force by receiving the greatest frictional force from the left front of the lower side of the left spinmap and the greatest frictional force from the right front of the lower side of the right spinmab The ratio of the weight of the rear side to the weight of the front side increases based on the virtual axis connecting ). In this case, the ratio of the load transmitted to the mop module to the load transmitted to the sweep module among the total load of the robot cleaner increases, thereby increasing mopping efficiency and driving efficiency according to the rotational operation of the mop module.

Further, the pair of auxiliary wheels, a pair of mop driving units, and a pair of mom motors are provided to be symmetrically left and right with respect to the central vertical line, and the center of gravity or geometric center of the battery, water tank, and edge data is located on the central vertical line. By doing so, it is possible to improve the stability in the left and right directions, and there is an advantage in that the driving control is implemented more accurately.

Furthermore, by allowing the center of gravity of the water tank, the battery and/or the pump to be disposed on the center vertical line, the driving control can be implemented more accurately.

In addition, by providing a collection driving unit including a motor rotation shaft disposed on the central vertical line, a collection driving unit may be provided to be symmetrically left and right with respect to the central vertical line. Meanwhile, a gap is formed between the pair of collection units and the pair of sweeping units, so that the collection driving unit can be disposed on the central vertical line and the collection driving unit can be provided symmetrically left and right.

The collection module is disposed in front of the mop module, and the pair of sweeping units is disposed in front of the pair of collection units, so that it is possible to mop while following the floor where the operation of sweeping foreign substances in front is performed. , There is an effect of efficient cleaning.

1 is a perspective view of a cleaner according to a first embodiment of the present invention.
2 is a left side view of FIG. 1.
3 is a bottom perspective view of FIG. 1.
4 is a front cross-sectional view of FIG. 1.
5 is a perspective view of the sweep module shown in FIG. 3.
6 is a bottom perspective view of FIG. 5.
7 is a right cross-sectional view of FIG. 5.
8 is an exploded perspective view of the sweep module shown in FIG. 3.
9 is an exploded perspective view of the sweep module viewed from the right side of FIG. 8.
10 is a partially exploded perspective view of FIG. 5.
11 is an enlarged perspective view of the first lever shown in FIG. 8.
12 is an enlarged perspective view of the second lever shown in FIG. 9.
13 is an enlarged perspective view of the second lever viewed from the left side of FIG. 12
14 is a partial exploded perspective view of a sweep module showing the coupling structure of the edge data shown in FIG. 5.
15 is an exploded perspective view showing an assembly structure of the driven coupler shown in FIG. 14.
16 is a perspective view as viewed from the left side of FIG. 15.
17 is a right cross-sectional view showing the edge data of FIG. 14.
18 is an exploded perspective view of a driving unit viewed from the left side of FIG. 14.
19 is a plan view of a cleaner from which a case is removed in FIG. 1.
20 is a bottom view of FIG. 19.
21 is a right sectional view of FIG. 19.
22 is a cross-sectional view of the mobile robot along the line passing through the rotation axis of the left and right spinmaps.
23 is a perspective view showing the body of the mobile robot from which the map module is separated.
24 is a perspective view of a water supply module and a mop module.
25 is an exploded perspective view of the map module of FIG. 24.
26 is an exploded perspective view of the mom module of FIG. 24.
27 is a partial cross-sectional view showing a state in which the water supply corresponding part and the water supply connection part are combined.
28 is a cross-sectional view taken along line 28-28' in FIG. 20 to show the water tank and the water tank detachment module.
29 is a cross-sectional view taken along the line 29-29' in FIG. 20 to show the water tank and the water pipe coupler.
30 is a view showing a state in which the water tank is separated from the body.
31 is a view showing a state in which the water tank is separated from the body.
Fig. 32 is a bottom view of the water tank as viewed from below.
33 is a view showing a portion in which the water tank detachment module is coupled to the water tank.
34 is a perspective view showing a state in which the upper cover of the housing is removed from the water tank detachment module.
FIG. 35 is a cross-sectional view of the water tank detachment module of FIG. 33 taken along the line 35-35'.
FIG. 36 is a cross-sectional view of the water tank detachment module of FIG. 33 taken along line 36-36'.
37 is a view showing the operation of the water tank detachment module of the present invention.
38 is a bottom view of FIG. 1 for explaining the center of gravity and the lowermost end of the spin mob according to the present invention.
39 is a plan view of the center of gravity of the present invention as viewed from above after removing the case from the body in FIG. 1.
40 is a bottom view for explaining the relationship between the center of gravity and other components of another embodiment of the present invention.
41 is a bottom view for explaining the relationship between the center of gravity and other components of another embodiment of the present invention.
FIG. 42 is a bottom view for explaining a relationship between a center of gravity and other components when the water tank of the mobile robot of FIG. 1 is full.
43 is a bottom view for explaining the relationship between the center of gravity and other components in the case of no water in the tank in FIG. 42;
44 is a bottom view for explaining a relationship between a center of gravity and other components according to another embodiment of the present invention.

Expressions referring to directions such as “before (F)/after (R)/left (Le)/right (Ri)/up (U)/down (D))” mentioned below are defined as indicated in the drawings. , This is for explaining so that the present invention can be clearly understood to the last, and it goes without saying that each direction may be defined differently depending on where the reference is placed.

For example, a direction parallel to an imaginary line connecting the central axis of the left spin map and the central axis of the right spin map is defined as a left-right direction, perpendicularly intersected with the left-right direction, and parallel with the central axis of the spin maps or an error angle A direction within 5 degrees of is defined as an up-down direction, and a direction perpendicular to the left and right direction and the up-down direction is defined as the front-rear direction. Of course, the front may mean the main traveling direction of the mobile robot or the main traveling direction of the pattern traveling of the mobile robot. Here, the main traveling direction may mean a vector sum value of directions traveling within a predetermined time.

The use of terms such as'first, second, third' in front of the elements mentioned below is only to avoid confusion of the elements to be referred to, and the order, importance, or master-slave relationship between elements, etc. Is irrelevant. For example, an invention including only the second component without the first component may be implemented.

The'mop' mentioned below may be variously applied in terms of materials such as fabric or paper, and may be used repeatedly through washing or disposable.

The present invention can be applied to a mobile robot that a user manually moves or a robot cleaner that runs by itself. Hereinafter, the present embodiment will be described based on a robot cleaner.

The cleaner 1 according to the embodiment of the present invention includes a body 30 having a control unit. The cleaner 1 includes a mop module 40 that is provided to mop in contact with a floor (a surface to be cleaned). The cleaner 1 includes a sweep module 2000 provided to collect foreign substances on the floor.

The map module 40 is disposed under the body 30 and may support the body 30. The sweep module 2000 is disposed under the body 30 and may support the body 30. In this embodiment, the body 30 is supported by the mop module 40 and the sweep module 2000. The body 30 forms the exterior. The body 30 is arranged to connect the mop module 40 and the sweep module 2000.

The map module 40 may form an exterior. The map module 40 is disposed under the body 30. The map module 40 is disposed behind the sweep module 2000. The mop module 40 provides a driving force for the movement of the cleaner 1. In order to move the cleaner 1, the mop module 40 is preferably disposed on the rear side of the cleaner 1.

At least one mop part 411 may be provided in the mop module 40 to mop the floor while rotating. The map module 40 includes at least one spin map 41, and the spin map 41 rotates clockwise or counterclockwise when viewed from the top. The spinmap 41 is in contact with the floor.

In this embodiment, the map module 40 may include a pair of spin maps 41a and 41b. The pair of spin mops 41a and 41b rotate clockwise or counterclockwise when viewed from the top, and mop the floor through rotation. Among the pair of spin maps (41a, 41b), the spin map placed on the left side when viewed from the front of the vacuum cleaner is defined as the left spin map (41a), and the spin map placed on the right side is defined as the right spin map (41b). do.

The left spin map 41a and the right spin map 41b are rotated around respective rotation axes. The rotation shaft is arranged in the vertical direction. The left spinmap 41a and the right spinmap 41b may be rotated independently.

The left spin mops 41a and the right spin mops 41b include a rotating plate 412 and a spin shaft 414 to which a mop part 411 is attached, respectively. The left spin map 41a and the right spin map 41b each include a water supply receiving portion 413.

The sweep module 2000 may form an exterior. The sweep module 2000 is disposed in front of the mop module 40. In order to prevent foreign substances on the floor from first contacting the mop module 40, the sweep module 2000 is preferably disposed in front of the vacuum cleaner 1 in the traveling direction.

The sweep module 2000 is spaced apart from the map module 40. The sweep module 2000 is disposed in front of the mop module 40 and contacts the floor. The sweep module 2000 collects foreign substances on the floor.

The sweep module 2000 contacts the floor and collects foreign substances located in front of the sweep module 2000 when the cleaner 1 moves. The sweep module 2000 is disposed under the body 30. The left and right widths of the sweep module 2000 are smaller than the left and right widths of the map module 40.

The body 30 includes a case 31 forming an external appearance, and a base 32 disposed under the case 31.

The case 31 forms a side surface and an upper side surface of the body 30. The base 32 forms the bottom surface of the body 30.

In this embodiment, the case 31 is formed in a cylindrical shape with an open bottom surface. When viewed from the top view, the overall shape of the case 31 is formed in a circular shape. Since the plane of the case 31 is formed in a circular shape, it is possible to minimize the radius of rotation during rotation.

The case 31 includes an upper wall 311 having an overall shape in a circular shape, and a side wall 312 integrally formed with the upper wall 311 and extending downward from the edge of the upper wall 311.

A part of the sidewall 312 is formed by opening. The opened portion of the side wall 312 is defined as a water tank insertion port 313, and the water tank 81 is detachably installed through the water tank insertion port 313. The water tank insertion port 313 is disposed at the rear based on the traveling direction of the cleaner. Since the water tank 81 is inserted through the water tank insertion port 313, the water tank insertion port 313 is preferably disposed close to the mop module 40.

The mop module 40 is coupled to the base 32. The sweep module 50 is coupled to the base 32. The controller Co and the battery Bt are disposed in the inner space formed by the case 31 and the base 32. In addition, the mop driving unit 60 is disposed on the body 30. A water supply module is disposed on the body 30.

The base 32 is a base body 321 that covers the opened bottom of the case 31 and a base guard formed along the outer edge of the base body 321 and protruding downward from the edge of the base body 321 322, and an insertion hole 323 through which the base body 321 is inserted in the vertical direction, and the sweep module 2000 is detachably inserted.

The sweep module 2000 is detachably mounted to the body 30 through an insertion hole 323. The sweep module 2000 is located in front of the mop module 40 and collects foreign substances in front of the mop module 40. The sweep module 2000 is assembled detachably from the base 32. The sweep module 2000 is separated from the base 32 through a lever 2500 in a state assembled to the base 32.

An installation space 325 in which the sweep module 2000 is mounted is formed in the base 32. In the present embodiment, it is assembled to the base 32 and disposed above the insertion hole 323, and a storage housing 326 forming the installation space 325 is further disposed.

The storage housing 326 protrudes upward from the base body 321.

The storage housing 326 is opened at the lower side to communicate with the insertion port 323. The interior space of the storage housing 326 provides an installation space 325. The installation space 325 of the storage housing 326 corresponds to the shape of the sweep module 2000.

The sweep module 2000 includes a dust housing 2100 that is detachably assembled with the body 30 and stores foreign substances, an edge data 2200 that is rotatably assembled to the dust housing 2100, and a body 30 ), a driving unit 2300 that provides rotational force to the edge data 2200, a driving coupler 2320 disposed on the driving unit 2300 and transmitting the rotational force of the driving unit 2300 to the edge data 2200 , A driven coupler 2220 disposed in the edge data 2200 and transferring the rotational force of the driving coupler 2320 to the edge data 2200, and a driven coupler 2320 disposed in the dust housing 2100 and provided with an operating force ) And a lever 2500 for coupling or separating the driven coupler 2220.

The dust housing 2100 accommodates the edge data 2200. In addition, the dust housing 2100 stores foreign matter collected through rotation of the edge data 2200. That is, the dust housing 2100 not only provides an installation and operation structure for the edge data 2200, but also provides a storage space for foreign substances.

The dust housing 2100 includes a collection space 2102 for rotation of the edge data 2200 and a storage space 2104 for storing foreign substances. The dust housing 2100 is formed long in the left and right direction. The width of the dust housing 2100 is formed to be narrower than the width of the mop module 40.

The dust housing can be assembled by separately manufacturing a structure for the collection space 2102 and a structure for the storage space 2104. In the present embodiment, a collection space 2102 and a storage space 2104 are disposed in the dust housing 2100, and a partition 2145 that partially divides the collection space 2102 and the storage space 2104 is disposed.

In this embodiment, the dust housing 2100 includes an upper housing 2110 providing an upper outer shape, a lower housing 2140 disposed under the upper housing 2110 and coupled to the upper housing 2110, and an upper housing It includes a dust cover 2150 detachably assembled with at least one of the (2110) and the lower housing (2140).

The upper housing 2110 and the lower housing 2140 are assembled to form a collection space 2102 and a storage space 2104. That is, the upper housing 2110 provides a partial space above the collection space 2102 and the storage space 2104, and the lower housing 2140 provides the collection space 2102 and the remaining space below the storage space 2014. do.

In this embodiment, the collection space 2102 is located behind the storage space 2104.

That is, since the storage space 2104 is located in front of the collection space 2102, the dust cover 2150 is located in front of the upper housing 2110.

The upper housing 2110 and the lower housing 2140 are integrally assembled. The upper housing 2110 and the lower housing 2140 assembled integrally are defined as a housing assembly 2001.

The dust cover 2150 is detachably assembled with the housing assembly. When the dust cover 2150 is separated from the housing assembly, the storage space 2104 is exposed to the outside. By separating the dust cover 2150, foreign matter stored in the storage space 2104 may be discarded.

The upper housing 2110 provides an upper surface, a left upper surface, a right upper surface, and a rear surface of the dust housing 2100. The upper housing 2110 forms an upper side of the collection space 2102 and the storage space 2104. The upper housing 2110 provides a collection space 2102 and an upper portion of the storage space 2104.

The upper housing 2110 is formed by being integrally connected with the first upper housing part 2112 forming the upper wall of the storage space 2104 and the first upper housing part 2112, and is formed on the top of the collection space 2102. A second upper housing portion 2114 forming a side wall and a rear wall, a third upper housing portion 2116 providing a part of the left wall of the collection space 2102 and the storage space 2104, and a collection space 2102 ) And a fourth upper housing part 2118 providing a part of the right wall of the storage space 2104.

There is no particular restriction on the shape of the first upper housing part 2112. However, since the second upper housing 2114 accommodates the edge data 2200, it corresponds to the shape of the edge data 2200.

At least a portion of the second upper housing 2114 has a center of curvature formed on the axis of rotation of the edge data 2200. At least a part of the second upper housing portion 2114 is formed in an arc shape.

In this embodiment, the radius of curvature R1 of the second upper housing part 2114 is larger than the diameter of the edge data 2200. It is preferable that the outer edge of the edge data 2200 is in contact with the inner side of the second upper housing 2114).

The foreign matter collected through the contact between the edge data 2200 and the second upper housing 2114 may be moved to the collection space 2104 along the inner surface of the second upper housing 2114. When the edge data 2200 and the second upper housing 2114 are separated from each other, foreign matter collected by the edge data 2200 may fall back to the floor.

A collection opening 2101 is formed in the lower housing 2140. The collection opening surface 2101 is exposed toward the bottom, and the edge data 2200 passes through the collection opening surface 2101 and protrudes downward from the collection opening surface 2101.

The collection opening 2101 is disposed behind the storage space 2102.

The lower housing 2140 is disposed under the upper housing 2110 and is spaced apart from the upper housing 2110 to form a storage opening 2103. In this embodiment, the lower housing 2140 and the upper housing 2110 are spaced apart in the vertical direction.

The lower housing 2140 forms a lower wall of the storage space 2104 and includes a first lower housing part 2142 having a collection opening surface 2101 through which foreign substances are collected, a collection space 2102, and a storage space ( A third lower housing part 2146 that provides the rest of the left wall of 2104, a fourth lower housing part 2148 that provides the rest of the right wall of the collection space 2102 and the storage space 2104, and the first lower It is formed integrally with the housing portion 2142, and includes a partition 2145 that partitions the collection space 2102 and the storage space 2104.

In this embodiment, the first lower housing part 2142, the third lower housing part 2146, the fourth lower housing part 2148, and the partition 2145 are integrally manufactured. Unlike this embodiment, any one of the first lower housing part 2142, the third lower housing part 2146, the fourth lower housing part 2148, or the partition 2145 may be separately manufactured and then assembled.

The left wall 2011 of the housing assembly 2001 is provided through assembly of the third lower housing 2146 and the third upper housing 2116. The right wall 2012 of the housing assembly 2001 is provided through assembly of the fourth lower housing 2148 and the fourth upper housing 2118.

The left rotation axis of the edge data 2200 penetrates the left wall 2011 of the housing assembly, and the right rotation axis of the edge data 2200 penetrates the right side wall 2012 of the housing assembly.

The partition 2145 protrudes upward from the first lower housing part 2142. The left and right lengths of the partition 2145 correspond to the left and right lengths of the edge data 2200. The left and right lengths of the partition 2145 are longer than the left and right lengths of the edge data 2200.

The partition 2145 protrudes upward from the first lower housing 2142, forms a collection opening 2101, divides the collection space 2102 and the storage space 2104, and edge data 2200 A first partition part 2145a non-contact with and a second part extending upward from the first partition part 2145a, partitioning the collection space 2102 and the storage space 2104, and contacting the edge data 2200 It includes a partition unit 2145b.

The first partition part 2145a protrudes upward from the first lower housing part 2142. A collection opening surface 2101 is formed between the first partition 2145a and the rear end 2140b of the first lower housing 2142.

The length L1 in the front-rear direction of the collection opening surface 2101 is smaller than the diameter of the edge data 2200. Since the length L1 in the front and rear direction of the collection opening surface 2101 is smaller than the diameter of the edge data 2200, the edge data 2200 cannot be withdrawn out through the collection opening surface 2101.

The edge data 2200 is mounted on the upper side of the lower housing 2140, and the lower end of the edge data 2200 protrudes outside the collection opening surface 2101 and contacts the bottom.

The first partition part 2145a is not in contact with the edge data 2200.

However, the second partition unit 2145b may contact the edge data 2200.

The second partition portion 2145b is formed in an arc shape. The center of curvature of the second partition unit 2145b may be located on the rotation axis Ax of the edge data 2200. The radius of curvature R2 of the second partition part 2145b may be equal to or smaller than the diameter of the edge data 2200.

The second partition part 2145b may be a curved surface facing the edge data 2200. The upper end 2147a of the second partition part 2145b is positioned higher than the rotation axis Ax of the edge data 2200.

The upper end 2147a of the second partition part 2145b protrudes rearward than the first partition part 2145a.

The upper end 2147a of the second partition part 2145b may be sharply formed. An inclined surface 2147b is formed on the upper end 2147a of the second partition part 2145b. The inclined surface 2147b separates foreign substances attached to the surface of the edge data 2200 and guides the foreign substances to the collection space 2104.

When the upper housing 2110 and the lower housing 2140 are assembled, a discharge surface 2105 opened toward the front is formed. The discharge surface 2105 is formed on the front surface of the housing assembly 2001, and the dust cover 2150 opens and closes the discharge surface 2105.

The dust cover 2150 is disposed in front of the housing assembly 2001 and covers the discharge surface 2105. Foreign matter in the storage space 2104 may be discharged out of the sweep module 2000 through the discharge surface 2105.

The dust cover 2150 is detachably assembled with the housing assembly 2001. In this embodiment, the dust cover 2150 and the housing assembly 2001 are assembled through mutual engagement. The mutual jam can be released by the user's operating force.

For mutual engagement of the dust cover 2150 and the housing assembly 2001, a protrusion 2151 is disposed in one of the dust cover 2150 and the housing assembly 2001, and a locking groove 2152 is formed in the other do.

In this embodiment, a locking groove 2152 is formed in the dust cover 2150 and a protrusion 2151 is formed in the housing assembly 2001.

The number of locking grooves 2152 corresponds to the number of protrusions 2151. A plurality of protrusions 2151 are disposed. The protrusions 2151 are disposed on the upper housing 2110 and the lower housing 2140, respectively.

In this embodiment, two protrusions 2151 are disposed on the upper housing 2110, and two protrusions 2151 are disposed on the lower housing 2140 as well.

When distinction is necessary, the protrusions disposed on the upper housing 21110 are referred to as upper protrusions 2151a and 2151b, and the protrusions disposed on the lower housing 2140 are referred to as lower protrusions 2151c and 2151d.

The upper protrusions 2151a and 2151b protrude upward from the upper side of the upper housing 2110. The lower protrusions 2151c and 2151d protrude downward from the bottom surface of the lower housing 2140.

Upper engaging grooves 2152a and 2152b corresponding to the upper protrusions 2151a and 2151b and lower engaging grooves 2152c and 2152d corresponding to the lower protrusions 2151c and 2151d are formed in the dust cover 2150 .

The dust cover 2150 includes a front cover portion 2153 disposed to face the discharge surface 2105, a top cover portion 2154 protruding from the upper edge of the front cover 2153 toward the housing assembly, and a front cover 2153. ), the left cover part 2155 protruding toward the housing assembly from the left edge of the front cover 2153, the right cover part 2156 protruding toward the housing assembly from the right edge of the front cover 2153, and the housing from the lower edge of the front cover 2153 It includes a bottom cover portion 2157 protruding toward the assembly.

The dust cover 2150 has a concave insertion space from the rear to the front side.

Upper engaging grooves 2152a and 2152b are formed in the top cover part 2154. Lower engaging grooves 2152c and 2152d are formed in the bottom cover part 2157. It is preferable that the upper engaging grooves 2152a and 2152b and the lower engaging grooves 2152c and 2152d are disposed opposite to each other.

The upper engaging grooves 2152a and 2152b or the lower engaging grooves 2152c and 2152d may be formed in a groove or hole shape.

The housing assembly 2001 is inserted into the insertion space, and an insertion portion 2160 that is in close contact with the inner surface of the dust cover 2150 is formed. The insertion part 2160 is located in front of the upper housing 2110 and the lower housing 2140.

The insertion portion 2160 includes a top insertion portion 2164 forming an upper side of the discharge surface 2105 and protruding forward, and a left insertion portion 2165 forming the left side of the discharge surface 2105 and protruding forward. , A right insertion portion 2166 forming a right side of the discharge surface 2105 and protruding forward, and a bottom insertion portion 2167 forming a lower side of the discharge surface 2105 and protruding forward.

In this embodiment, the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 are connected. Unlike the present embodiment, the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 may be separated. The insertion part 2160 is formed to have a narrower cross section from the rear side to the front side.

The top insertion portion 2164 is in close contact with the top cover portion 2154, the left insertion portion 2165 is in close contact with the left cover portion 2155, and the right insertion portion 2166 is in close contact with the right cover portion 2156. , The bottom insertion part 2167 is in close contact with the bottom cover part 2157.

In this embodiment, upper protrusions 2151a and 2151b are formed in the top insertion part 2164. Lower protrusions 2151c and 2151d are formed in the bottom insertion part 2167.

The upper protrusions 2151a and 2151b are inserted from the lower side to the upper side of the upper engaging grooves 2152a and 2152b to form mutual engagement. The lower protrusions 2151c and 2151d are inserted from the upper side to the lower side of the lower engaging grooves 2152c and 2152d to form mutual engagement.

The dust cover 2150 or the insertion part 2160 is elastically deformed by the user's operating force pulling the dust cover 2150, and the mutual jamming can be released.

The edge data 2200 is disposed in the housing assembly 2001 and may be rotated within the housing assembly 2001.

The edge data 2200 may be disposed between the upper housing 2110 and the lower housing 2140. The edge data 2200 may be disposed on the upper housing 2110. In this embodiment, the edge data 2200 is disposed on the lower housing 2140 and can be rotated while being supported by the lower housing 2140.

The rotation axis of the edge data 2200 is disposed in a left-right direction, and may be rotated forward or backward.

The housing assembly 2001 further includes a first journal 2010 and a second journal 2020 supporting the edge data 2200. The first journal 2010 is disposed on the left side of the housing assembly 2001, and the second journal 2020 is disposed on the right side of the housing assembly 2001.

The first journal 2010 and the second journal 2020 penetrate the housing assembly 2001 in the left-right direction and communicate with the collection space 2102.

In this embodiment, the first journal 2010 and the second journal 2020 are formed in a cylindrical shape. Unlike this embodiment, at least one of the first journal and the second journal may be formed in a semi-cylindrical shape. When the first journal and the second journal are formed in a semi-cylindrical shape, they are arranged to support the rotation axis of the edge data 2200 from the lower side.

The dust housing 2100 is mounted in the installation space 325 of the base 32, and a lever 2500 for coupling or separating the base 32 and the dust housing 2100 is disposed.

The lever 2500 is disposed between the base 32 and the dust housing 2100, and mutually engages the base 32 and the dust housing 2100. The lever 2500 forms mutual engagement with respect to the gravitational direction of the dust housing 2100, and suppresses the dust housing 2100 from being separated from the base 32 downward.

A plurality of levers 2500 are disposed, and mutually engage each other at a plurality of locations of the dust housing 2100. In this embodiment, the lever 2500 includes a first lever 2510 and a second lever 2520 and is arranged in the left and right directions.

The first lever 2510 is disposed on the left side of the dust housing 2100, and the second lever 2520 is disposed on the right side of the dust housing 2100.

The operation mechanism of the first lever 2510 and the second lever 2520 is the same, and only the operation direction is opposite.

The first lever 2510 disposed on the left is moved to the right to release mutual engagement with the base 32, and the second lever 2520 disposed on the right is moved to the left to release mutual engagement with the base 32 do.

The sweep module 2000 includes a first lever 2510 disposed on one side of the housing assembly and disposed to be relatively movable in the left and right direction, and a first lever 2510 disposed on the other side of the housing assembly and disposed to be relatively movable in the left and right direction. 2 A first lever elastic member 2541 and a second lever 2520 disposed between the lever 2520 and the first lever 2510 and the dust housing 2100 and providing an elastic force to the first lever 2510 ) And a second lever elastic member 2542 disposed between the dust housing 2100 and providing an elastic force to the second lever 2520.

Since the configurations of the first lever 2510 and the second lever 2520 are the same, the structure will be described taking the first lever as an example.

In the present embodiment, the dust housing 2100 includes a first side cover 2170 and a second side cover 2180 for concealing the first lever 2510 and the second lever 2520, respectively.

Unlike the present embodiment, it is possible to install the first lever 2510 and the second lever 2520 to be exposed to the outside of the dust housing 2100 without the first side cover 2170 and the second side cover 2180. . Unlike this embodiment, the first side cover 2170 may be disposed on the right side, and the second side cover 2180 may be disposed on the left side.

The first side cover 2170 is coupled to the left side of the housing assembly 2001. The first side cover 2170 corresponds to the left side shape of the housing assembly 2001. The first side cover 2170 shields the shaft member 2201 of the edge data 2200 from being exposed to the outside. The first side cover 2170 conceals most of the first lever 2510 and exposes only a configuration for mutual engagement with the base 32.

The first side cover 2170 includes a first side cover body 2173 in close contact with one side of the housing assembly 2001, and a through hole 2171 and 2172 disposed through the first side cover body 2173. Wow, the hook portion 2174 protruding from the first side cover body 2173 toward the housing assembly 2001 and hooked with the housing assembly 2001, and the first side cover body 2173 toward the housing assembly 2001 The first side cover body 2173 and the housing assembly 2001 are protruded and connected to the journal (2010, the first journal in this embodiment) and the journal coupling part 2175 and a fastening member (not shown). It includes a fastening portion 2176 to couple.

The fastening portion 2176 and the hook portion 2174 are disposed on opposite sides based on the journal coupling portion 2175. A plurality of hook portions 2174 are disposed in the vertical direction.

The journal coupling part 2175 is inserted into the inner diameter of the first journal 2010.

The first lever 2510 is disposed between the housing assembly 2001 and the first side cover 2170, and is elastically supported by the first lever elastic member 2451, the upper lever body 2512, and the housing assembly ( 2001) and a lower lever body 2514 disposed between the first side cover 2170 and integrally formed with the upper lever body 2512, exposed outside the housing assembly 2001, and receiving a user's operation force; It protrudes from the upper lever body 2512 and includes a lever engaging portion 2516 disposed to pass through the through holes 2171 and 2172 of the first side cover 2170.

The upper lever body 2512 is disposed in the vertical direction, and the lower lever body 2514 is disposed in the horizontal direction.

The lower lever body 2514 is disposed to be exposed outside the dust housing 2100. The lower lever body 2514 is disposed under the upper lever body 2152. The lower lever body 2514 is exposed outside the bottom surface of the lower housing 2140.

In this embodiment, an operation part 2519 protruding downward from the lower lever body 2514 is further disposed. Since the operation unit 2519 extends long in the front-rear direction, it is easy to receive the user's left-right operation force.

The user may move the first lever 2510 by pushing the manipulation unit 2519 in the left and right directions.

The lever engaging portion 2516 protrudes from the upper lever body 2512 toward the outside (the opposite side where the edge data is located). Since the lever engaging portions 2516 correspond to the number of through holes, in this embodiment, the first lever engaging portions 2516a and the second lever engaging portions 2516b are disposed.

The lever engaging portions 2516 are structured to form mutual engagement in the direction of gravity and minimize mutual engagement in the direction opposite to gravity. Therefore, the upper side of the lever engaging portion 2516 is formed in a round shape or an inclined surface toward the lower side, and the lower side is formed in a flat surface.

When the levers 2510 and 2520 are moved, if they are not returned to the initial position, the sweep module 2000 may be separated from the original position because mutual engagement is not formed. To prevent this, the sweep module 2000 further includes a structure guiding the horizontal movement of the first lever 2510.

The sweep module 2000 protrudes toward the first lever 2510 from one side (left side in this embodiment) of the dust housing 2100 and interferes with the first lever 2510 to guide the moving direction. 1 guide 2545, a first guide hole 2518 formed in the first lever 2510, the first guide 2545 is inserted to guide the movement of the first guide 2545, and the dust housing 2100 ) From the other side (right side in this embodiment) protruding toward the second lever 2520, interfering with the second lever 2520 to guide the moving direction, and the second lever ( The second guide hole 2528 is formed in the 2520 and is inserted into the second guide 2547 to guide the movement of the second guide 2547.

The first guide 2545 is formed in the moving direction of the first lever 2510, and the second guide 2547 is formed in the moving direction of the second lever 2520. Thus, the first guide 2545 and the second guide 2547 are formed in a horizontal direction. The first guide hole 2518 and the second guide hole 2528 are formed in a horizontal direction to correspond to the first guide 2545 and the second guide 2547.

The guide holes 2518 and 2528 may be disposed in either the upper lever body 2512 or the lower lever body 2514. In this embodiment, the guide holes 2518 and 2528 are formed to penetrate the upper lever body 2512 in the horizontal direction.

One end of the first lever elastic member 2541 is supported by the dust housing 2100 and the other end is supported by the first lever 2510. The first lever elastic member 2541 elastically supports the first lever 2510 toward the outside of the dust housing 2100.

The sweep module 2000 further includes a structure for preventing the lever elastic members 2451 and 2542 from being displaced.

In order to maintain the operating position of the first lever elastic member 2541, the sweep module 2000 is disposed on the first lever 2510, and a first position fixing part into which the other end of the first lever elastic member 2451 is inserted ( 2517), and a second position fixing part 2544 disposed on the dust housing 2100 and into which one end of the first lever elastic member 2451 is inserted.

In this embodiment, the first lever elastic member 2451 and the second lever elastic member 2542 are formed of a coil spring. In this embodiment, the first position fixing part 2517 is formed in a boss shape, and the second position fixing part 2544 is formed in a groove shape.

The first position fixing part 2517 is inserted into the first lever elastic member 2451, and the first position fixing part 2517 allows the first lever elastic member 2541 to move in the left and right directions. It is suppressed that the first lever elastic member 2451 is moved forward or backward or vertically.

The second position fixing part 2544 is formed in a groove shape, and the first lever elastic member 2451 is inserted. The second position fixing part 2544 allows the first lever elastic member 2451 to move in the left and right directions. It is suppressed that the first lever elastic member 2451 is moved forward or backward or vertically.

In this embodiment, the second position fixing part 2544 is disposed between the first journal 2010 and the first guide 2545. The second position fixing part 2544 is a 2-1 position fixing part 2544a formed concave in a lower part of the first journal 2010, and a second position fixing part 2544a concave in an upper part of the first guide 2545. It includes 2 position fixing part 2544b.

As viewed from the side, the 2-1st position fixing part 2544a and the 2nd-2nd position fixing part 2544b are each formed in a curved surface, and a center of curvature is located inside the first lever elastic member 2451.

The radius of curvature of the 2-1st position fixing part 2544a and the 2nd-2nd position fixing part 2544b may be larger than the diameter of the first lever elastic member 2451.

When the first lever 2510 is moved toward the housing assembly 2001 by the user's operating force, the lever engaging portion 2516 eliminates mutual engagement with the base 32. At this time, since the first lever elastic member 2541 elastically supports the first lever 2510, when the user's operating force is removed, the first lever 2510 is moved back to the first side cover 2170 and the lever is engaged. The portion 2516 protrudes out of the through holes 2171 and 2172.

The sweep module 2000 is mounted on the base 32 through mutual engagement between the lever engaging portion 2516 and the base 32 protruding out of the through holes 2171 and 2172.

When the mutual engagement between the lever engaging portion 2516 and the base 32 is released, the sweep module 2000 may be separated from the base 32.

In this embodiment, since the first lever 2510 and the second lever 2520 are disposed on the left and right sides of the sweep module 2000, respectively, both the first lever 2510 and the second lever 2520 are locked. Only by removing the sweep module 2000 can be separated from the body (30).

The first lever 2510 provides mutual locking or releasing of the locking with the base 32, but the second lever 2520 provides not only a function of the first lever 2510 but also a connection structure with the driving unit 2300.

The second lever 2520 is disposed between the housing assembly 2001 and the second side cover 2180, and is elastically supported by the second lever elastic member 2542, the upper lever body 2522, and the housing assembly ( 2001) and a lower lever body 2524 disposed between the second side cover 2180, formed integrally with the upper lever body 2522, exposed outside the housing assembly 2001, and receiving a user's operation force; A lever engaging portion 2526 protruding from the upper lever body 2522 and disposed to pass through the through holes 2181 and 2182 of the second side cover 2180, and the lower lever body 2524 protruding downward from the lower lever body 2524. It includes an operation part 2519.

The lever engaging portion 2526 protrudes outward from the lower lever body 2522 (the opposite side where the edge data is located), and the lever engaging portion 2526 includes a first lever engaging portion 2526a and a second lever engaging portion (2526b).

The lever engaging portion 2526 forms a locking groove 3266 formed in the receiving housing 326 of the base 32 and mutually engaging.

Since the lever engaging portion 2526 is composed of a first lever engaging portion 2526a and a second lever engaging portion 2526b, the locking groove 3266 is also a first locking groove 3266a and a second locking groove. (3266b) is placed. The lever engaging portion 2516 of the first lever 2510 is also provided with a locking groove (not shown) having the same structure. The first locking groove 3266a and the second locking groove 3266b are formed in the side wall 3262 of the receiving housing 326.

The first locking groove 3266a and the second locking groove 3266b are located below the driven coupling 2220 and the driving coupling 2320.

The second side cover 2180 is a second side cover body 2183 that is in close contact with the other side (right side in this embodiment) of the housing assembly 2001, and a penetration disposed to penetrate through the second side cover body 2183 The sphere 2181 (2182), the second side cover body (2183) protruding from the housing assembly (2001) side and hooked to the housing assembly (2001) by a hook portion (2184) and a fastening member (not shown). The second side cover body (2183) and the housing assembly (2001) is coupled to the fastening part (2186), and the drive part (2300) to transmit the driving force of the drive part (2300) to the edge data (2200). It includes a spherical surface 2185.

The opening surface 2185 is disposed in a horizontal direction. The first coupler 2310 of the driving unit 2300 to be described later is inserted through the opening surface 2185.

In addition, the sweep module 2000 protrudes from the other side (right side in this embodiment) of the dust housing 2100 toward the second lever 2520 and interferes with the second lever 2520 to guide the moving direction. 2 Guide 2547, a second guide hole 2528 formed in the second lever 2520, a second guide 2547 is inserted to guide the movement of the second guide 2547, and a second lever ( 2520, a third position fixing portion 2527 in which the other end of the second lever elastic member 2542 is inserted, and in the dust housing 2100, one end of the second lever elastic member 2542 is inserted. It includes a fourth position fixing unit 2546.

The edge data 2200 receives a rotational force from the edge data assembly 2210 and the driving part 2300, which sweeps foreign substances on the floor into the collection space 2102 through rotation, and the driving part 2300 and the edge data assembly 2210 ) Is disposed between the driven coupling 2220 and the edge data assembly 2210 and the driven coupling 2220 disposed to be movable relative to each other, providing elastic force to the driven coupling 2220, and the driven coupling The coupling elastic member 2230 that presses the 2220 toward the driving part 2300 and the driven coupling 2220 are coupled with the edge data assembly 2210, and mutually with the driven coupling 2220 in the left and right directions. It includes a coupling stopper (2270) for preventing separation of the driven coupling (2220) by forming a catch.

The edge data assembly 2210 is disposed in the collection space 2102 and is disposed on one side and the other side of the edge data body 2240 and the edge data body 2240 rotated by receiving the rotational force of the driving unit 2300, respectively. , A shaft member 2201 that provides a rotation center of the edge data body 2240 and is rotatably supported by the dust housing 2100, and is installed on the outer circumferential surface of the edge data body 2240 and collects foreign substances in the space 2102. It includes a collection member 2250 sweeping into the interior, and a bearing 2260 installed in the dust housing 2100 and providing rolling friction to the shaft member 2201.

In this embodiment, the driven coupling 2220 is detachably assembled with the lever (the second lever 2520 in this embodiment) and the shaft member 2201, and is moved together with the lever. In this embodiment, the coupling of the driven coupling 2220 and the driving unit 2300 may be released by the user's operating force applied to the second lever 2520.

The driven coupling 2220 may be moved in the direction of the shaft member 2201 and the coupling with the driving part 2300 may be released. The driven coupling 2220 may be moved relative to each other in the horizontal direction between the edge data assembly 2210 and the driving unit 2300.

The edge data body 2240 is disposed in the left and right directions. The edge data body 2240 is disposed inside the collection space 2102.

The collection member 2250 is formed along the outer peripheral surface of the edge data body 2240. The collection member 2250 protrudes radially outward from the outer peripheral surface of the edge data body 2240. The collection member 2250 is rotated together when the edge data body 2240 is rotated. The collection member 2250 may pass through the collection opening surface 2101 and contact the floor. The collection member 2250 may be composed of a plurality of brushes.

When the edge data assembly 2210 is rotated, the collection member 2250 contacts the foreign material on the floor, and moves the foreign material into the collection space 2102.

The shaft member 2201 is disposed on one side and the other side of the edge data body 2240, respectively. The shaft member 2201 forms the center of rotation of the edge data assembly 2210.

The shaft member 2201 is disposed in the horizontal direction. The shaft member 2201 passes through the left and right sides of the collection space 2102.

In this embodiment, the shaft member 2201 penetrates the left wall 2011 and the right wall 2012 of the dust housing 2100. The shaft member 2201 may be integrally formed with the edge data body 2240.

In this embodiment, the shaft member 2201 is detachably assembled with the edge data body 2240. The shaft member 2201 and the edge data body 2240 form a mutual engagement in the rotation direction of the edge data 2200 and can be separated in the rotation axis direction of the edge data 2200 (left and right directions in this embodiment). have.

The edge data assembly 2210 and the shaft member 2201 are detachably assembled, and only the edge data assembly 2210 can be replaced through this. That is, the edge data assembly 2210 may be separated from the dust housing 2100 while each shaft member 2201 is assembled to the dust housing 2100.

Since the edge data 2200 is a consumable part, it must be replaced periodically. Without disassembling the entire edge data 2200 through the coupling structure of the shaft member 2201 and the edge data body 2240, only the edge data body 2240 can be separated from the dust housing 2100. The shaft member 2201 and the edge data body 2240 maintain a mutually engaged state.

The shaft member 2201 is a rotating shaft body 2202 that is mutually coupled with the edge data body 2240 and protrudes from the rotating shaft body 2202 toward the driving unit 2300 and provides a center of rotation of the edge tare 2200, A shaft portion 2203 coupled to the bearing 2260, and a coupling guide to which the shaft portion 2203 further protrudes toward the driving portion 2300, penetrates the driven coupling 2220, and the coupling stopper 2270 is coupled ( 2204).

The rotating shaft body 2202 is formed in a disk shape. The shaft part 2203 protrudes from the rotation shaft body 2202 toward the driving part 2300.

The shaft portion 2203 is formed smaller than the diameter of the rotating shaft body 2202.

The shaft portion 2203 is formed in a cylindrical shape. The outer surface of the shaft portion 2203 is inserted into the bearing 2260. The shaft portion 2203 is inserted into and supported by the bearing 2260.

The coupling guide 2204 further protrudes from the shaft portion 2203 toward the driving portion 2300. The centers of curvature of the coupling guide 2204 and the shaft portion 2203 are located on the same center of rotation.

The diameter of the coupling guide 2204 is smaller than the diameter of the shaft portion 2203, and a first end 2205 is formed between the coupling guide 2204 and the shaft portion 2203 due to a difference in diameter.

One end of the coupling elastic member 2230 is supported on the first end 2205.

The coupling guide 2204 may further include a through portion 2206 penetrating the driven coupling 2220. The coupling stopper 2270 is fixed to the through part 2206.

The driven coupling 2220 may be moved in the left and right directions along the coupling guide 2204. Since the driven coupling 2220 is elastically supported by the coupling elastic member 2230, it is kept in close contact with the driving unit 2300 when no external force is applied.

In this embodiment, the coupling guide 2204 is formed in a cylindrical shape, and the through portion 2206 is formed in a polygonal column (a hexagonal column in this embodiment).

The through part 2206 is inserted into the driven coupling 2220 and forms mutual engagement in the rotational direction of the edge data 2200.

On the other hand, the shaft member 2201 is formed with a key groove 2207 for mutual engagement with the edge data body 2240. The key groove 2207 is disposed on the opposite side of the shaft portion 2203 with respect to the rotation shaft body 2202. The key groove 2207 is disposed on the edge data body 2240 side. The keyway 2207 may be formed in the shape of an atypical polygon. The key groove 2207 may be opened in the radial direction of the rotation shaft.

The edge data body 2240 has a key 2247 inserted into the key groove 2207. The key 2247 protrudes toward the shaft member 2201 or the driven coupling 2220.

The driven coupling 2220 is concave in the coupling body 2222 coupled with the lever 2520 (the second lever in this embodiment) and one side (left side in this embodiment) of the coupling body 2222 The first guide groove 2224 into which the coupling guide 2204 is inserted and the coupling elastic member 2230 is inserted, communicates with the first guide groove 2224, and the coupling body 2222 The second guide groove 2226 through which the penetrating portion 2206 is inserted, and the first guide groove 2224 and the second guide groove 2226 are disposed between the second guide groove 2226 and the first end 2205 is supported. Power transmission in which the second stage 2225 and the other side (right side in this embodiment) of the coupling body 2222 are concavely formed, and the drive coupling 2220 coupled to the driving unit 2300 is detachably inserted It includes a groove 2228.

The diameter of the first guide groove 2224 is larger than the diameter of the coupling elastic member 2230. The diameter of the coupling elastic member 2230 is larger than the diameter of the coupling guide 2204 and smaller than the diameter of the first guide groove 2224.

The first guide groove 2224 is formed in a circular hollow shape.

The second guide groove 2226 corresponds to the shape of the through portion 2206, and in this embodiment, the side is formed in a hollow shape having a hexagonal shape.

The coupling body 2222 has a concave groove 2223 inward from the outer surface in the radial direction. The diameter of the groove 2223 is smaller than the diameter of the outer surface of the coupling body 2222.

The second lever 2520 is formed in the upper lever body 2522 and is inserted into the groove 2223 to form a coupling groove 2523 that is coupled to the driven coupling 2220.

The groove 2223 is orthogonal to the center of rotation of the edge data 2200.

The second lever 2520 may be coupled or separated from the driven coupling 2220 in the vertical direction, and the driven coupling 2220 forms mutually engaging in the left and right directions.

The second lever 2520 further includes a first extension part 2522a and a second extension part 2522b extending upward from the upper lever body 2522, and a first extension part 2522a and a second extension part A coupling groove 2523 is formed between the 2522b.

The first extension part 2522a and the second extension part 2522b are structures to be more rigidly assembled with the driven coupling 2220. The first extension part 2522a and the second extension part 2522b may contact one side surface 2223a and the other side surface 2223b of the groove 2223.

The coupling stopper 2270 passes through the driven coupling 2220 and is fastened to the through portion 2206. The driven coupling 2220 may be moved in the left and right directions between the coupling stopper 2270 and the shaft member 2201.

The head 2272 of the coupling stopper 2270 interferes with the power transmission groove 2228 of the driven coupling 2220 and blocks the separation of the driven coupling 2220 to the right. The coupling part 2274 of the coupling stopper 2270 is inserted into the fastening groove 2207 of the through part 2206 to be fastened.

The drive coupling 2320 is inserted into the power transmission groove 2228, and is coupled to transmit rotational force. The power transmission groove 2228 may be formed in various shapes. In this embodiment, the power transmission groove 2228 is a hexagonal groove when viewed from the side.

The diameter of the power transmission groove 2228 is larger than the diameter of the second guide groove 2226. The power transmission groove 2228 and the second guide groove 2226 communicate with each other. A first guide groove 2224 is disposed to communicate with one side of the second guide groove 2226, and a power transmission groove 2228 is disposed to communicate with the other side.

The power transmission groove 2228 is opened toward the other side, and the first guide groove 2224 is opened toward one side.

When the driven coupling 2220 is coupled to the upper lever body 2522, the power transmission groove 2228 is located on the other side of the upper lever body 2522, and the first guide groove 2224 is the upper lever body 2522. ) Is located on one side.

The second lever 2520 forms a mutual engagement with the driven coupling 2220 in a direction orthogonal to the shaft member 2201. In addition, the lever engaging portion 2526 of the second lever 2520 forms a mutual engagement with the base 32.

When the second lever 2520 is pressed toward the edge data 2200, the second lever 2520 is moved toward the edge data 2200, so that the lever engaging portion 2526 and the base 32 are mutually engaged, The dust housing 2100 is in a state in which it can be separated from the base 32.

In addition, when the second lever 2520 is pressed toward the edge data 2200, the coupling elastic member 2230 is compressed, and the driven coupling 2220 may be moved toward the edge data 2200.

When the driven coupling 2220 is moved toward the edge data 2200 by the second lever 2520, the driven coupling 2220 and the driving unit 2300 are physically separated, and the dust housing 2100 is moved to the base 32 ) In a state that can be separated.

Since the sweep module 2000 according to the present embodiment has a structure in which the edge data 2200 is installed therein, when it is separated from the base 32 of the dust housing 2100, it must be physically separated from the driving unit 2300.

Movement of the second lever 2520 not only releases the coupling between the dust housing 2100 and the base 32, but also releases the coupling with the driven coupling 2220 and the driving part 2300 at the same time.

Here, since the second lever 2520 is concealed inside the dust housing 2100 and only the operation part 2529 is exposed to the outside, the coupling structure of the driven coupling 2220 is not exposed to the outside. In particular, since the second side cover 2180 shields most of the configuration of the second lever 2520, it is possible to minimize damage to the second lever 2520 due to an external impact or the like.

Even if the second lever 2520 is repeatedly used, since it moves only inside the dust housing 2100, it is possible to minimize separation or damage.

In addition, since the side covers 2170 and 2180 conceal the levers 2510 and 2520 inside the dust housing 2100, it is possible to minimize foreign substances from entering into the section of the levers 2510 and 2520. , It is possible to secure reliability according to operation.

And when the operating force applied to the second lever 2520 is removed, the driven coupling 2230 is moved to the other side by the elastic force of the coupling elastic member 2230.

At this time, the driven coupling 2230 is in a state penetrated through the shaft member 2201, and the coupling stopper 2270 is in a state coupled to the shaft member 2201, so that the driven coupling 2230 is in a state where the shaft member 2201 ) To prevent separation. That is, the driven coupling 2230 may be moved along the axial direction of the shaft member 2201, but being separated by the coupling stopper 2270 is blocked.

The drive unit 2300 includes a drive housing 2310 assembled to the body 30, a sweep motor 2330 assembled to the drive housing 2310, and disposed inside the drive housing 2310, and the sweep motor 2330 And a power transmission assembly 2340 that is assembled with and receives a rotational force, and a drive coupling 2320 that is coupled with the power transmission assembly 2340 and selectively engages with the driven coupling 2220.

Since the edge data 2200 is disposed inside the sweep module 2000 and the sweep motor 2330 is disposed inside the body 30, a driving couple that transmits rotational force from the sweep motor 2330 to the edge data 2200 The ring 2320 and the driven coupling 2220 have a selectively separable structure. When the drive coupling 2320 and the driven coupling 2220 are not detachable, the dust housing 2100 cannot be separated from the body 30.

The drive housing 2310 may be fixed to the body 30, and in this embodiment, it is fixed to the base 32. The drive housing 2310 is a structure for installing the power transmission assembly 2340 and the sweep motor 2330.

The drive housing 2310 may be formed in various shapes. In this embodiment, the drive housing 2310 conceals the power transmission assembly 2340 inside, and exposes only the sweep motor 2330 and the drive coupling 2320 to the outside.

The drive housing 2310 is disposed in any one of the first drive housing 2312 and the second drive housing 2314, and the first drive housing 2312 and the second drive housing 2314 forming an outer shape, and is driven The coupling installation part 2315 on which the coupling 2320 is disposed, and the motor shaft (not shown) of the sweep motor 2330 disposed in any one of the first drive housing 2312 and the second drive housing 2314 The through hole 2316 is formed.

A power transmission assembly 2340 is disposed between the first drive housing 2312 and the second drive housing 2314.

In the present embodiment, the first drive housing 2312 is disposed on one side (the edger 2200 side), and the second drive housing 2314 is disposed on the other side (outer side).

In this embodiment, the coupling installation part 2315 is disposed on the first drive housing 2312. A drive coupling 2320 is disposed in the coupling installation part 2315 and is connected to the power transmission assembly 2340. The drive coupling 2320 may be rotated while being installed in the coupling installation part 2315.

The drive coupling 2320 corresponds to the shape of the power transmission groove 2228 of the driven coupling 2220. In this embodiment, the drive coupling 2320 has a hexagonal shape when viewed from the side. The driving coupling 2320 may be selectively engaged with the driven coupling 2220 through the opening surface 2185 of the second side cover 2180.

The drive coupling 2320 protrudes toward the second side cover 2180 rather than one side (left side) of the first drive housing 2312 in a state assembled to the drive housing 2310.

The rotation center of the driving coupling 2320 is disposed in the left and right direction, and may be coincident with the rotation center of the edge data 2200.

In this embodiment, the first drive housing 2312 has a space formed therein, and a power transmission assembly 2340 is rotatably installed in the space. The second dry housing 2314 is in the form of a cover covering the first dry housing 2312.

The drive housing 2310 further includes a first fastening part 2317 and a second fastening part 2318. The first fastening part 2317 and the second fastening part 2318 are disposed on the first drive housing 2312. The first fastening part 2317 and the second fastening part 2318 are formed to be able to install fastening members in the vertical direction.

The motor shaft of the sweep motor 2330 is disposed in the left and right directions. The sweep motor 2330 may be disposed on one side or the other side of the drive housing 2310.

The sweep motor 2330 is disposed toward the inside of the body 30 based on the drive housing 2310. The volume of the body 30 may be minimized by arranging the sweep motor 2330 on the edge data 2200 side.

In this embodiment, the motor axis direction Mx of the sweep motor 2330 and the rotation axis Ax of the edge data 2200 are parallel. In this embodiment, the rotation center of the edge data 2200, the rotation center of the shaft member 2201, the center of the driven coupling 2220, and the driving coupling 2320 on the line of the rotation axis Ax of the edge data 2200 The center is located.

In this embodiment, the sweep motor 2330 is located above the dust housing 2100. The sweep motor 2330 is located on the rear side of the dust housing 2100. The sweep motor 2330 is located above the installation space 325 and the storage housing 326 of the base 32.

The power transmission assembly 2340 includes a plurality of gears. It may be implemented in various ways according to the number of rotations and torques that transmit the number and shape of the gears of the power transmission assembly 2340.

Meanwhile, the sweep module 2000 further includes a housing elastic member 327 that provides elastic force to the dust housing 2100. The housing elastic member 327 is disposed in the installation space 325.

The housing elastic member 327 is disposed on the base 32 and is specifically installed on the receiving housing 326. In this embodiment, the housing elastic member 327 is a leaf spring. In order to install the leaf spring-shaped housing elastic member 327, an installation structure for fitting and fixing the receiving housing 326 is disposed.

The receiving housing 326 has an elastic member receiving portion 328 protruding convexly upward from the installation space 325. An elastic member storage space 328b in which the housing elastic member 327 is accommodated is formed under the elastic member storage unit 328.

The elastic member receiving portion 328 further includes an elastic member opening surface 328a opened in the vertical direction. The elastic member opening surface 328a communicates with the elastic member storage space 328b and the installation space 325.

In addition, an elastic member support portion 329 disposed under the elastic member storage space 328b and connected to the storage housing 326 is further disposed.

The elastic member support part 329 is positioned lower than the elastic member storage part 328.

The housing elastic member 327 is inserted between the elastic member storage portion 328 and the elastic member support portion 329, and the housing elastic member 327 is exposed to the upper side of the storage housing 326 through the elastic member opening surface 328a. .

The housing elastic members 327 are located on both sides of the elastic member support part 329.

The elastic member accommodating portion 328 extends long in the left and right direction, and the elastic member support portion 329 is disposed in the left and right direction.

The housing elastic member 327 extends from the first elastic portion 327a positioned above the elastic member support portion 329 and the first elastic portion 327a to one side (left in this embodiment), and accommodates the elastic member. A second elastic portion 327b disposed in the space 328b, and a third elastic portion extending from the first elastic portion 327a to the other side (right side in this embodiment) and disposed in the elastic member storage space 328b (327c).

The second elastic portion 327b and the third elastic portion 327c are formed by bending each of the first elastic portion 327a.

The second elastic portion 327b and the third elastic portion 327c are located under the elastic member storage portion 328. The second elastic part 327b is disposed to be inclined toward the lower left side, and the third elastic part 327c is disposed to be inclined toward the lower right side.

When the dust housing 2100 is inserted into the installation space 325, the second elastic portion 327b and the third elastic portion 327c elastically support the upper side of the dust housing 2100.

And when the mutual engagement of the dust housing 2100 and the base 32 is released by the first lever 2510 and the second lever 2520, the second elastic portion 327b and the third elastic portion 327c are The housing 2100 is pushed downward and the dust housing 2100 is moved out of the receiving housing 326.

The user can easily separate the dust housing 2100 from the installation space 325 by the elastic force of the housing elastic member 327.

Since the elastic member support part 329 supports the housing elastic member 327, it is possible to block the housing elastic member 327 from being separated into the installation space 325. Even if the dust housing 2100 is repeatedly mounted and removed, the housing elastic member 327 is firmly supported by the elastic member support part 329.

The mobile robot 1 is provided to move the body 30 by rotating at least one of the mop module 40 and the sweep module 2000 without a separate driving wheel. The body 30 can be moved only by rotating the mop module 40. The mobile robot 1 may be provided so that the body 30 can be moved by rotating a pair of spin maps 41a and 41b without a separate driving wheel.

The mobile robot 1 includes a mop driving unit 60 that provides a driving force of the mop module 40. The rotational force provided by the mop driving unit is transmitted to the spin mop 41 of the mop module 40.

Referring to FIG. 22, the mop module 40 includes a left mop driving unit 60 that provides power to rotate the left spin mob 41a, and a right mop that provides power to rotate the right spin mop 41b. Includes a driving unit 60. A pair of map driving units are provided to be symmetrically left and right with respect to the central vertical line Po. Hereinafter, a description of each configuration of the map driving unit 60 may be understood as a description of each of the pair of map driving units 60. The central vertical line (Po) is a line that is parallel to the anteroposterior direction and passes through the geometric center (Tc) of the body. Of course, the central vertical line Po may be defined as a line passing through the geometric center Tc of the body while perpendicularly intersecting the virtual line connecting the central axis of the left spin map and the central axis of the right spin map.

The mop driving unit 60 includes a mop motor 61 that provides rotational force. The left mop drive unit 60 includes a left mop motor 61a, and the right mop drive unit 60 includes a right mop motor 61b. The rotation axis of the mop motor 61 may extend vertically. The left mop motor 61a and the right mop motor 61b are provided to be symmetrically left and right with respect to the central vertical line Po.

The mop drive unit 60 includes a drive transmission unit 62 that transmits the rotational force of the mop motor 61 to the main joint 65. The drive transmission unit 62 may include a gear and/or a belt, or the like, and may include a gear shaft serving as a rotation axis of the gear.

The mobile robot 1 includes a water supply module 80 that supplies water required for mopping. The water supply module 80 may supply water required to the mop module 40 or the collection module 50. In this embodiment, the water supply module 80 supplies water to the mop module 40. The water supply module 80 supplies water to a pair of spinmaps 41a and 41b.

The water supply module 80 includes a water tank 81 for storing water supplied to the mop module 40 or the collection module 50. In this embodiment, the water tank 81 stores water supplied to the mop module 40. The mop module 40 is provided to perform wet mopping (mopping while supplying water).

26 and 28, the water supply module 80 supplies water to the mop module 40. The water supply module 80 supplies water to the mop module 40. The water supply module 80 supplies water to the water supply distribution module 44. The water supply module 80 is installed on the body 30.

The water supply module 80 includes a water tank 81 for storing water. A part of the water tank 81 is disposed within the body 30. The water tank 81 is disposed on the rear side of the body 30. Specifically, a partial region of the water tank 81 may be exposed to the outside of the body 30.

More specifically, the water tank 81 may include at least a water bottle circumferential surface 811 and a water bottle upper surface 812 that crosses the water bottle circumferential surface 811. When the water tank 81 is coupled to the body 30, at least the water bottle circumferential surface 811 of the water tank 81 is exposed to the outside of the body 30, and the water bottle upper surface 812 is inside the body 30. Can be located.

The water bottle circumferential surface 811 of the water tank 81 defines the appearance of the body 30 together with the side surface 32 of the body 30. When the water bottle circumferential surface 811 is coupled to the body 30, it is exposed to the outside of the body 30, and may form a surface crossing the horizontal direction. The upper surface of the water bottle 812 may form a surface (a surface parallel to the horizontal direction) that intersects the peripheral surface 811 of the water bottle.

A water tank internal water pipe 841 may be disposed in the water tank 81. In order to efficiently supply the water stored in the water tank 81 to the mop module, the other end of the water tank internal water pipe 841 may be disposed close to the lower end of the water tank 81. One end of the water tank inner water pipe 841 is connected to the water pipe coupler 88.

The water tank 81 may be provided to be withdrawn from the outside of the body 30. The water tank 81 may be provided to be withdrawn from the body 30 in a horizontal direction. Specifically, the water tank 81 may be provided to be drawn out to the rear side of the body 30.

One side of the body 30 is formed with a water tank receiving portion 303 for accommodating the water tank 81. The water tank accommodating part 303 may have a shape that is open horizontally (rear). Specifically, the water tank receiving part 303 may include at least two water tank receiving surfaces 301 and 302 disposed to face each other. Any one of the water tank receiving surfaces 301 and 302 may be provided with a hook coupling portion 301a to which a hook 835 to be described later is coupled. The hook coupling portion 301a may be a hole or groove formed in the upper water tank receiving surface 301. The upper water tank receiving surface 301 vertically overlaps the water tank upper surface 812 when the water tank 81 is coupled to the body 30. The body coupler 89 is disposed in the water tank receiving portion 303.

The water supply module 80 may include a water tank cap 814 for opening and closing the water tank 81. The water tank cap 814 is disposed on the upper surface 812 of the water tank 81. The water tank 81 may be filled with water inside the water tank 81 by opening the water tank cap 814 in a state withdrawn from the body 30.

The water supply module 80 may include a water level indicator (not shown) for displaying the water level of the water tank 81. The water level display unit 83 may be disposed on the circumferential surface 811 of the water tank 81. The water level display unit 83 is formed of a transparent material, and is provided so that the user can directly see the water level inside the water tank 81.

The water supply module 80 includes a pump 85 that pressurizes the water W in the water tank 81 to move to the mop module 40. The pump 85 is disposed within the body 30.

Although not shown, in another embodiment, the water supply module 80 may include a valve, and when the valve is opened without a pump, water in the water tank 81 may be provided to move to the mop module 40 by the gravity of water. have.

Although not shown, in another embodiment, the water supply module 80 may include a water permeable stopper. The water-permeable stopper is disposed in the supply pipe, so that water can move through the water-permeable stopper, but may be provided to slow the moving speed of water.

Hereinafter, the description will be made based on the present embodiment including the pump 85, but it is not necessarily limited thereto.

Referring to FIG. 29, the water supply module 80 may further include a body coupler 89 that couples the water tank 81 and the supply pipe 86 located in the body 30. The body coupler 89 is coupled to the water pipe coupler 88 of the water tank 81, and the water in the water tank 81 is transferred to the supply pipe 86 of the body 30 through the water pipe coupler 88 and the body coupler 89. Guide.

The body coupler 89 includes a coupling pipe 891 having one end connected to the supply pipe 86 and the other end exposed to the outside of the body 30. The coupling pipe 891 is inserted into the coupler pipe 881 and moves by pushing the moving closer 883.

The body coupler 89 is spaced apart from the coupling pipe 891 and is disposed to surround the outer circumference of the coupling pipe 891, and a coupling auxiliary part defining a space in which the coupler pipe 881 is inserted between the coupling pipe 891 ( 893) may be included.

Of course, depending on the embodiment, the coupling auxiliary part 893 may be omitted, and the coupling pipe 891 may protrude to the outside of the body 30. The coupling auxiliary part 893 protects the coupling pipe 891 and improves the coupling force of the coupler pipe 881. The coupling auxiliary portion 893 has a groove shape that is opened in the direction in which it is drawn out (rear).

The body coupler 89 may further include water pipe gaskets 892 and 892. The water pipe gasket 892 may surround the outer circumferential surface of one end of the coupling pipe 891 in a state where the water tank 81 is inserted into the body 30. The water pipe gasket 892 may be disposed to be in contact with the inner circumferential surface of the coupler pipe 881 and to be surrounded by the coupler pipe 881. The water pipe gasket 892 has an outer diameter that is larger than the inner diameter of the coupler pipe 881 in a ring shape.

The water pipe gasket 892 may be formed of a material having a certain degree of elasticity. The water pipe gasket 892 may be formed of a silicon material. The body coupler 89 is installed in the water tank receiving portion 303. The coupling pipe 891 of the body coupler 89 may be formed to protrude from one surface of the water tank receiving portion 303.

The water supply module may further include a water pipe coupler 88. The water pipe coupler 88 is disposed in the water tank 81 and is coupled to the body 30 to deliver the water in the water tank 81 to the mop module. The water pipe coupler 88 is coupled to the body coupler 89.

For example, the water pipe coupler 88 may further include a coupler pipe 881, a moving closer 883, and a coupler spring 882. The coupler pipe 881 has a space in which a water pipe connection hole 882 communicating with the inside of the water tank 81 is formed, and a part of the coupling pipe 891 of the body 30 is inserted. The water pipe connection hole 882 is connected to one end of the water tank internal water pipe 841. A part of the coupler pipe 881 may protrude to the outside of the water tank 81.

The moving closer 883 is pressed against the coupling pipe 891 to open the water pipe connection hole 882, and opens the water pipe connection hole 882 by the elastic force of the coupler spring 882. The moving closer 883 is located inside the coupler pipe 881 and reciprocates in the horizontal direction within the coupler pipe 881.

The coupler spring 882 provides an elastic restoring force to a position where the moving closure 883 closes the water pipe connection hole 882.

33 to 36, the present invention includes a water tank detachment module 83 for coupling and releasing the water tank 81 from the body 30. When the water tank 81 is coupled to the body 30, the water tank detachment module 83 makes the water tank 81 and the body 30 hook-coupled by an elastic force, and the water tank 81 and the body 30 are hooked by an external force. Release the hook of ).

The water tank detachment module 83 may be exposed on the upper surface of the water container 812 and the circumference surface 811 of the water container. Specifically, the water tank may be provided with a detachable seat 813 on which the water tank detachable module 83 is seated. The detachable seating portion 813 is formed at a point where the water bottle circumferential surface 811 and the water bottle upper surface 812 meet. Detachable and mounting portion 813 has a shape in which the upper surface of the water bottle 812 is recessed downward, and the direction of the water bottle circumferential surface 811 is open.

For example, the water tank detachment module 83 may include a hook 835 and an operation button 830. The water tank detachment module 83 may further include a detachable housing 839, a return member, and an elastic force providing unit. The water tank detachment module 83 is installed in the detachable and seating portion 813 of the water tank 81.

The operation button 830 is exposed on one surface of the water tank 81 to manipulate the hook 835. When the operation button 830 is pressed in the horizontal direction, the coupling between the hook 835 and the body 30 is released, and when the pressure on the operation button 830 disappears, the hook 835 and the body ( 30) is released.

The operation button 830 slides with the hook 835 and transmits the moving force of the operation button 830 to the hook 835. The operation button 830 and the hook 835 move in a direction crossing each other, and when the operation button 830 is pressed forward, the operation button 830 and the sliding hook 835 move upward. The operation button 830 transmits the force applied in the horizontal direction in the vertical direction.

The operation button 830 may be disposed on the circumference of the water bottle. Specifically, one surface (a surface crossing the horizontal direction) of the operation button 830 may form a surface parallel to the circumferential surface of the water bottle.

The operation button 830 may include a hook 835 and an inclined cam 832a that slides. The inclined cam 832a converts the horizontal movement force of the operation button 830 into a vertical movement force to the hook 835 and transmits it. The inclined cam 832a has a bar shape that extends in the horizontal direction and has an inclination formed on the lower surface of the front end.

The inclined cam 832a passes through the button hole 839f of the detachable housing 839, the rear end of the inclined cam 832a is exposed to the outside of the detachable housing 839, and the front end of the inclined cam 832a is the detachable housing It is located inside of 839. The inclined cam 832a may be inclined upwardly forward.

The operation button 830 may include a restraint part 832b that restricts separation of the operation button 830. The restraining portion 832b restricts the operation button 830 from being separated from the detachable housing 839 by an elastic force, and restricts the hook 835 from being detached from the detachable housing 839 by an elastic force. The restraint portion 832b may be formed by leading the front end of the inclined cam 832a to the rear.

The restraining part 832b may be caught on two surfaces of the hook 835 intersecting each other. The restraining part 832b is caught on the upper surface and one side surface of a partial region of the hook 835. As another example, the restraint part 832b may be engaged with the detachable housing 839 to prevent the operation button 830 from being separated. The restraining part 832b is locked at least in the horizontal direction. Here, being caught in the horizontal direction means that the restraining portion 832b has a surface that intersects at least the horizontal direction, and is engaged when the restraining portion 832b moves in the horizontal direction.

The operation button 830 may include an exposed portion 831a exposed to the outside of the detachable housing 839. The exposed portion 831a is exposed on the water container circumferential surface 811. One surface of the exposed portion 831a is disposed in parallel with the water container circumferential surface 811. The exposed portion 831a slides in the horizontal direction on the detachable and seating portion 813.

The manipulation button 830 may further include a button guide 831b for guiding the movement of the exposed part 831a. The button guide 831b extends rearward from the exposed portion 831a. The button guide 831b slides on the detachable seat 813. The button guide 831b may protrude forward from the edge of the exposed portion 831a to surround at least a portion of the inclined cam 832a. The button guide 831b slides on the detachable housing 839. The exposed portion 831a is connected to one end of the inclined cam 832a. The inclined cam 832a may have a downward inclination in a direction away from the exposed portion 831a.

The exposed part 831a restricts the horizontal movement of the operation button 830 in contact with the detachable housing 839, and the button guide 831b restricts the vertical movement of the operation button 830 by contacting the detachable housing 839 do. Specifically, the inclined cam 832a is installed to be reciprocated in the front and rear directions in the buttonholes 839f and 839e of the detachable housing 839. The exposed portion 831a is horizontally overlapped with the buttonhole 839f from the outside of the detachable housing 839, and at least a portion of the button guide 831b is positioned to be horizontally overlapped from the outside of the detachable housing 839. I can. A part of the button guide 831b is disposed to surround the outer circumference of the button hole 839f.

The hook 835 is hooked on the body 30 to constrain the water bottle to the body 30. The hook 835 may be inserted into the hook coupling portion 301a of the body 30. The hook coupling portion 301a is a hole penetrated in a vertical direction or a groove opened downward, and the hook 835 can move in the vertical direction. The hook 835 is moved in a direction intersecting with the operation button 830.

When the operation button 830 is pressed in the horizontal direction, the hook 835 is released, and when the pressure on the operation button 830 disappears, the hook 835 is coupled to the hook coupling part 301a by the elastic force of the return member. When the operation button 830 is pressed, the hook 835 moves downward, and when no pressure is applied to the operation button 830, the hook 835 moves upward by an elastic force (return to the initial position). Here, the initial position of the hook 835 refers to the position of the hook 835 when external pressure is not applied.

The hook 835 may be located on the upper surface 812 of the water bottle. Specifically, the hook 835 may be exposed on the upper surface 812 of the water bottle. For example, the hook 835 may be installed on the upper surface 812 of the water tank, or installed on the water tank detachment module 83, so that the hook 835 is parallel to the upper surface 812 of the water tank 812 and one side of the water tank detachment module 83 Can be positioned protruding from.

For example, the hook 835 is caught by the body 30 and passes through the upper surface of the detachable housing 839. Part of the hook 835 is located outside the detachable housing 839, and another part of the hook 835 is located inside the detachable housing 839.

The hook 835 includes a body coupling portion 835a. The body coupling portion 835a is installed to be movable in the upward direction in the hook holes 839f and 839f. The body coupling part 835a passes through the hook hole 839f, a part of the body coupling part 835a is located outside the detachable housing 839, and another part of the body coupling part 835a is the detachable housing 839 ) Is located inside.

The upper end of the body coupling portion 835a does not interfere with the coupling of the water tank 81 when the water tank 81 is inserted, and when the water tank 81 is coupled to the body 30, the water tank 81 and the body 30 Limits the easy dissociation of ). The upper end of the body coupling portion 835a may be inclined downwards forward.

The hook 835 may include a cam counterpart 835d. The cam counterpart 835d is connected to the body coupling part 835a and slides with the inclined cam 832a. The cam counterpart 835d is slid with the inclined cam 832a to convert the horizontal movement force of the inclined cam 832a into a vertical movement force and transmits it to the body coupling portion 835a. The cam counterpart 835d may be an inclined surface or a horizontal surface.

The hook 835 may further include a cam hole 835c. The cam hole 835c defines a space in which the inclined cam 832a or/and the restraining portion 832b is located. The cam hole 835c is a space in which the inclined cam 832a and the restraining part 832b move, and the inner circumferential surface of the camhole 835c and the inclined cam 832a are slid, 832b) is stuck. The cam hole 835c is a hole opened in the front-rear direction.

The hook 835 may further include a cam engaging portion 835e through which the restraining portion 832b is engaged. The cam locking part 835e may be defined as a surface that is caught in the horizontal direction with the restraining part 832b. The cam locking part 835e may be formed on the inner circumferential surface of the cam hole 835c.

The detachable housing 839 transmits the horizontal movement force of the operation button 830 to the hook 835 as a vertical movement force, and prevents the operation button 830 and the hook 835 from being separated. The detachable housing 839 guides the movement of the hook 835 and the operation button 830. The detachable housing 839 prevents the hook 835 and the operation button 830 from being separated. The detachable housing 839 limits the movement path of the hook 835 and the operation button 830.

The detachable housing 839 accommodates at least a part of the hook 835 and a part of the operation button 830, and a part of the hook 835 and a part of the operation button 830 are externally attached to the detachable housing 839. Expose.

The detachable housing 839 may be defined by combining the upper housing cover 839a and the lower housing cover 839b.

The detachable housing 839 includes a hook hole 839f through which the hook 835 passes. The hook hole 839f is defined by a combination of the upper housing cover 839a and the lower housing cover 839b. A housing upper cover 839a and a housing lower cover 839b defining an edge of the hook hole 839f are formed to extend in a horizontal direction.

The detachable housing 839 may include a button hole 839f through which the operation button 830 passes on the other surface crossing one surface. The buttonhole 839f is formed by opening in the upper and lower directions of the housing upper cover 839a.

The detachable housing 839 may further include a housing guide 839c that guides the movement of the hook 835. The housing guide 839c is disposed in an inner space formed by combining the housing upper cover 839a and the housing lower cover 839b, and extends vertically. The two housing guides 839c are disposed to be spaced apart from the front and rear. A hook 835 is guided between the two housing guides 839c.

The return member includes a first return member 833 for returning the operation button 830 to an initial position. The first return member 833 is disposed between the operation button 830 and the detachable housing 839 to provide an elastic force for returning the operation button 830 to the rear.

Specifically, the first return member 833 is positioned between the exposed portion 831a and the detachable housing 839. More specifically, one end of the first return member 833 is coupled to the front surface of the exposed portion 831a, and the other end of the first return member 833 is coupled to the rear surface of the detachable housing 839.

The return member includes a second return member 834 that returns the hook 835 to an initial position. The second return member 834 is disposed between the hook 835 and the detachable housing 839 to provide an elastic force for returning the hook 835 upward.

Specifically, one end of the second return member 834 is coupled to the lower surface of the housing lower cover 839b, and the other end of the second return member 834 is coupled to the spring installation portion 835b of the hook 835. The second return member 834 is accommodated in the detachable housing 839.

Referring to FIG. 28, when the water tank 81 is withdrawn, the mobile robot may further include an elastic force providing unit 82 that provides an elastic force in a direction in which the water tank 81 is withdrawn.

The elastic force providing unit 82 may include a moving bar 821 that is slidably disposed in the moving direction of the water tank 81 and has one end in contact with the water tank 81. The elastic force providing unit 82 may include an elastic unit 822 that is provided to generate a deformation amount according to the movement of the moving bar 131 and provides a constant elastic force regardless of the amount of deformation.

The elastic force providing unit 82 may include a moving bar guide 823 for guiding the movement of the moving bar 131.

The elastic force providing unit 82 provides a force to push the water tank 81 in the direction in which the water tank 81 is withdrawn, so that the water tank 81 is automatically withdrawn from the body 30 without the user pulling the water tank 81. can do.

In particular, the size of the water tank 81 is limited, the position is limited to the rear by design, and the exposed portion 831a of the operation button 830 has to be located on the water tank circumferential surface 811 of the water tank 81 Even if a force is applied from the rear to the front, the water tank 81 may be withdrawn from the body 30 by the elastic force providing unit 82.

Referring to Fig. 37, the operation of the water tank detachment module 83 will be described. When the user presses the exposed part 831a of the operation button 830 forward, the hook 835 descends by sliding the inclined cam 832a and the can corresponding part, and the hook 835 and the hook coupling part 301a The coupling is released, and the water tank 81 is pulled out from the body 30 by the elastic force of the elastic force providing unit 82.

The mobile robot 1 includes a water supply module 80 that supplies water required for mopping. The water supply module may supply water necessary for the mop module 40 or the sweep module 2000. In this embodiment, the water supply module supplies water to the mop module 40. The water supply module supplies water to the pair of spinmaps 41a and 41b.

The water supply module 80 includes a water tank 81 for storing water supplied to the mop module 40 or the sweep module 2000 and a supply means for supplying water from the water tank 81 to the mop module 40. I can.

Referring to FIG. 23, the water supply module includes a water supply connection part 87 that guides water in the water tank 81 to the mop module 40. Water moves from the body 30 to the mop module 40 through the water supply connection 87. The water supply connection 87 is disposed under the body 30. The water supply connection 87 is disposed on the module seat 36. The water supply connection 87 is disposed on the lower side of the module seat 36. The water supply connection 87 is disposed on the lower surface 361 of the module seat 36.

A pair of water supply connecting portions 87 corresponding to the pair of spinmaps 41a and 41b are provided. A pair of water supply connection 87 is provided to be symmetrically left and right.

The water supply connection 87 protrudes from the module seat 36. The water supply connection part 87 is formed to protrude downward from the module seating part 36. The water supply connection part 87 is engaged with the water supply corresponding part 441 to be described later of the map module 40. The water supply connection part 87 forms a hole that penetrates up and down, and water moves from the body 30 to the mop module 40 through the hole in the water supply connection part 87. Water moves from the body 30 to the mop module 40 through the water supply connection 87 and the water supply corresponding part 441.

Referring to FIGS. 25 and 26, the mop module 40 includes at least one mop 411 provided to mop the floor while rotating. The mop module 40 includes at least one spin mob 41 provided to contact the floor while rotating in a clockwise or counterclockwise direction when viewed from the top. The map module 40 may include a pair of spin maps 41a and 41b. The pair of spin mops 41a and 41b mop the floor by rotating clockwise or counterclockwise when viewed from the top. The pair of spinmaps 41a and 41b includes a left spinmap 41a and a right spinmap 41b. In this embodiment, the spin mop 41 is provided to rotate about rotational axes Osa and Osb extending substantially in the vertical direction.

The map module 40 is disposed under the body 30. The map module 40 is disposed behind the sweep module 2000.

The left spin mop 41a and the right spin mop 41b include a mop 411, a rotating plate 412, and a spin shaft 414, respectively. The left spin map 41a and the right spin map 41b each include a water supply receiving portion 413. The left spinmap 41a and the right spinmap 41b each include a driven joint 415. For the description of the mop 411, the rotating plate 412, the spin shaft 414, the water supply receiving part 413, and the driven joint 415, which will be described later, the left spin map 41a and the right spin map 41b are respectively It can be understood as a component to be provided.

The body 30 and the map module 40 may be detachably coupled to each other. A state in which the body 30 and the map module 40 are coupled to each other may be referred to as a'coupled state' hereinafter. In addition, a state in which the body 30 and the map module 40 are separated from each other may be referred to as a "separated state" below. The mobile robot 1 includes a detachable module 90 for attaching and detaching the mop module to the body. The detachable module 90 may release the jamming of the map module 40 with respect to the body 30 in the coupled state. The detachable module 90 operates so that the mop module 40 and the body 30 are detachable from each other. The detachable module 90 may cause the mop module 40 to be caught on the body 30 in the detached state. The detachable module 90 may be disposed across the gap between the water tank 81 and the battery Bt.

The mobile robot 1 includes a base 32 forming a lower side of the body 30. The base 32 forms a lower side, a front side, a rear side, a left side and a right side of the body 30. The mop module 40 is coupled to the base 32. The sweep module 2000 is coupled to the base 32. The controller Co and the battery Bt are disposed in the inner space formed by the case 31 and the base 32. The battery Bt supplies power to the mop motor 61 and the sweep motor 2330.

In addition, the mop driving unit 60 is disposed on the body 30. A water supply module (not shown) is disposed on the body 30. A detachable module 90 is disposed on the body 30. The water supply module delivers water from the bucket 200 to the mop module 40.

The mobile robot 1 includes a module housing 42 that forms the exterior of the map module 40. The module housing 42 is disposed under the body 30. The mobile robot 1 includes a module cabinet 52 that forms the exterior of the sweep module 2000. The module cabinet 52 is disposed under the body 30. The module housing 42 and the module cabinet 52 are disposed to be spaced apart in the front-rear direction.

The map module 40 is detachably coupled to the body 30. The map module 40 is coupled to the lower side of the body 30. The body 30 is coupled to the upper side of the map module 40. The body 30 includes a module mounting portion 36, and the mop module 40 includes a body mounting portion 43. The body seating portion 43 is detachably coupled to the module seating portion 36.

Referring to FIG. 22, the module mounting portion 36 is provided under the body 30. The body seating part 43 is provided on the upper side of the map module 40. The module seat 36 is disposed on the lower side of the base 32. The body mounting portion 43 is disposed on the upper side of the module housing 42.

Among the module seating portion 36 and the body seating portion 43, one of the module seating portions 36 and the body seating portion 43 protrudes in the vertical direction and the other is depressed in the vertical direction to engage any one of the above.

In this embodiment, the body seating portion 43 protrudes upward from the mop module 40. The body seating portion 43 is recessed upwardly to engage the body seating portion 43 in the body 30.

When viewed from the top, the shape of the body seating portion 43 is formed asymmetrically in the front-rear direction. Through this, when the mop module 40 is turned over and coupled to the body 30 in the front and rear direction, the body mounting portion 43 does not engage with the module mounting portion 36, so that the mop module 40 and the body in a predetermined direction (30) can be combined with each other.

Referring to FIG. 23, the map module 40 includes a pair of body seating portions 43a and 43b disposed to be spaced apart from each other. The pair of body seating portions 43a and 43b correspond to the pair of spinmaps 41a and 41b. The pair of body seating portions 43a and 43b correspond to the pair of module seating portions 36a and 36b.

The body 30 includes a pair of module seating portions 36a and 36b disposed to be spaced apart from each other. The pair of module seating portions 36a and 36b correspond to the pair of body seating portions 43a and 43b.

A pair of body seating portions 43a and 43b protrude upward from the map module 40. The pair of module seating portions 36a and 36b are recessed upward to engage the pair of body seating portions 43a and 43b.

The module seat 36 includes a lower surface 361 forming a lower surface. The lower surface portion 361 contacts the upper surface portion 431 of the body seating portion 43 in the coupled state. The lower surface 361 looks downward. The lower surface 361 may be formed horizontally. The lower surface portion 361 is disposed above the peripheral corresponding portion 363.

The module seating portion 36 includes a peripheral corresponding portion 363 disposed along the periphery of the lower surface portion 361. The peripheral corresponding portion 363 contacts the peripheral portion 433 of the body seating portion 43 in the coupled state. The peripheral counterpart 363 forms an inclined surface extending the lower side and the lower surface 361 of the base 32. The peripheral counterpart 363 has a slope that increases from the lower side of the base 32 to the lower surface 361. The peripheral counterpart 363 is disposed surrounding the lower surface 361.

The pair of module seating portions 36 includes a pair of engaging surfaces 363a inserted between the pair of body seating portions 43. The locking surface 363a is disposed in a region close to the adjacent other module seating portion 36 among the peripheral corresponding portions 363 of one module seating portion 36. The locking surface 363a is disposed in a region relatively close to the central vertical line Po among the peripheral counterparts 363. The engaging surface 363a constitutes a part of the peripheral counterpart 363.

The module seating portion 36 forms a joint hole 364 through which at least a part of the main joint 65 is exposed. The joint hole 364 is formed in the lower surface 361. The main joint 65 may be disposed while passing through the joint hole 364. The main joint 65 is coupled with the driven joint 415 to transmit the driving force of the mom driving unit (not shown) to the spin mab.

Among the module seating portion 36 and the body seating portion 43, one surface is provided with protruding engaging portions 915 and 365, and the other surface is provided with the engaging portions 915 and 365 in the coupled state. Engagement counterparts (435, 436) recessed to engage are provided.

The body seating portion 43 includes an upper surface portion 431 forming an upper surface. The upper surface portion 431 contacts the lower surface portion 361 of the module seating portion 36 in the coupled state. The upper surface portion 431 looks upward. The upper surface portion 431 may be formed horizontally. The upper surface portion 431 is disposed above the peripheral portion 433.

The body seating portion 43 includes a peripheral portion 433 disposed along the periphery of the upper surface portion 431. The peripheral portion 433 contacts the peripheral corresponding portion 363 of the module mounting portion 36 in the coupled state. The peripheral portion 433 forms an inclined surface extending the upper side surface and the upper surface portion 431 of the module housing 42. The peripheral portion 433 has a slope that increases from the upper side of the module housing 42 toward the upper surface portion 431. The peripheral portion 433 is disposed surrounding the upper surface portion 431.

The body seating portion 43 includes an engaging surface 433a that contacts the engaging surface 363a in the coupled state. The pair of body seating portions 43 includes a pair of engaging surfaces 433a. The pair of engaging surfaces 433a are disposed to face each other at an angle to the left and right. A pair of engaging surfaces 433a are disposed between the pair of body seating portions 43. The engaging surface 433a is disposed in a region close to the other adjacent body seating portion 43 among the peripheral portions 433 of one body seating portion 43. The engaging surface 433a is disposed in an area relatively close to the central vertical line Po among the peripheral portions 433. The engaging surface 433a constitutes a part of the peripheral portion 433.

The body seating portion 43 forms a driving hole 434 through which at least a part of the driven joint 415 is exposed. The driving hole 434 is formed in the upper surface part 431. In the coupled state, the main joint 65 may be inserted into the driving hole 434 and connected to the driven joint 415.

Jamming response part (435, 436) May be a hole or groove formed on the surface of the body seat 43. The engaging portions 435 and 436 may be disposed on the peripheral portion 433. A plurality of locking corresponding parts 435 and 436 corresponding to the plurality of locking parts 915 and 365 may be provided.

Jamming response part (435, 436) Includes a first jam counter 435 to which the first engagement portion 915 is caught. The first engaging portion 435 is formed on the engaging surface 433a.

Jamming response part (435, 436) Includes a second engaging portion 436 to which the second engaging portion 365 is engaged. The second jamming counterpart 436 is formed on the peripheral portion 433.

22 and 24, the water supply module 80 may supply water required for the mop module 40 or the collection module 50. In this embodiment, the water supply module 80 supplies water to the mop module 40. The water supply module 80 supplies water to a pair of spinmaps 41a and 41b.

The water supply module 80 includes a water tank 81 for storing water supplied to the mop module 40 or the collection module 50. In this embodiment, the water tank 81 stores water supplied to the mop module 40. The mop module 40 is provided to perform wet mopping (mopping while supplying water).

The water supply module 80 supplies water to the mop module 40. The water supply module 80 supplies water to the mop module 40. The water supply module 80 supplies water to the water supply distribution module 44. The water supply module 80 is installed in the body.

The water supply module 80 includes a water tank 81 for storing water. The water tank 81 is disposed within the body 30. The water tank 81 is disposed on the rear side of the body 30.

The water tank 81 may be provided to be withdrawn from the outside of the body 30. The water tank 81 may be provided to be slidable toward the rear side of the body 30. In a state in which the water tank 81 is seated in the body 30, a water tank locking part 84 is provided for locking the water tank 81 to the body 30.

The water supply module 80 may include a water tank opening/closing part 82 for opening and closing the water tank 81. The water tank opening/closing part 82 is disposed on the upper side of the water tank 81. The water tank 81 may be filled with water in the water tank 81 by opening the water tank opening/closing part 82 while being withdrawn from the body 30.

The water supply module 80 includes a pump 85 that pressurizes the water W in the water tank 81 to move to the mop module 40. The pump 85 is disposed within the body 30. The pump 85 is disposed on the central vertical line Po.

Although not shown, in another embodiment, the water supply module 80 may include a valve, and when the valve is opened without a pump, water in the water tank may be provided to move to the mop module 40 by the gravity of water.

Although not shown, in another embodiment, the water supply module 80 may include a water permeable stopper. The water-permeable stopper is disposed in the supply pipe, so that water can move through the water-permeable stopper, but may be provided to slow the moving speed of water.

Hereinafter, the description will be made based on the present embodiment including the pump 85, but it is not necessarily limited thereto.

The water supply module 80 includes a water tank connection part 89 that connects the water tank 81 and the supply pipe 86 while the water tank 81 is seated in the body 30. Water (W) in the water tank 81 is introduced into the supply pipe 86 through the water tank connection part 89.

The water supply module 80 includes a supply pipe 86 for guiding the movement of water W from the water tank 81 to the mop module 40. The supply pipe 86 guides the movement of water by connecting the water tank 81 and the water supply connection part 87.

The supply pipe 86 is a first supply pipe 861 guiding the movement of water W from the water tank 81 to the pump 85, and the movement of water W from the pump 85 to the mop module 40. It includes a second supply pipe (862) to guide. One end of the first supply pipe 861 is connected to the water tank connection part 89 and the other end is connected to the pump 85. One end of the second supply pipe 862 is connected to the pump 85 and the other end is connected to the water supply connection 87.

In addition, the water supply module 80 may further include a check valve 863 to prevent leakage of residual water from the water supply connection unit 87. The check valve 863 may be installed in the second supply pipe 862 adjacent to the water supply connection 87.

The water supply module 80 includes a water supply connection 87 that guides water in the water tank 81 to the mop module 40. Water (W) moves from the body 30 to the mop module 40 through the water supply connection part 87. The water supply connection 87 is disposed under the body 30. The water supply connection 87 is disposed on the module seat 36. The water supply connection 87 is disposed on the lower side of the module seat 36. The water supply connection 87 is disposed on the lower surface 361 of the module seat 36.

One water supply connection part 87 is provided to facilitate coupling and sealing while supplying water to the pair of spinmaps 41a and 41b. Specifically, the water supply connection part 87 may be disposed between the rotation axis of the left spin mops 41a and 41b and the rotation axis of the right spin mops 41a and 41b. More preferably, the water supply connection part 87 may be disposed at the center between the rotation axis of the left spin mops 41a and 41b and the rotation axis of the right spin mops 41a and 41b. Even more preferably, the water supply connection 87 may be located on the central vertical line Po.

When the water supply connection part 87 is disposed in the center of the two spin mops 41a and 41b, the water supply connection part 87 is configured to facilitate sealing and coupling, and water can be supplied equally to the two mops. There will be.

The water supply connection 87 protrudes from the outer surface of the body 30. Specifically, the water supply connection part 87 protrudes from the module seating part 36. The water supply connection part 87 may have a tubular shape protruding downward from the module seating part 36.

The water supply connection part 87 is engaged with the water supply corresponding part 441 to be described later of the map module 40. The water supply connection part 87 communicates with the supply pipe 86 and forms a hole that penetrates vertically, and water moves from the body 30 to the mop module 40 through the hole in the water supply connection part 87. Water moves from the body 30 to the mop module 40 through the water supply connection 87 and the water supply corresponding part 441.

The direction of water flow is as follows. The pump 85 may be driven to cause the water W to move. The water W in the water tank 81 flows into the water supply connection part 87 through the supply pipe 86. The water W in the water tank 81 sequentially moves through the first supply pipe 861 and the second supply pipe 862. The water (W) in the water tank 81 is sequentially passed through the supply pipe 86 and the water supply connection part 87 and flows into the water supply corresponding part 441 of the mop module 40. The water flowing into the water supply corresponding part 441 flows into the two water supply receiving parts 413 through the two water supply distribution pipes, and the water flowing into the water supply receiving part 413 passes through the water supply hole 412a and mops. It flows into the central part of 411. Water flowing into the central portion of the mop 411 moves to the edge of the mop 411 by centrifugal force according to the rotation of the mop 411.

Referring to FIGS. 22 to 26, each configuration of the'map module 40' and the'relationship between the map module 40 and the body 30' will be described in detail as follows.

The mop module 40 is provided to mop using the water in the water tank 81. A pair of spin mops 41a and 41b are provided to rotate while contacting the floor to mop.

22 to 24, the map module 40 includes a pair of spin maps 41a and 41b provided to be symmetrically left and right with respect to a central vertical line Po. Hereinafter, a description of each component of the spinmaps 41a, 41b, and 41 may be understood as a description of each of the pair of spinmaps 41a, 41b.

The spin mops 41a, 41b, and 41 include a rotating plate 412 that is provided to rotate from the lower side of the body 30. The rotating plate 412 may be formed of a circular plate-shaped member. The mop 411 is fixed to the lower side of the rotating plate 412. The rotating plate 412 rotates the mop 411. The spin shaft 414 is fixed to the center of the rotating plate 412.

The rotating plate 412 includes a mop fixing part (not shown) for fixing the mop 411. The mop fixing part may fix the mop 411 detachably. The mop fixing part may be a Velcro or the like disposed under the rotating plate 412. The mop fixing part may be a hook disposed at the edge of the rotating plate 412.

A water supply hole 412a penetrating the rotating plate 412 up and down is formed. The water supply hole 412a connects the water supply space Sw to the lower side of the rotating plate 412. Water in the water supply space Sw moves to the lower side of the rotating plate 412 through the water supply hole 412a. Water in the water supply space Sw moves to the mop 411 through the water supply hole 412a. The water supply hole 412a is disposed in the center of the rotating plate 412. The water supply hole 412a is disposed at a position avoiding the spin shaft 414.

The rotating plate 412 may form a plurality of water supply holes 412a. A connection part 412b is disposed between the plurality of water supply holes 412a. The connection part 412b connects a portion in the centrifugal direction (XO) of the rotating plate 412 and a portion in the opposite centrifugal direction (XI) based on the water supply hole 412a. Here, the centrifugal direction XO means a direction away from the spin shaft 414, and the opposite direction XI means a direction closer to the spin shaft 414.

A plurality of water supply holes 412a may be spaced apart from each other along the circumferential direction of the spin shaft 414. A plurality of water supply holes 412a may be disposed to be spaced apart from each other by a predetermined interval. A plurality of connection portions 412b may be spaced apart from each other along the circumferential direction of the spin shaft 414. A water supply hole 412a is disposed between the plurality of connection parts 412b.

The rotating plate 412 includes an inclined portion 412d disposed at the lower end of the spin shaft 414. It is provided so that water in the water supply space Sw flows down along the inclined portion 412d by gravity. The inclined portion 412d is formed along the circumference of the lower end of the spin shaft 414. The inclined portion 412d forms a downward inclination in the distal opposite direction XI. The inclined portion 412d may form a lower side of the water supply hole 412a.

The spin mops 41a, 41b, and 41 include a mop 411 coupled to the lower side of the rotating plate 412 and provided to contact the floor. The mop 411 may be fixedly disposed on the rotating plate 412 or may be disposed interchangeably. The mop 411 may be fixed to the rotating plate 412 to be detachable by Velcro or a hook. The mop 411 may be composed of only a mop, or may include a mop and a spacer (not shown). The mop is the part that mops by directly touching the floor. The spacer may be disposed between the rotating plate 412 and the mop to adjust the position of the mop. The spacer may be detachably fixed to the rotating plate 412, and the mop may be detachably fixed to the spacer. It goes without saying that the mop 121a can be directly attached to and detached from the rotating plate 412 without a spacer.

The spin mops 41a, 41b and 41 include a spin shaft 414 that rotates the rotating plate 412. The spin shaft 414 is fixed to the rotating plate 412 and transmits the rotational force of the mop driving part 60 to the rotating plate 412. The spin shaft 414 is connected to the upper side of the rotating plate 412. The spin shaft 414 is disposed in the upper center of the rotating plate 412. The spin shaft 414 is fixed to the rotation centers Osa and Osb of the rotating plate 412. The spin shaft 414 includes a joint fixing portion 414a for fixing the driven joint 415. The joint fixing part 414a is disposed on the upper end of the spin shaft 414.

The spin shaft 414 extends perpendicular to the rotating plate 412. The left spin shaft 414 is disposed perpendicular to the lower side of the left spin mops 41a, 41b, and 41a, and the right spin shaft 414 is the lower side of the right spin mops 41a, 41b, and 41b. It is placed perpendicular to the side. In an embodiment in which the lower surfaces of the spin mops 41a, 41b and 41 are inclined with respect to the horizontal plane, the spin shaft 414 is inclined with respect to the vertical axis. The spin shaft 414 is disposed so that the upper end is inclined to one side with respect to the lower end.

The inclined angle of the spin shaft 414 with respect to the vertical axis may be changed according to rotation about the tilting shaft 48 of the tilting frame 47. The spin shaft 414 is rotatably coupled to the tilting frame 47 and integrally tiltable with the tilting frame 47. When the tilting frame 47 is inclined, the spin shaft 414, the rotating plate 412, the water supply receiving portion 413, the driven joint 415, and the mop 411 are integrally inclined together with the tilting frame 47. .

The map module 40 includes a water supply receiving part 413 that is disposed on the upper side of the rotating plate 412 to receive water. The water supply receiving part 413 forms a water supply space Sw in which water is accommodated. The water supply receiving part 413 surrounds the spin shaft 414 and is spaced apart from the spin shaft 414 to form a water supply space Sw. The water supply receiving part 413 allows water supplied to the upper side of the rotating plate 412 to be collected in the water supply space Sw before passing through the water supply hole 412a. The water supply space Sw is disposed in the upper central portion of the rotating plate 412. The water supply space Sw has a cylindrical volume as a whole. The upper side of the water supply space Sw is opened. Water is provided to flow into the water supply space Sw through the upper side of the water supply space Sw.

The water supply receiving portion 413 protrudes upward from the rotating plate 412. The water supply receiving portion 413 extends along the circumferential direction of the spin shaft 414. The water supply receiving part 413 may be formed in a ring-shaped rib shape. A water supply hole 412a is disposed on the inner lower surface of the water supply receiving part 413. The water supply receiving part 413 is disposed to be spaced apart from the spin shaft 414.

The lower end of the water supply receiving part 413 is fixed to the rotating plate 412. The upper end of the water supply receiving part 413 has a free end.

Referring to FIG. 23, the main joint 65 and the driven joint 415 will be described in detail as follows. The mop driving unit 60 includes a main joint 65 that rotates by the mop motor 61, and the spin mops 41a, 41b, 41 are driven joints that rotate by meshing with the main joint 65 in an engaged state. 415). The main joint 65 is exposed to the outside of the body 30. At least a portion of the driven joint 415 is exposed to the outside of the mop module 40.

In the separated state, the main joint 65 and the driven joint 415 are separated from each other. In the coupled state, the main joint 65 and the driven joint 415 are engaged.

Among the main joint 65 and the driven joint 415, one of which includes a plurality of driving protrusions 65a disposed in a circumferential direction about any one rotation axis, and the other one by zooming the other rotation axis. A plurality of driving grooves 415h disposed in one circumferential direction are formed.

The plurality of driving protrusions 65a are disposed spaced apart from each other by a predetermined interval. The plurality of driving grooves 415h are disposed to be spaced apart from each other by a predetermined interval. In the coupled state, the driving protrusion 65a is provided to be inserted into the driving groove 415h. In the separated state, the driving protrusion 65a is separated from the driving groove 415h.

It is preferable that the number of the plurality of driving grooves 415h is greater than the number of the plurality of driving protrusions 65a. The plurality of driving protrusions 65a may be n, and the plurality of driving grooves 415h may be n*m (multiplied by n and m). Here, n is a natural number greater than or equal to 2, and m is a natural number greater than or equal to 2. In this embodiment, four driving protrusions 65a1, 65a2, 65a3, and 65a4 spaced at a predetermined interval are provided, and eight driving grooves 415h1, 415h2, 415h3, 415h4, 415h5, 415h6, 415h7, 415h8 spaced at a predetermined interval are provided. ) Is provided.

Among the main joint 65 and the driven joint 415, any one includes a plurality of driving protrusions 65a spaced apart from each other in the circumferential direction about any one rotation axis, and the other is the other rotation shaft It includes a plurality of opposed projections (415a) are spaced apart from each other in the circumferential direction by zooming. The plurality of opposed protrusions 415a protrude in any one direction.

The plurality of opposed protrusions 415a are disposed to be spaced apart from each other by a predetermined interval. In the coupled state, any one driving protrusion 65a is provided to be disposed between the adjacent two opposing protrusions 415a. In the separated state, the driving protrusion 65a is separated from between the adjacent two opposing protrusions 415a. In the coupled state, at least one opposing protrusion 415a is provided to be disposed between two adjacent driving protrusions 65a. In this embodiment, in the coupled state, two opposing projections 415a are provided to be disposed between adjacent two driving projections 65a.

The protruding end of the opposite protrusion 415a is formed to be round. The protruding end of the opposing protrusion 415a is formed to be rounded along the arrangement direction of the plurality of opposing protrusions 415a. The protruding end of the opposing protrusion 415a has a corner portion rounded toward the adjacent opposing protrusion 415a with respect to the central axis in the protruding direction. Through this, when changing from the separated state to the coupled state, the driving protrusion 65a smoothly moves along the rounded protruding end of the opposite protrusion 415a and may be inserted into the driving groove 415h.

The number of the plurality of opposed protrusions 415a may be greater than the number of the plurality of driving protrusions 65a. The plurality of driving protrusions 65a may be n, and the plurality of opposing protrusions 415a may be n*m (multiplied by n and m). Here, n is a natural number greater than or equal to 2, and m is a natural number greater than or equal to 2. In this embodiment, four driving protrusions 65a1, 65a2, 65a3, and 65a4 spaced apart at a predetermined interval are provided, and eight opposing projections 415a spaced apart at a predetermined interval are provided.

In this embodiment, the main joint 65 includes a driving protrusion 65a, and the driven joint 415 forms a driving groove 415h. In this embodiment, the driven joint 415 includes a counter protrusion 415a. Hereinafter, it will be described based on the present embodiment.

The main joint 65 is fixed to the lower end of the main shaft 624. The main joint 65 includes a driving protrusion shaft 65b fixed to the main shaft 624. The driving protrusion shaft 65b may be formed in a cylindrical shape. The driving protrusion 65a protrudes from the driving protrusion shaft 65b. The driving protrusion 65a protrudes in a direction away from the rotation axis of the main joint 65. A plurality of driving protrusions 65a are disposed to be spaced apart from each other along the circumferential direction of the driving protrusion shaft 65b. The driving protrusion 65a has a circular cross section and protrudes in a direction away from the rotation axis of the main joint 65.

The driven joint 415 is fixed to the upper end of the spin shaft 414. The driven joint 415 includes a driven shaft portion 415b fixed to the spin shaft. The driven shaft portion 415b may be formed in a cylindrical shape. The driving groove 415h is formed in front of the peripheral portion of the driven shaft portion 415b. The driving groove 415h is formed by being recessed in the vertical direction. A plurality of driving grooves 415h are disposed to be spaced apart from each other along the circumference of the driven shaft portion 415b. The driven joint 415 includes a counter protrusion 415a protruding from the driven shaft portion 415b. The opposed protrusion 415a protrudes from the driven shaft portion 415b in a direction toward the main joint 65 in the vertical direction. In this embodiment, the opposing protrusion 415a protrudes upward. The opposite protrusion 415a forms a protruding end in the upward direction. The opposite protrusion 415a forms a rounded protruding end. In the process of changing from the separated state to the engaged state, when the surface of the driving protrusion 65a contacts the rounded end of the opposite protrusion 415a, the driving protrusion 65a slides naturally and can be inserted into the driving groove 415h. have. The opposite protrusion 415a is disposed in the front portion of the driven shaft portion 415b. A plurality of opposing protrusions 415a and a plurality of driving grooves 415h are alternately disposed along the circumference of the driven shaft portion 415b.

In the coupled state, when the suspension units 47, 48, 49, which will be described later, flow within a predetermined range, the driving protrusion 65a and the driving groove 415h are movable with each other, but are engaged with each other to transmit rotational force. Specifically, the vertical depth of the driving groove 415h is provided larger than the vertical width of the driving protrusion 65a, so that even if there is vertical flow within a predetermined range of the driving protrusion 65a with respect to the driving groove 415h, the main movement The rotational force of the joint 65 may be provided to be transmitted to the driven joint 415.

The module housing 42 connects a pair of spinmaps 41a and 41b. The pair of spinmaps 41a and 41b are separated from the body 30 together by the module housing 42 and are coupled to the body 30 together. The body mounting portion 43 is disposed on the upper side of the module housing 42. The spin mops 41a, 41b, and 41 may be rotatably supported on the module housing 42. The spinmaps 41a, 41b, and 41 may be disposed through the module housing 42.

The module housing 42 may include an upper cover 423 forming an upper portion and a lower cover 421 forming a lower portion. The upper cover 423 and the lower cover 421 are coupled to each other. The upper cover 423 and the lower cover 421 form an inner space accommodating a part of the spinmaps 41a, 41b, and 41.

Suspension units 47, 48, 49 may be disposed in the module housing 42. The suspension units 47, 48, and 49 may be disposed in an inner space formed by the upper cover 423 and the lower cover 421. The suspension units 47, 48, 49 support the spin shaft 414 so that it can flow up and down within a predetermined range. The suspension units 47, 48, 49 according to the present embodiment include a tilting frame 47, a tilting shaft 48, and an elastic member 49.

The module housing 42 may include a limit limiting the rotation range of the tilting frame 47.

The limit may include a lower limit 427 that limits a downward rotation range of the tilting frame 47. The lower limit 427 may be disposed in the module housing 42. The lower limit 427 is provided to come into contact with the lower limit contact portion 477 while the tilting frame 47 is rotated as much as possible in the downward direction. In a state in which the mobile robot 1 is normally disposed on an external horizontal surface, the lower limit contact portion 477 is spaced apart from the lower limit 427. In a state where there is no force pushing upward from the lower side of the spinmaps 41a, 41b, 41, the tilting frame 47 is rotated to the maximum angle, and the lower limit contact part 477 is connected to the lower limit 427 Contact and the inclination angle becomes the largest.

The limit may include an upper limit (not shown) that limits the upward rotation range of the tilting frame 47. In this embodiment, due to the close contact between the main joint 65 and the driven joint 415, the range of rotation in the upward direction of the tilting frame 47 may be limited. In a state in which the mobile robot 1 is normally disposed on an external horizontal surface, the driven joint 415 is in close contact with the main joint 65 to the maximum, and the inclination angle is the smallest.

The module housing 42 includes a second support portion 425 fixing the end of the elastic member 49. When the tilting frame 47 rotates, the elastic member 49 is elastically deformed by the first support portion 475 fixed to the tilting frame 47 and the second support portion 425 fixed to the module housing 42 or Elasticity is restored.

The module housing 42 includes a tilting shaft support 426 that supports the tilting shaft 48. The tilting shaft support 426 supports both ends of the tilting shaft 48.

The tilting frame 47 is connected to the module housing 42 through a tilting shaft 48. The tilting frame 47 rotatably supports the spin shaft 414.

The tilting frame 47 is provided to be rotatable within a predetermined range around the tilting rotation shafts Ota and Otb. The tilting rotation axes Ota and Otb extend in a direction crossing the rotation axes Osa and Osb of the spin shaft 414. The tilting shaft 48 is disposed on the tilting rotation shafts Ota and Otb. The tilting frame 47 on the left is provided to be rotatable in a predetermined range around the tilting rotation axis Ota. The right tilting frame 47 is provided to be rotatable within a predetermined range around the tilting rotation axis Otb.

The tilting frame 47 is disposed to be tiltable within a predetermined angular range with respect to the map module 40. The tilting frame 47 allows the inclination angle to be changed according to the state of the floor. The tilting frame 47 may perform a function of a suspension of the spinmaps 41a, 41b, and 41 (to support weight and reduce vertical vibration at the same time).

The tilting frame 47 includes a frame base 471 forming a lower side. The spin shaft 414 is disposed while passing through the frame base 471 up and down. The frame base 471 may be formed in a plate shape to form a vertical thickness. The tilting shaft 48 rotatably connects the module housing 42 and the frame base 471.

A bearing Ba may be provided between the rotation shaft support 473 and the spin shaft 414. The bearing Ba may include a first bearing B1 disposed at a lower side and a second bearing B2 disposed at an upper side.

The lower end of the rotation shaft support 473 is inserted into the water supply space Sw of the water supply receiving part 413. The inner circumferential surface of the rotation shaft support 473 supports the spin shaft 414.

The tilting frame 47 includes a first support portion 475 supporting one end of the elastic member 49. The other end of the elastic member 49 is supported by a second support portion 425 disposed on the module housing 42. When the tilting frame 47 tilts around the tilting shaft 48, the position of the first support part 475 is changed and the length of the elastic member 49 is changed.

The first support part 475 is fixed to the tilting frame 47. The first support part 475 is disposed on the left side of the left tilting frame 47. The first support part 475 is disposed on the right side of the right tilting frame 47. The second support portion 425 is disposed in the left region of the left spinmaps 41a, 41b, and 41a. The second support portion 425 is disposed in the right area of the right spinmaps 41a, 41b, and 41b.

The first support part 475 is fixed to the tilting frame 47. The first support part 475 is inclined together with the tilting frame 47 when the tilting frame 47 is tilted. The distance between the first support part 475 and the second support part 425 is the closest when the inclination angle is minimized, and the distance between the first support part 475 and the second support part 425 when the inclination angle is maximum Is provided farthest away. The elastic member 49 is elastically deformed in a state where the inclination angle is minimized to provide a restoring force.

The tilting frame 47 includes a lower limit contact portion 477 provided to be in contact with the lower limit 427. The lower side of the lower limit contact portion 477 may be provided to be in contact with the upper side of the lower limit 427.

The tilting shaft 48 is disposed in the module housing 42. The tilting shaft 48 becomes a rotation axis of the tilting frame 47. The tilting shaft 48 may be disposed to extend in a direction perpendicular to an inclined direction of the spin mops 41a, 41b, and 41. The tilting shaft 48 may be disposed to extend in a horizontal direction. In this embodiment, the tilting shaft 48 is disposed to extend in a direction inclined at an acute angle in the front-rear direction.

The elastic member 49 applies an elastic force to the tilting frame 47. An elastic force is applied to the tilting frame 47 so that the inclination angle of the lower side of the spinmaps 41a, 41b and 41 with respect to the horizontal plane increases.

The elastic member 49 is provided to increase when the tilting frame 47 rotates downward and to decrease when rotated upward. The elastic member 49 enables the tilting frame 47 to operate in a buffer (elastic) manner. The elastic member 49 applies a moment force to the tilting frame 47 in a direction in which the inclination angle increases.

The pair of spinmaps 41a and 41b are connected to each other to form one set. When changing from the coupled state to the separated state, a pair of spin mops 41a and 41b connected by the mop module 40 are integrally separated from the body 30. In addition, when changing from the separated state to the coupled state, a pair of spin mops 41a and 41b connected by the mop module 40 are integrally coupled to the body 30.

The map module 40 is detachably coupled to the body 30. The map module 40 is coupled to the lower side of the body 30. The body 30 is coupled to the upper side of the map module 40. The body 30 includes a module mounting portion 36, and the mop module 40 includes a body mounting portion 43. The body seating portion 43 is detachably coupled to the module seating portion 36.

The module seat 36 is provided under the body 30. The body seating part 43 is provided on the upper side of the map module 40. The module seat 36 is disposed on the lower side of the base 32. The body mounting portion 43 is disposed on the upper side of the module housing 42.

Of the module seating portion 36 and the body seating portion 43, one of the module seating portions 36 and the body seating portion 43 protrudes in the vertical direction and the other is depressed in the vertical direction to engage with any one.

In this embodiment, the body seating portion 43 protrudes upward from the mop module 40. The body seating portion 43 is recessed upwardly to engage the body seating portion 43 in the body 30.

When viewed from the top, the shape of the body seating portion 43 is formed asymmetrically in the front-rear direction. Through this, when the mop module 40 is turned over and coupled to the body 30 in the front and rear direction, the body seating portion 43 does not engage with the module seating portion 36, so that the mop module 40 and the body are in a preset direction. (30) can be combined with each other.

When viewed from the top, the overall shape of the body seating portion 43 is formed to be longer in the front-rear direction as the distance from the central vertical line Po. When viewed from the upper side, as a whole, the body seating portion 43 is inclined so that a portion relatively far from the central vertical line Po is close to the front.

The map module 40 includes a pair of body seating portions 43a and 43b that are disposed to be spaced apart from each other. The pair of body seating portions 43a and 43b correspond to the pair of spinmaps 41a and 41b. The pair of body seating portions 43a and 43b correspond to the pair of module seating portions 36a and 36b.

The body 30 includes a pair of module seating portions 36a and 36b disposed to be spaced apart from each other. The pair of module seating portions 36a and 36b correspond to the pair of body seating portions 43a and 43b.

A pair of body seating portions 43a and 43b protrude upward from the map module 40. The pair of module seating portions 36a and 36b are recessed upward to engage the pair of body seating portions 43a and 43b.

The pair of body seating portions 43a and 43b are spaced from side to side. The pair of module seating portions 36a and 36b are spaced left and right. A pair of body seating portions 43a and 43b are provided to be symmetrically left and right with respect to the central vertical line Po. A pair of module seating portions 36a and 36b are provided to be symmetrically left and right with respect to the central vertical line Po. Hereinafter, the description of the body seating portion 43 may be understood as a description of each of the pair of body seating portions 43a and 43b, and the description of the module seating portion 36 is a pair of module seating portions It can be understood as a description of each of (36a, 36b).

The module seat 36 includes a lower surface 361 forming a lower surface. The lower surface portion 361 contacts the upper surface portion 431 of the body seating portion 43 in the coupled state. The lower surface 361 looks downward. The lower surface 361 may be formed horizontally. The lower surface portion 361 is disposed above the peripheral corresponding portion 363.

The module seating portion 36 includes a peripheral corresponding portion 363 disposed along the periphery of the lower surface portion 361. The peripheral corresponding portion 363 contacts the peripheral portion 433 of the body seating portion 43 in the coupled state. The peripheral counterpart 363 forms an inclined surface extending the lower side and the lower surface 361 of the base 32. The peripheral counterpart 363 has a slope that increases from the lower side of the base 32 to the lower surface 361. The peripheral counterpart 363 is disposed surrounding the lower surface 361.

The pair of module seating portions 36 includes a pair of engaging surfaces 363a inserted between the pair of body seating portions 43. The locking surface 363a is disposed in a region close to the adjacent other module seating portion 36 among the peripheral corresponding portions 363 of one module seating portion 36. The locking surface 363a is disposed in a region relatively close to the central vertical line Po among the peripheral counterparts 363. The engaging surface 363a constitutes a part of the peripheral counterpart 363.

The module seating portion 36 forms a joint hole 364 through which at least a part of the main joint 65 is exposed. The joint hole 364 is formed in the lower surface 361. The main joint 65 may be disposed while passing through the joint hole 364.

Among the module seating portion 36 and the body seating portion 43, one surface is provided with a protruding locking portion 911, and the other surface corresponds to a depression that is engaged with the locking portion 911 in an engaged state Parts 435 and 436 are provided. In this embodiment, the locking portion 911 is provided on the surface of the module mounting portion 36, and the locking corresponding portions 435 and 436 are provided on the surface of the body mounting portion 43.

The locking part 911 may be formed in a hook shape. The locking part 911 may be disposed on the peripheral corresponding part 363. The lower side of the protruding distal end of the locking portion 911 may have an inclination closer to the upper side toward the distal end. A plurality of locking portions 911 may be provided on one body seating portion 43.

The body seating portion 43 includes an upper surface portion 431 forming an upper surface. The upper surface portion 431 contacts the lower surface portion 361 of the module seating portion 36 in the coupled state. The upper surface portion 431 looks upward. The upper surface portion 431 may be formed horizontally. The upper surface portion 431 is disposed above the peripheral portion 433.

The body seating portion 43 includes a peripheral portion 433 disposed along the periphery of the upper surface portion 431. The peripheral portion 433 contacts the peripheral counterpart 363 of the module seating portion 36 in the coupled state. The peripheral portion 433 forms an inclined surface extending the upper side surface and the upper surface portion 431 of the module housing 42. The peripheral portion 433 has a slope that increases from the upper side of the module housing 42 toward the upper surface portion 431. The peripheral portion 433 is disposed surrounding the upper surface portion 431.

The body seating portion 43 includes an engaging surface 433a that contacts the engaging surface 363a in the engaged state. The pair of body seating portions 43 includes a pair of engaging surfaces 433a. The pair of engaging surfaces 433a are disposed to face each other at an angle to the left and right. A pair of engaging surfaces 433a are disposed between the pair of body seating portions 43. The engaging surface 433a is disposed in a region close to the other adjacent body seating portion 43 among the peripheral portions 433 of one body seating portion 43. The engaging surface 433a is disposed in an area relatively close to the central vertical line Po among the peripheral portions 433. The engaging surface 433a constitutes a part of the peripheral portion 433.

The body seating portion 43 forms a driving hole 434 through which at least a part of the driven joint 415 is exposed. The driving hole 434 is formed in the upper surface part 431. In the coupled state, the main joint 65 may be inserted into the driving hole 434 and connected to the driven joint 415.

Jamming response part (435, 436) May be a hole or groove formed on the surface of the body seat 43. The engaging portions 435 and 436 may be disposed on the peripheral portion 433. A plurality of engaging portions 435 and 436 corresponding to the plurality of locking portions 911 may be provided.

The body mounting portion is spaced apart from the left body mounting portion 43a where the left driving hole 434 is formed, the left body mounting portion 43a, and the right body mounting portion 43b where the right driving hole 434 is formed, and the left body It may include a center seating portion 43c positioned between the seating portion 43a and the right body seating portion 43b.

The left body seating portion 43a, the right body seating portion 43b, and the upper surface portion 431 of the center seating portion 43c may all be of the same height, but the engaging portions 435 and 436 are located at positions that are not visible in the center. In order to be disposed, the upper surface portion 431 of the center seating portion 43c may be positioned below the upper surface portion 432 of the left body seating portion 43a and the right body seating portion 43b. A water supply corresponding part 441, which will be described later, may be disposed at the center of the upper surface 431 of the central seat 43c.

The mop module 40 includes a water distribution module 44 that guides the water introduced from the water supply connection part 87 to the two spin mops 41a, 41b, 41 in a coupled state. The water distribution module 44 guides water from the top to the bottom. The water (W) in the water tank 81 is supplied to the spinmap (41a, 41b) (41) through the water distribution module (44). The water W in the water tank 81 flows into the water supply distribution module 44 through the water supply connection part 87. At least a part of the water distribution module may be accommodated in the module housing 42.

In particular, referring to FIG. 27, the water supply distribution module 44 includes a water supply corresponding part 441, a left water supply distribution pipe 443a, and a right water supply distribution pipe 443b receiving water from the water supply module 80. Include. The water supply corresponding part 441 is provided to be connected to the water supply connection part 87. The water supply corresponding part 441 may be provided to be molded or forcibly fitted with the water supply connection part 87.

The water supply corresponding part 441 is formed with a press-fit hole 441a into which one end of the water supply connection part 87 is inserted. The water supply connection part 87 may be forcibly fitted or pressed into the press-fit hole 441a. A separation prevention groove 441b may be formed on the inner surface of the press-in hole 441a to prevent separation of the water supply connection part 87. The press-fit hole 441a extends vertically, so that when the body 30 and the map module 40 are coupled in the vertical direction, they are coupled.

The upper end of the press-in hole 441a may have an extension portion 441c that is in communication with the press-in hole 441a and has a width greater than that of the press-in hole 441a. The expansion part 441c may be a hole whose width is expanded in a direction away from the press-fit hole 441a. The expansion part 441c induces the water supply connection part 87 to be easily inserted into the press-in hole 441a.

In the coupled state, the water supply corresponding part 441 is formed at a position corresponding to the water supply connection part 87. In the coupled state, the water supply connection part 87 and the water supply corresponding part 441 are engaged and connected to each other. In the coupled state, the water supply connection part 87 is inserted downward into the water supply corresponding part 441. In the separated state, the water supply connection part 87 and the water supply corresponding part 441 are separated from each other.

The water supply corresponding part 441 may be disposed at a position corresponding to the water supply connection part 87. The water supply corresponding part 441 may be located on a virtual center vertical line. The water supply corresponding part 441 may be disposed on the body seating part 43. Specifically, the water supply corresponding portion 441 may be disposed in the center of the upper surface portion 431 of the central seating portion 43c.

The upper surface of the water supply corresponding part 441 may penetrate the upper surface of the module seating portion and be exposed to the outside of the module seating portion. The upper end of the water supply corresponding part 441 (the upper end of the expansion part 441c) may be exposed to the upper surface part 431 of the body seating part 43. The upper end of the water supply corresponding part 441 (the upper end of the extension part 441c) may have the same height as or lower than the upper surface part 431 of the body seating part 43.

The water supply corresponding part 441 may be selected from a material having elasticity. For example, it may include a rubber material or a resin material.

As another example, the upper end (extended portion 441c) of the water supply corresponding portion 441 may be formed such that the surface of the body seating portion 43 is recessed downward.

The left water supply distribution pipe 443a is connected to the water supply corresponding part 441 to supply the water of the water supply corresponding part 441 to the water supply space Sw of the left rotating plate. One end of the left water supply distribution pipe 443a is connected to the press-in hole 441a of the water supply corresponding part 441, and the other end (spout) 444a of the left water supply distribution pipe 443a is located on the water supply space Sw do. The water ejected from the outlet 444a of the left water supply distribution pipe 443a falls into the water supply space Sw. The outlet 444a of the left water supply distribution pipe 443a is positioned to vertically overlap the water supply space Sw of the left rotating plate 412a.

The right water supply distribution pipe 443b is connected to the water supply corresponding part 441 to supply the water of the water supply Daewoong to the water supply space Sw of the right rotating plate. One end of the right water supply distribution pipe 443b is connected to the press-in hole 441a of the water supply corresponding part 441, and the other end (spout) 444b of the right water supply distribution pipe 443b is located on the water supply space Sw do. The water ejected from the outlet 444b of the right water supply distribution pipe 443b falls into the water supply space Sw. The spout 444b of the right water supply distribution pipe 443b is positioned to vertically overlap the water supply space Sw of the right rotating plate 412b.

Specifically, the ejection opening 444a of the left water supply distribution pipe 443a and the ejection opening 444b of the right water supply distribution pipe 443b are coupled to the fixing holes 426a and 426b formed in the tilting shaft support 426, respectively. The ejection port 444a of the left water supply distribution pipe 443a and the ejection port 444b of the right water supply distribution pipe 443b communicate with the lower part of the tilting shaft support 426 through the fixing holes 426a and 426b.

The left water supply distribution pipe 443a and the left water supply distribution pipe 443a may be directly connected to the water supply corresponding part 441, but may also be connected through the branch pipe 442. The branch pipe 442 is a T-shaped pipe and is connected to the press-fit hole 441a, the left water supply distribution pipe 443a, and the right water supply distribution pipe 443b.

The left water supply distribution pipe 443a and the right water supply distribution pipe 443b are accommodated in the module housing 42.

In order to supply water equally to the left and right mops, the length of the left water supply distribution pipe 443a may be the same as the length of the right water supply distribution pipe 443b. Here, the same does not mean the exact sameness in the mathematical meaning, but means the similarity within a range including errors to some extent. The error range is preferably 0% to 2%.

For uniform water distribution, the inner diameter of the left water supply distribution pipe 443a may be the same as the inner diameter of the right distribution pipe. Preferably, the length of the left water supply distribution pipe 443a is the same as the length of the right distribution pipe, and the inner diameter of the left water supply distribution pipe 443a may be the same as the inner diameter of the right distribution pipe.

In addition, the left water supply distribution pipe 443a and the right distribution pipe may have an arrangement symmetrical to each other. The left water supply distribution pipe 443a and the right distribution pipe may be arranged symmetrically with respect to a virtual center vertical line. Preferably, the length of the left water supply distribution pipe 443a is the same as the length of the right distribution pipe, the inner diameter of the left water supply distribution pipe 443a is the same as the inner diameter of the right distribution pipe, and the left water supply distribution pipe 443a The right distribution pipe may be arranged symmetrically with respect to the virtual center vertical line.

When the floors of the pair of spinmaps 41a and 41b provided symmetrically with respect to the center vertical line Po are disposed horizontally with a horizontal plane, the robot cleaner cannot stably travel, and driving control becomes difficult. Accordingly, in the present invention, each spin mop 41 is disposed so as to be inclined downwardly to the outer front. Hereinafter, the inclination and motion of the spinmap 41 will be described.

Referring to FIG. 38, a point where the spin rotation axis Osa of the left spin map 41a and the lower side of the left spin map 41a intersect is shown, and the spin rotation axis Osb of the right spin map 41b and the right side A point where the lower side surfaces of the spinmap 41b intersect is shown. When viewed from the bottom, the clockwise direction of the rotational directions of the left spinmap 41a is defined as the first forward direction w1f and the counterclockwise direction is defined as the first reverse direction w1r. When viewed from the lower side, the counterclockwise direction of the rotational directions of the right spinmap 41b is defined as the second forward direction w2f and the clockwise direction is defined as the second reverse direction w2r. In addition, when viewed from the lower side,'the acute angle formed by the inclination direction of the lower side of the left spinmap (41a) (40a) with the left-right axis' and'the inclination direction of the lower side of the right spinmap (41b) (40b) are left and right. The acute angle formed with the direction axis' is defined as the inclined angle (Ag1a, Ag1b). The tilt direction angle Ag1a of the left spin maps 41a and 40a and the tilt direction angle Ag1b of the right spin maps 41b and 40b may be the same. In addition, referring to FIG. 6,'the angle formed by the lower side (I) of the left spinmap (41a) (40a) with respect to the virtual horizontal plane (H)' and'left spinmap (with respect to the virtual horizontal plane (H)) 41a) The angle formed by the lower side (I) of (40a) is defined as the inclination angle (Ag2a, Ag2b).

Of course, the right end of the left spin map 41a and the left end of the right spin map 41b may be in contact with each other or may be close to each other. Accordingly, it is possible to reduce the amount of space between the left spin mop 41a and the right spin mop 41b.

When the left spin mob 41a rotates, the point (Pla) that receives the greatest frictional force from the bottom of the lower side of the left spin mob 41a is disposed on the left side from the rotation center Osa of the left spin mob 41a. . A load larger than the other points is transmitted to the ground at the point Pla among the lower side of the left spinmap 41a, so that the greatest frictional force may be generated at the point Pla. In this embodiment, the point Pla is disposed in front of the left side of the rotation center Osa, but in another embodiment, the point Pla may be disposed exactly to the left or rear left of the rotation center Osa. .

When the right spin map 41b rotates, the point Plb that receives the greatest frictional force from the bottom of the lower side of the right spin map 41b is disposed on the right side at the rotation center Osb of the right spin map 41b. . A load greater than another point is transmitted to the ground at a point Plb among the lower side of the right spinmap 41b, so that the greatest frictional force may be generated at the point Plb. In this embodiment, the point Plb is disposed in front of the right side of the rotation center Osb, but in another embodiment, the point Plb may be disposed exactly on the right side or the right rear side based on the rotation center Osb. .

The lower side of the left spin mob 41a and the lower side of the right spin mop 41b are disposed to be inclined, respectively. The inclination angles Ag2a of the left spinmab 41a and the inclination angles Ag2a and Ag2b of the right spinmab 41b form an acute angle. As for the inclination angles (Ag2a, Ag2b), the point (Pla, Plb) where the frictional force is greatest is the point (Pla, Plb), but the lower overall area of the mop part 411 is according to the rotational motion of the left and right spin mops 41a and 41b. It can be set small enough to reach the floor.

The lower side of the left spin mob 41a as a whole forms a downward slope in the left direction. The lower side of the right spin mob 41b as a whole forms a downward slope in the right direction. Referring to FIG. 6, the lower side of the left spinmap 41a forms the lowest point Pla on the left side. The lower side of the left spinmap 41a forms the highest point Pha on the right side. The lower side of the right spinmap 41b forms the lowest point Plb on the right side. The lower side of the right spinmap 41b forms the highest point Phb on the left side.

Depending on the embodiment, it is also possible that the inclination direction angles Ag1a and Ag1b are 0 degrees. In addition, according to an embodiment, when viewed from the lower side, the inclination direction of the lower side of the left spinmap 41a and 120a forms an inclined angle Ag1a in a clockwise direction with respect to the left-right axis, and the right spinmap The inclination direction of the lower side of the (41b) (120b) may be implemented to form an inclined angle Ag1b in a counterclockwise direction with respect to the left and right axis. In this embodiment, when viewed from the lower side, the inclination direction of the lower side of the left spinmap 41a, 120a forms an inclined angle Ag1a in a counterclockwise direction with respect to the left-right axis, and the right spinmap ( 41b) The inclined direction of the lower side of 120b forms an inclined angle Ag1b in a clockwise direction with respect to the left-right axis.

The movement of the cleaner 1 is implemented by a friction force with the ground generated by the mop module 40.

The mop module 40 may generate a'forward moving friction force' to move the body 30 forward, or a'backward moving friction force' to move the body rearward. The map module 40 may generate a'left moment friction force' to rotate the body 30 left or a'right moment friction force' to rotate the body 30 right. The mop module 40 may generate a frictional force obtained by combining any one of a forward moving friction force and a rear moving friction force, and any one of a leftward moment friction force and a rightward moment friction force.

In order for the mop module 40 to generate a forward moving friction force, the left spin mob 41a is rotated in the first forward direction (w1f) at a predetermined rpm (R1) and the right spin mop 41b is rotated in the second forward direction (w2f). It can be rotated at rpm (R1).

In order for the mop module 40 to generate a backward moving friction force, the left spin mob 41a is rotated in the first reverse direction (w1r) at a predetermined rpm (R2) and the right spin mop 41b is rotated in the second reverse direction (w2r). It can be rotated at rpm (R2).

In order for the mop module 40 to generate a right-facing moment friction force, the left spin mob 41a is rotated at a predetermined rpm (R3) in the first forward direction (w1f), and the right spin mop 41b is rotated in the i second reverse direction (w2r). ), or ii stop without rotation, or iii rotate in the second forward direction (w2f) at an rpm (R4) less than rpm (R3).

In order for the mop module 40 to generate a left-facing moment friction force, the right spin mob 41b is rotated at a predetermined rpm (R5) in the second forward direction (w2f), and the left spin mop 41a is rotated in the i first reverse direction (w1r). ), or ii, it can be stopped without rotation, or iii, in the first forward direction (w1f), rotated at an rpm (R6) less than rpm (R5).

Hereinafter, the arrangement of each component for stable driving regardless of the water level in the water tank 81 will be described while improving the frictional force of the spin mops 41 disposed to the left and right, improving stability in the left and right directions and in the front and rear directions.

38 and 39, in order to expand the frictional force of the spinmap 41 and limit the occurrence of eccentricity in one direction when the mobile robot rotates, the mob motor 61 and the battery Bt ) May be disposed on the top of the spinmap 41.

Specifically, the left mop motor 61a may be disposed on the left spin mob 41a, and the right mop motor 61b may be disposed on the right spin mob 41b. That is, at least a part of the left mop motor 61a may vertically overlap with the left spin mob 41a. Preferably, the entire left mop motor 61a may be vertically overlapped with the left spin mob 41a. At least a portion of the right mop motor 61b may vertically overlap with the right spin mob 41b. Preferably, the whole of the right mop motor 61b may vertically overlap with the right spin mop 41b.

More specifically, the left mop motor 61a and the right mop motor 61b are a virtual central horizontal line connecting the spin rotation axis Osa of the left spin mob 41a and the spin rotation axis Osb of the right spin mop 41b. It can be arranged to be vertically overlapped with (HL). Preferably, the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b are between the spin rotation axis Osa of the left spin mob 41a and the right spin mop 41b. It may be disposed to vertically overlap with the virtual central horizontal line HL connecting the spin rotation axis Osb. Alternatively, the geometric center of the left mop motor 61a and the geometric center of the right mop motor 61b connect the spin rotation axis Osa of the left spinmab 41a and the spin rotation axis Osb of the right spinmab 41b. It may be disposed to be vertically overlapped with the virtual central horizontal line HL. Of course, the left mop motor 61a and the right mop motor 61b are arranged symmetrically with respect to the center vertical line Po.

Since the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b do not deviate from the top of each spin mop 41 and are arranged to be symmetrical to each other, the spin mop 41 While improving friction, driving performance and left and right balance can be maintained.

Hereinafter, the spin rotation axis Osa of the left spin map 41a is referred to as the left spin rotation axis Osa, and the spin rotation axis Osb of the right spin map 41b is referred to as the right spin rotation axis Osb.

Since the water tank 81 is disposed behind the central horizontal line HL, and the amount of water in the water tank 81 is variable, in order to maintain a stable front and rear balance regardless of the water level of the water tank 81, the left mop motor 61a May be arranged to be skewed to the left from the left spin rotation axis Osa. The left mop motor 61a may be arranged to be skewed toward the left front direction from the left spin rotation axis Osa. Preferably, the geometric center of the left mop motor 61a or the center of gravity MCa of the left mop motor 61a is arranged to be skewed to the left from the left spin rotation axis Osa, or the geometric center of the left mop motor 61a Alternatively, the center of gravity MCa of the left mop motor 61a may be arranged to be skewed toward the left front direction from the left spin rotation axis Osa.

The right mop motor 61b may be disposed to be skewed in the right direction from the right spin rotation axis Osb. The right mop motor 61b may be arranged to be skewed toward the right forward direction from the right spin rotation axis Osb. Preferably, the geometric center of the right mop motor 61b or the center of gravity (MCb) of the right mop motor 61b is arranged to be skewed in the right direction from the right spin rotation axis Osb, or the geometric center of the right mop motor 61b Alternatively, the center of gravity MCb of the right mop motor 61b may be arranged to be skewed toward the right front direction from the right spin rotation axis Osb.

Since the left mop motor 61a and the right mop motor 61b apply pressure at a position that is skewed forward and outward from the center of each spin mob 41, the pressure is concentrated in the front and outside of each spin mop 41, The driving performance is improved by the rotational force of the spinmap 41.

The left spin rotation shaft Osa and the right spin rotation shaft Osb are disposed behind the center of the body 30. The center horizontal line HL is disposed behind the geometric center Tc of the body 30 and the center of gravity WC of the mobile robot. The left spin rotation axis Osa and the right spin rotation axis Osb are disposed to be spaced apart from the center vertical line Po by the same distance.

The left main joint 65a may be disposed on the left spin map 41a, and the right main joint 65b may be disposed on the right spin map 41b.

In this embodiment, a single battery Bt is installed. At least a portion of the battery Bt is disposed on the left spinmap 41a and the right spinmap 41b. A relatively heavy battery Bt is disposed on the spin map 41 to improve friction of the spin map 41 and reduce eccentricity caused by rotation of the mobile robot.

Specifically, a left part of the battery Bt may be vertically overlapped with the left spinmab 41a, and a right part of the battery Bt may be disposed to vertically overlap with the right spinmab 41b. The battery Bt may be disposed to vertically overlap the central horizontal line HL, and may be disposed to vertically overlap the central vertical line Po.

More specifically, the center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed on a central vertical line Po, and may be disposed on a central horizontal line HL. Of course, the center of gravity BC of the battery Bt or the geometric center of the battery Bt is disposed on the central vertical line Po, is disposed in front of the central horizontal line HL, and the geometric center of the body 30 ( Tc) can be disposed behind.

The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed in front of the water tank 81 or the center of gravity PC of the water tank 81. The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be located behind the center of gravity SC of the sweep module 2000.

Since one battery (Bt) is disposed in the middle between the left spinmap (41a) and the right spinmap (41b), and is disposed on the center horizontal line (HL) and the center vertical line (Po), the heavy battery (Bt) spins. When the mops 41 rotate, the center is held and weight is applied to the spin mops 41 to improve frictional force on the spin mops 41.

The battery Bt may be disposed at the same height (lower height) or on the same plane as the left mop motor 61a and the right mop motor 61b. The battery Bt may be disposed between the left mop motor 61a and the right mop motor 61b. The battery Bt is disposed in an empty space between the left mop motor 61a and the right mop motor 61b.

At least a portion of the water tank 81 is disposed on the left spin mob 41a and the right spin mob 41b. The water tank 81 may be disposed rearward than the center horizontal line HL, and may be disposed to vertically overlap the center vertical line Po.

More specifically, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on a central vertical line Po, and may be located in front of the central horizontal line HL. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the central vertical line Po, and may be disposed behind the central horizontal line HL. Here, that the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 is disposed behind the central horizontal line (HL) is the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 This means that the central horizontal line HL is positioned to be vertically overlapped with an area skewed rearward. Of course, the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 is positioned to be vertically overlapped with the body 30 without departing from the body 30.

The center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed behind the center of gravity BC of the battery Bt. The center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 may be located behind the center of gravity (SC) of the sweep module 2000.

The water tank 81 may be disposed at the same height (lower height) or on the same plane as the left mop motor 61a and the right mop motor 61b. The water tank 81 may be arranged so as to be biased to the rear in the space between the left mop motor 61a and the right mop motor 61b.

The sweep module 2000 is disposed in front of the spin mops 41, the battery Bt, the water tank 81, the mop driving unit 60 and the right mop motor 61b and the left mop motor 61a in the body.

The center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be positioned on a central vertical line Po, and may be disposed in front of the geometric center Tc of the body 30. The body 30 may have a circular shape when viewed from the top, and the base 32 may have a circular shape. The geometric center Tc of the body 30 means the center when the body 30 is circular. Specifically, when viewed from the top, the body 30 has a circular shape with a radius error of less than 3%.

Specifically, the center of gravity (SC) of the sweep module (2000) or the geometric center of the sweep module (2000) is located on the center vertical line (Po), the center of gravity (BC) of the battery (Bt), the water tank (81) The center of gravity (PC), the center of gravity (MCa) of the left mop motor 61a, the center of gravity (MCb) of the right mop motor (61b), may be disposed in front of the center of gravity (WC) of the mobile robot.

Preferably, the center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 is located in front of the front end of the central horizontal line HL and the spinmaps 41.

As described above, the sweep module 2000 may include a dust housing 2100 having a storage space 2104, an edge data 2200, and a sweep motor 2330.

The edge data 2200 is rotatably installed in the dust housing 2100 and disposed behind the storage space 2104, so that the edge data 2200 does not protrude outward from the body, and the left and right spinmaps 41b ( 41) to be able to maintain a suitable length to cover.

The rotation axis of the edge data 2200 is arranged parallel to the central horizontal line HL, and the center of the edge data 2200 is located on the virtual center vertical line Po. Accordingly, large foreign matter flowing into the spinmaps 41 is effectively removed by the edge data 2200. The rotation axis of the edge data 2200 is located in front of the geometric center Tc of the body 30. The length of the edge data 2200 is preferably longer than the distance of the left spin rotation axis Osb to the right spin rotation axis Osb. The axis of rotation of the edge data 2200 may be disposed adjacent to the front end of the spin map 41.

The dust housing 2100 may further include a left caster 58a and a right caster 58b contacting the floor at both ends. The left caster 58a and the right caster 58b are rolled in contact with the floor, and can move up and down by an elastic force. The left caster 58a and the right caster 58b support the sweep module 2000 and support a part of the body. The left caster 58a and the right caster 58b protrude from the bottom to the bottom of the dust housing 2100.

The left caster 58a and the right caster 58b are disposed on a line parallel to the center horizontal line HL, and may be disposed in front of the center horizontal line HL and the edge data 2200. The virtual line connecting the left caster 58a and the right caster 58b may be disposed in front of the center horizontal line HL, the edge data 2200, and the geometric center Tc of the body 30. Of course, the left caster 58a and the right caster 58b may be provided to be symmetrically left and right with respect to the center vertical line Po. The left caster 58a and the right caster 58b may be disposed to be spaced apart by the same distance from the center vertical line Po.

In a virtual rectangle connecting the left caster 58a, the right caster 58b, the right spin rotation axis Osb and the left spin rotation axis Osa in order, the geometric center of the body 30 (Tc), The center of gravity (WC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are arranged, and the battery (Bt) having a relatively heavy weight, the left spin axis of rotation (Osa), and Since the right spin rotation axis Osb is arranged close to the center horizontal line HL, the main load of the mobile robot is applied to the spinmaps 41, and the remaining minor loads are applied to the left caster 58a and the right caster 58b. It will be.

The sweep motor 2330 is located on the central vertical line Po, or when the sweep motor 2330 is disposed on one side based on the central vertical line Po, the pump 85 is disposed on the other side (refer to FIG. 19) to sweep The combined center of gravity of the motor 2330 and the pump 85 may be disposed on the central vertical line Po.

Therefore, the center of gravity of the moving robot, which is skewed forward, is maintained regardless of the water level of the water tank 81 disposed at the rear, thereby increasing the frictional force on the spin mop 41, while being close to the geometric center Tc of the body 30. Since the center of gravity (WC) of the mobile robot can be located at the position, stable driving is possible.

The center of gravity COC of the controller Co or the geometric center of the controller Co may be disposed in front of the geometric center Tc and the central horizontal line HL of the body 30. At least 50% or more of the controller Co may be disposed to vertically overlap the sweep module 2000.

The center of gravity (WC) of the mobile robot is located on the central vertical line (Po), is located in front of the center horizontal line (HL), is located in front of the center of gravity (BC) of the battery (Bt), and the water tank (81) It is located in front of the center of gravity (PC) of, and may be disposed behind the center of gravity (SC) of the sweep module 2000, and may be disposed behind the left caster 58a and the right caster 58b.

Each component is arranged symmetrically with respect to the central vertical line (Po) or by considering the weight of each other so that the center of gravity (WC) of the mobile robot is located on the central vertical line (Po). When the center of gravity (WC) of the mobile robot is located on the center vertical line (Po), there is an advantage of improving the stability in the left and right directions.

40 is a bottom view for explaining the relationship between the center of gravity and other components of another embodiment of the present invention.

Referring to FIG. 40, the embodiment of FIG. 40 will be described based on differences compared to the embodiment of FIG. 38. In FIG. 40, the configuration without special description is regarded as the same as in FIG. 38.

The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are virtual, in which the left caster 58a, the right caster 58b, the right spin rotation axis Osb, and the left spin rotation axis Osa are connected in order. It is located in the second square SQ2. The center of gravity (MCa) of the left mop motor, the center of gravity (MCb) of the right mop motor, and the center of gravity (PC) of the water tank may be located outside the virtual second square SQ2.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (BC) of the battery (Bt) are the left caster 58a, the right caster 58b, the right spin rotation axis Osb, and It is located in the second virtual rectangle SQ2 that sequentially connects the left spin rotation shaft Osa.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (SC) of the sweep module 2000 are the left caster 58a, the right caster 58b, and the right spin rotation axis Osb. And a second virtual rectangle SQ2 that sequentially connects the left spin rotation axis Osa.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are left caster (58a), right The caster 58b, the right spin rotation shaft Osb, and the left spin rotation shaft Osa are sequentially connected to each other in a virtual second rectangle SQ2.

The center of gravity (WC) of the mobile robot, the geometric center of the body (TC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are located in the second square (SQ2). , The center of gravity (MCa) of the left mop motor and the center of gravity (MCb) of the right mop motor are located outside the second square (SQ2), so that the mobile robot can stably travel and apply an appropriate friction force to the mop. .

The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are located in the second square (SQ2), and the center of gravity (MCa) of the left mop motor and the center of gravity (MCb) of the right mop motor are second. It is located outside the square SQ2, so that the mobile robot can stably travel and apply an appropriate friction force to the mop.

The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are the lowest point on the lower side of the left caster 58a, the right caster 58b, and the right spinmap 41b, and the bottom of the left spinmap 41a. It is located in the virtual first rectangle SQ1 in which the lowest points on the side are sequentially connected. The center of gravity MCa of the left mop motor and the center of gravity MCb of the right mop motor may be located outside the first square SQ1.

41 is a bottom view for explaining a relationship between a center of gravity and other components of another embodiment of the present invention.

The embodiment of FIG. 41 will be described mainly on differences compared to the embodiment of FIG. 38. In FIG. 41, the configuration without special description is regarded as the same as in FIG. 38.

Referring to FIG. 41, the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b are the spin rotation axis Osa of the left spin mob 41a and the right spin mop 41b. ) May be located in front of the virtual center horizontal line HL connected to the spin rotation axis Osb. At this time, the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b do not deviate from the top of each spin mop 41, and are left and right based on the central vertical line (Po). It is arranged symmetrically. This structure improves the frictional force of the spinmap 41, while maintaining driving performance and left and right balance.

In addition, the left mop motor 61a may be arranged to be skewed to the left from the left spin rotation axis Osa. More locally, the left mop motor 61a may be arranged to be skewed toward the left forward direction from the left spin rotation axis Osa.

The right mop motor 61b may be disposed to be skewed in the right direction from the right spin rotation axis Osb. The right mop motor 61b may be arranged to be skewed toward the right forward direction from the right spin rotation axis Osb.

Since the left mop motor 61a and the right mop motor 61b apply pressure at a position that is skewed forward and outward from the center of each spin mob 41, the pressure is concentrated in the front and outside of each spin mop 41, The driving performance is improved by the rotational force of the spinmap 41.

It is preferable that the ratio of the area where the left spinmap 41a and the right spinmap 41b vertically overlap the body 30 is 85% to 95% of each spinmap. Specifically, the angle A11 between the right end of the body and the line L11 connecting the right end of the right spinmab 41b and the vertical line VL connected parallel to the central vertical line Po at the right end of the body. ) May be 0 degrees to 5 degrees.

It is preferable that the length of the area exposed to the outside of the body of each spin map 41 is 1/2 to 1/7 of the radius of each spin map 41. The length of the area exposed to the outside of the body of each spin map 41 may mean a distance from one end exposed to the outside of the body of each spin map 41 to a rotation axis of each spin map 41.

The distance between the geometric center TC at the end of the area exposed to the outside of the body of each spinmap 41 may be greater than the average radius of the body.

Considering the relationship with the sweep module, the position at which each spinmap is exposed is between the lateral side and the rear side of the body 30. That is, when each of the quadrants is sequentially positioned in a clockwise direction as viewed from below, a position at which each spinmap is exposed may be a 2/4 division or a 3/4 division of the body 30.

FIG. 42 is a bottom view for explaining the relationship between the center of gravity and other components when the water tank of the mobile robot of FIG. 1 is full, and FIG. 43 is a configuration different from the center of gravity when the tank of FIG. It is a bottom view to explain the relationship with the element.

Referring to FIGS. 42 and 43, the embodiments of FIGS. 42 and 43 will be described mainly on differences compared to the embodiment of FIG. 38. Configurations in FIGS. 42 and 43 that are not specifically described are regarded as the same as those of FIG. 38.

The center of gravity (WC) of the mobile robot may move along the central vertical line (Po) according to the amount of water in the water tank 81. Specifically, the center of gravity (WC) of the mobile robot gradually moves to the front of the mobile robot as the amount of water in the water tank 81 decreases. The center of gravity WC of the mobile robot is located behind the geometric center Tc of the body 30 even when there is no water in the water tank 81.

That is, the center of gravity (WC) of the mobile robot moves along the central vertical line (Po) according to the amount of water in the water tank 81, and the movement range of the center of gravity (WC) of the mobile robot is the geometric center of the body 30 ( It is between Tc) and the central horizontal line (HL).

If the center of gravity (WC) of the mobile robot does not change according to the amount of water in the water tank 81, if there is no water or the water is full, the center of gravity (WC) of the mobile robot will spin map. It is positioned in front of the front end of (41) or rearward than the rear end of the spinmap, making the movement of the mobile robot unstable and making it impossible to properly apply a load to the mop.

Therefore, in the present invention, even if water in the water tank 81 is used, the center of gravity (WC) of the mobile robot does not deviate between the front and rear ends of the spin mop 41, so that an appropriate friction force can be applied to the mop, and stable It makes driving possible.

44 is a bottom view for explaining the relationship between the center of gravity and other components of another embodiment of the present invention.

Referring to FIG. 44, the embodiment of FIG. 44 will be described based on differences compared to the embodiment of FIG. 38. In FIG. 44, the configuration without special description is regarded as the same as in FIG. 38.

In this embodiment, the sweep module 20 in the embodiment of Fig. 38 is deleted. One caster 58 is installed on the body 30. Caster 58 is on the center vertical line (Po), the center of gravity (BC) of the battery (Bt), the center of gravity (WC) of the mobile robot, the right spin rotation axis (Osb), the left spin rotation axis (Osa), and the body 30 The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are arranged in the order of the caster 58, the right spin rotation axis Osb, and the left spin rotation axis Osa. It is located in the virtual triangle TR connected to the street. The center of gravity (MCa) of the left mop motor, the center of gravity (MCb) of the right mop motor, and the center of gravity (PC) of the water tank may be located outside the virtual imaginary triangle TR.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (BC) of the battery (Bt) are the caster 58, the right spin rotation axis Osb, and the left spin rotation axis Osa. It is located in the virtual triangle TR connected in sequence.

1: mobile robot 30: body
31: case 32: base
36: module seat 40: map module
41, 41a, 41b: spinmap 411: mop
412: rotating plate 413: water supply receiving part
42: module housing 43: body mounting portion
44: water distribution module 60: map driving unit
80: water supply module 87: water supply connection
2000: sweep module

Claims (26)

body;
A left caster supporting the body and contacting the floor, and a right caster supporting the body and contacting the floor; And
A left spin mob rotatably installed on the body, supporting the body, and disposed behind the left caster and the right caster; And
It is rotatably installed on the body, supports the body, and includes a right spin mob disposed behind the left caster and the right caster,
The mobile robot's center of gravity (WC) is located behind the geometric center (TC) of the body. The method of claim 1,
A left mop motor that supplies a driving force to the left spin mob and is installed in the body; And
Supplying a driving force to the right spin mop and further comprising a right mop motor installed in the body,
The left map motor is disposed on the left spin map, and the right map motor is disposed on the right spin map. The method of claim 2,
Further comprising a battery installed in the body and supplying power to the Mab motors,
At least part of the battery is a mobile robot disposed on the left and right spin mops. The method of claim 1,
Further comprising a water tank disposed on the body and storing water supplied to the mop module,
The water tank,
A mobile robot that is arranged to be vertically overlapped with the virtual center vertical line. The method of claim 1,
The body further comprises a sweep module that is spaced apart from the spin mops in a forward direction and collects foreign matter on the floor,
The center of the sweep module is a mobile robot located on a virtual center vertical line. The method of claim 2,
The left mop motor,
A mobile robot that is disposed to be vertically overlapped with the left spin map, and is disposed to be skewed in a left forward direction from the spin rotation axis of the left spin map. The method of claim 2,
The right mop motor,
The mobile robot is disposed to be vertically overlapped with the right spin map, and is disposed to be skewed in a right forward direction from the spin rotation axis of the right spin map. The method of claim 2,
The left mop motor and the right mop motor,
A mobile robot disposed to be vertically overlapped with a virtual central horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map. The method of claim 2,
The left mop motor,
A mobile robot that is disposed to be vertically overlapped with the left spin map, and is disposed to be skewed to the left from the spin rotation axis of the left spin map. The method of claim 2,
The right mop motor,
A mobile robot that is disposed to be vertically overlapped with the right spin map, and is disposed to be skewed in a right direction from the spin rotation axis of the right spin map. The method of claim 2,
The left mop motor and the right mop motor,
A mobile robot that is arranged symmetrically with respect to the virtual center vertical line (Po). The method of claim 2,
The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body,
The left caster, the right caster, the spin rotation axis of the right spin map, and the spin rotation axis of the left spin map are sequentially connected to each other in a virtual rectangle,
The center of gravity (MCa) of the left map motor and the center of gravity (MCb) of the right map motor are located outside the virtual square. The method of claim 1,
The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body,
A mobile robot positioned in a virtual rectangle that sequentially connects the left caster, the right caster, the spin rotation axis of the right spin map, and the spin rotation axis of the left spin map.
The method of claim 3,
The center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (BC) of the battery (Bt),
A mobile robot positioned in a virtual rectangle that sequentially connects the left caster, the right caster, the spin rotation axis of the right spin map, and the spin rotation axis of the left spin map. The method of claim 3,
The battery,
A mobile robot disposed to be vertically overlapped with a virtual central horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map. The method of claim 3,
The spin rotation axis of the left spin map and the spin rotation axis of the right spin map are disposed behind the center of the body. The method of claim 4,
The battery,
A mobile robot disposed to be vertically overlapped with the center vertical line and disposed in front of the water tank. The method of claim 4,
The center of gravity (WC) of the mobile robot moves along the central vertical line according to the amount of water in the tank. The method of claim 4,
The center of gravity of the battery and the center of gravity of the tank are mobile robots disposed on the center vertical line. The method of claim 4,
The center of gravity of the battery is located on a virtual center horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map,
The center of gravity of the water tank is a mobile robot positioned behind the center horizontal line. The method of claim 4,
The center of gravity of the battery is located between the center of the body and a virtual central horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map,
The center of gravity of the water tank is a mobile robot positioned behind the center horizontal line. The method of claim 5,
The center of the sweep module is a mobile robot disposed in front of the center of the body. The method of claim 5,
The center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (SC) of the sweep module 2000,
A mobile robot positioned in a virtual rectangle in which the left caster, the right caster, the spin rotation axis of the left spin map, and the spin rotation axis of the right spin map are sequentially connected. The method of claim 5,
The left caster and the right caster are mobile robots installed in the sweep module. body:
A left spin mob and a right spin mob rotatably installed on the body and supporting the body;
A left mop motor and a right mop motor that supply driving force to the left and right spin mops and are installed in the body;
A sweep module disposed in the body to be spaced apart from the spin mops in a forward direction, and collecting foreign substances on the floor;
A battery that supplies power to the mop motors and is located behind the sweep module in the body; And
And a water tank that stores water supplied to the mop module and is located behind the battery in the body,
The battery center, the center of the water tank, and the center of the sweep module are disposed on a virtual center vertical line,
The left spin map and the right spin map are arranged symmetrically with respect to an imaginary central vertical line,
The left map motor is disposed on the left spin map, and the right map motor is disposed on the right spin map. body;
A left spinmap rotatably installed on the body and supporting the body;
A right spin mob rotatably installed on the body and supporting the body;
A left mop motor that supplies a driving force to the left spin mob and is installed in the body;
Supplying a driving force to the right spin mop and including a right mop motor installed in the body,
The left mop motor is disposed on the left spin mob, the right mop motor is disposed on the right spin mop,
The left mop motor,
It is disposed to be vertically overlapped with the left spin mob, and is disposed to be biased in a left forward direction from the spin rotation axis of the left spin mob,
The right mop motor,
The mobile robot is disposed to be vertically overlapped with the right spin map, and is disposed to be skewed in a right forward direction from the spin axis of the right spin map.

Images