CN114174013B

CN114174013B - Mobile robot

Info

Publication number: CN114174013B
Application number: CN202080054832.5A
Authority: CN
Inventors: 张宰源; 金荣彬; 李荣宰
Original assignee: LG Electronics Inc
Current assignee: LG Electronics Inc
Priority date: 2019-07-31
Filing date: 2020-01-29
Publication date: 2024-01-05
Anticipated expiration: 2040-01-29
Also published as: CN114174013A; EP4005749A1; EP4005749A4

Abstract

The mobile robot of the present invention is characterized by comprising: a main body; a mop module including a left rotary plate and a right rotary plate rotatably provided to the main body and having a water supply space; a water supply distribution module for distributing and supplying water to the water supply space of the left rotary plate and the water supply space of the right rotary plate; and a water supply module supplying water to the water supply distribution module, the water supply distribution module including: a water supply counter part connected with the water supply module and receiving water; a left water supply distribution pipe connected to the water supply counter portion, for supplying water from the water supply counter portion to the water supply space of the left rotary plate; and a right water supply distribution pipe connected to the water supply counter portion, the water supply counter portion supplying water to the water supply space of the right rotary plate, the length of the left water supply distribution pipe being the same as the length of the right water supply distribution pipe.

Description

Mobile robot

Technical Field

The present invention relates to a mobile robot for mopping a floor.

Background

A mobile robot is a device that cleans by sucking dirt such as dust from the floor or wiping the floor. Recently, mobile robots that can perform mopping are being developed. In addition, a mobile robot is a device that cleans while traveling by itself.

As prior art 1, a mobile robot capable of moving by wiping a cloth surface is disclosed. In the above-described conventional art, the first rotating member and the second rotating member of the mobile robot for fixing the pair of wipe surfaces arranged in the left-right direction are disposed about the vertical direction. The prior art mobile robot moves with the rotation of the first and second rotating members in a state where only the cloth surfaces fixed to the first and second rotating members are in contact with the floor.

In the case of the related art, a water tub is provided at a main body, and water is supplied from the water tub provided at the main body through respective water pipes connected to respective rotating members, thereby supplying water to the cloth attached to the respective rotating members. When a minimum of two water pipes are provided from the water tub to the positions of the wipes of the respective rotating members via the body in this way, the length of the water pipes becomes very long. If the lengths of the two water pipes become long, the two water pipes will have different levels of accumulation of impurities therein due to the length thereof being long, and will have different paths or heights due to interference with the structural elements of the main body, etc., even if the lengths of the two water pipes are the same. When the respective water pipes have paths and internal states different from each other in this way, there is a problem in that it is not easy to supply the same amount of water to the cloth even if the two water pipes are supplied with water using the same water pressure.

However, when two water tanks are attached to the first rotary member and the second rotary member, respectively, there is a problem that the rotation operation of each rotary member is problematic and a sufficient amount of water cannot be ensured.

In the case of prior art 2, when the rotary member is changed to a structure in which the rotary member is attached to or detached from the main body, it is necessary to provide a structure in which the water pipes are connected to each other, and when the two water pipes are connected to the main body and the rotary member, the amount of water supplied to the water pipes will be different depending on the connection state.

That is, the conventional art has a problem in that it is difficult to supply water uniformly from the water tank located in the main body to the wiper attached to the rotary member, water leakage does not occur, and it is difficult to realize a structure that is easy to mount and dismount.

In addition, in the related art, since the sweeping robot travels only by friction of a rotating mop (spin mop), and the water level of water stored in the water tank is variable, it is not easy to efficiently perform mopping, and there is a problem in driving force.

In particular, since the conventional wet robot is not easy to adjust the traveling direction by friction with the rotating wiper, it is possible to perform cleaning only by random traveling, and thus it is not possible to perform traveling in a mode (pattern) in which careful cleaning can be achieved.

In addition, the prior art has a disadvantage in that it is not easy to carefully clean corners of the ground or areas adjacent to the wall when only random traveling is performed.

Disclosure of Invention

Problems to be solved

The first object of the present invention is to improve the running performance and cleaning performance of a mobile robot by equally supplying water to two wipes and keeping the water content of the two wipes the same, thereby improving the friction between the wipes and the floor and keeping them constant.

A second object of the present invention is to provide a mop module including two rotary mops, which is detachably provided to a main body, and which can easily remove and prevent water leakage by easily removing a water tank and a pump provided in the main body and a water supply distribution module provided in the mop module when the mop module is removed.

A third object of the present invention is to reduce interference with other components by reducing the volume of a water pipe in a main body, to facilitate design change, and to realize the same water supply by making a distribution pipe of a mop module to uniformly distribute water received from the main body and using a shortest path.

The conventional mobile robot has a problem that stability in the front-rear direction is lowered as a structure in which a pair of wiper cloths on the left and right sides are supported at two points. A fourth object of the present invention is to solve such a problem and to improve stability in the lateral direction and the front-rear direction of a mobile robot.

In the conventional art, as a mobile robot that moves by a pair of rotating cloth surfaces on the left and right sides, friction force generated by the pair of rotating cloth surfaces is frequently changed, and thus there is a problem in that it is difficult to realize straight running. When it is difficult to travel straight, there is a problem that the area passing by the floor surface where straight travel is required, such as in the vicinity of a wall surface, becomes large without mopping. A fifth object of the present invention is to solve such a problem.

In order to solve the second problem, if the mobile robot is supported by a plurality of support points of more than two points, the load is dispersed to the plurality of support points. In this case, there is a problem in that the frictional force generated by the operation of some of the plurality of support points is reduced as the load is dispersed, and thus the traveling performance (moving performance) of the mobile robot may be reduced. A sixth object of the present invention is to solve such a problem to secure stability and improve running performance.

A seventh object of the present invention is to provide an apparatus capable of executing dry cleaning and wet mopping in combination to execute clean and efficient mopping.

Another object of the present invention is to increase friction between a wiper and the floor surface regardless of a change in the water level of a water tank, so that the floor sweeping robot can efficiently drag and travel, and can perform a pattern (pattern) travel capable of performing a meticulous cleaning by accurate travel.

Technical proposal for solving the problems

In order to solve the above-mentioned problems, the present invention is characterized in that a water supply module and a water supply distribution module of a mop module are detachably connected to a main body, and the water supply distribution module uniformly distributes water to two cleaning cloths.

In addition, the present invention is characterized in that the present invention adopts a structure in which the water supply module of the main body is simplified into one pipe, and the water supply distribution module of the mop module uniformly distributes water to two cleaning cloths through two pipes.

Specifically, the mobile robot according to the present invention includes: a main body; the mop module comprises a left rotating plate and a right rotating plate, the left rotating plate and the right rotating plate are rotatably arranged on the main body, and cleaning cloth is attached to the lower surface of the mop module and provided with a water supply space; a water supply distribution module for distributing and supplying water to the water supply space of the left rotary plate and the water supply space of the right rotary plate; and a water supply module supplying water to the water supply distribution module, the water supply distribution module including: a water supply counter part connected with the water supply module and receiving water; a left water supply distribution pipe connected to the water supply counter portion, for supplying water from the water supply counter portion to the water supply space of the left rotary plate; and a right water supply distribution pipe connected to the water supply counter portion, the water supply counter portion supplying water to the water supply space of the right rotary plate, the length of the left water supply distribution pipe being the same as the length of the right water supply distribution pipe.

The inner diameter of the left water supply distribution pipe may be the same as the inner diameter of the right water supply distribution pipe.

The water supply module may be disposed at the main body.

The water supply module may include: a water tank for storing water; a water supply connection part coupled with the water supply counter part; and a supply pipe connecting the water tank and the water supply connection part.

The water supply connection part may have a pipe shape protruding from an outer surface of the main body.

The water supply counter part may include a press-in hole, and one end of the water supply connection part is pressed into the press-in hole.

The left water supply distribution pipe and the right water supply distribution pipe may be symmetrically arranged with respect to an imaginary center vertical plane.

The water supply counter part may be located on an imaginary central vertical plane.

The water supply connection may be located on an imaginary central vertical plane.

The mop module may be coupled to and separated from the main body, and the mop module may further include a main body seating part protruding toward an upper side of the mop module, and the main body may include a module seating part recessed toward an upper side to be engaged with the main body seating part.

The water supply counter part may be located at the module seating part.

The upper surface of the water supply counter part may penetrate the upper surface of the module seating part and be exposed to the outside of the module seating part.

The mop module may further include: and a module housing, in which the main body seating part is formed on an upper surface thereof, and in which a portion of the left rotary plate and a portion of the right rotary plate are received, the left water supply distribution pipe and the right water supply distribution pipe may be received in the interior of the module housing.

The mop module may further include: the rotating shaft is connected with the upper side of the rotating plate; a water supply accommodating portion surrounding a periphery of the swivel shaft and spaced apart from the swivel shaft to form a water supply space; and a water supply hole formed through the rotary plate and connecting the water supply space and the lower side of the rotary plate.

The upper side of the water supply space may be opened, and water flows into the water supply space through the upper side of the water supply space.

The spouting port of the left water supply distribution pipe may be configured to vertically overlap the water supply space of the left rotary plate, and the spouting port of the right water supply distribution pipe may be configured to vertically overlap the water supply space of the right rotary plate.

The plurality of water supply holes may be disposed at predetermined intervals from each other along a circumference of the rotation shaft.

The invention may further include: and a mop motor for providing a rotation force to the rotation plate.

The lower surface of the left rotating plate may be formed to be inclined downward in the left front direction, and the lower surface of the right rotating plate may be formed to be inclined downward in the right front direction.

In addition, the present invention includes: a main body formed with a module mounting part; a mop module including a left rotary plate, a right rotary plate, and a module housing rotatably provided to the main body, having a wiper attached to a lower surface thereof and having a water supply space, the module housing accommodating a portion of the left rotary plate and a portion of the right rotary plate and having a main body seating portion engaged with the module seating portion; a water supply distribution module for distributing and supplying water to the water supply space of the left rotary plate and the water supply space of the right rotary plate; and a water supply module that supplies water to the water supply distribution module, the water supply distribution module including: a water supply counter part connected with the water supply module, receiving water and positioned at the main body positioning part; a left water supply distribution pipe connected to the water supply counter portion, for supplying water from the water supply counter portion to the water supply space of the left rotary plate; and a right water supply distribution pipe connected to the water supply counter part to supply water of the water supply counter part to the water supply space of the right rotary plate, the water supply module including: a water tank for storing water; a water supply connection part correspondingly combined with the water supply corresponding part and positioned at the module placement part; and a supply pipe connecting the water tank and the water supply connection part.

Technical effects

The present invention has advantages in that since water received from one water supply counter part is supplied to each of the wipes through two distribution pipes of the same length, water can be equally supplied to the two wipes, the water content of the two wipes can be maintained identically, the frictional force of the two wipes can be maintained identically, and accurate running control can be achieved when the mobile robot runs.

In addition, the present invention has an advantage in that the water supply module is formed as one pipe in the main body, and the water supply distribution module is provided to the mop module and distributes water to the two wipes through the two pipes, so that the two pipes are not used in the main body, thereby reducing the space occupied by the pipes in the main body, enabling the miniaturization of the robot, and eliminating the need to change the design of the pipes of the main body even if the design of the two wipes is changed.

In addition, the present invention has an advantage in that since water is dispensed through two pipes within the mop module, the lengths of the two pipes for dispensing water are relatively shortened (compared to the case where water is supplied from the water tank to the cloth using the two pipes), so that an error in the amount of water supplied to the two cloth can be minimized even if the states within the two pipes and the arrangement of the two pipes are different.

In addition, the present invention has an advantage in that the main body including the water tank, the pump, and the motor and the mop module including the two rotary mops, the water distribution module distributing water to the two rotary mops, have a structure detachable from each other, so that when a user loads and unloads the cloth, the user can load and unload the cloth by just separating the mop module without lifting the entire mobile robot.

In addition, the present invention has an advantage in that the water supply connection part formed at the main body and the water supply counter part formed at the mop module are hermetically connected when the main body is coupled to the mop module, so that the main body and the mop module can be easily attached and detached while the water of the main body is distributed to the two cleaning cloths.

In addition, the present invention has an advantage in that water received from one water supply counter part is supplied to two cleaning cloths through two distribution pipes, and one water supply counter part is hermetically connected with one water supply connection part, so that only one sealing connection is required to be provided when the main body is combined with the mop module, thereby having a simple structure and a small number of sealing connections.

In addition, the present invention can realize a mobile robot that performs a mopping action while collecting relatively large foreign substances.

In addition, according to the present invention, since the mobile robot is supported by the mop module, there is an effect of improving the efficiency of mopping.

In addition, the collecting module provides friction force for shaking of the mop module in the left-right direction, so that the movable robot can realize straight running effect while moving through friction force of the wiping surface.

Further, the pair of collecting portions for storing the foreign matter are provided symmetrically left and right with respect to the imaginary center vertical plane which is a reference plane of the pair of rotary mops, so that the traveling control by the pair of rotary mops on the left and right sides can be accurately realized, and the unexpected eccentric movement can be prevented.

Drawings

Fig. 1 is a perspective view of a mobile robot 1 according to an embodiment of the present invention.

Fig. 2 is a perspective view of the mobile robot 1 of fig. 1 from another angle.

Fig. 3 is an exploded perspective view of the body 30 and mop module 40 of fig. 1.

Fig. 4 is an exploded perspective view of the body 30 and mop module 40 of fig. 3 from another angle.

Fig. 5 is an elevation view of the mobile robot 1 of fig. 1 from the front.

Fig. 6 is an elevation view of the mobile robot 1 of fig. 1 from the rear side.

Fig. 7 is an elevation view of the mobile robot 1 of fig. 1 from the side (left side).

Fig. 8 is an elevation view of the underside of the mobile robot 1 of fig. 1.

Fig. 9 is an elevation view of the upper side of the mobile robot 1 of fig. 1.

Fig. 10 is a cross-sectional view of the mobile robot 1 taken vertically along the S1-S1' line of fig. 8.

Fig. 11 is a cross-sectional view of the mobile robot 1 taken vertically along the S2-S2' line of fig. 8.

Fig. 12 is a cross-sectional view of the mobile robot 1 taken vertically along the S3-S3' line of fig. 8.

Fig. 13 is a cross-sectional view of the mobile robot 1 taken vertically along the S4-S4' line of fig. 8.

Fig. 14 is a perspective view showing a state in which the housing 31 is removed from the mobile robot 1 of fig. 1.

Fig. 15 is an elevation view of the mobile robot 1 of fig. 14 from the upper side.

Fig. 16 is a perspective view showing a state in which the water tank 81 is removed from the mobile robot 1 of fig. 14.

Fig. 17 is an elevation view of the mobile robot 1 of fig. 16 from the upper side.

Fig. 18 is a perspective view showing the main body 30 of fig. 4, and a part thereof is enlarged.

Fig. 19 is a lower side elevation view showing the module seating part 36 of the body 30 of fig. 18.

Fig. 20 is a top elevation view of the mop module 40 of fig. 4.

Fig. 21 is an exploded perspective view illustrating a connection relationship of the driving joint 65 of the main body 30 of fig. 4 and the driven joint 415 of the mop module 40 of fig. 20.

Fig. 22 is a sectional view of the mobile robot taken along a line passing through the rotation shaft of the left and right side rotary mop.

Fig. 23 is a perspective view of a main body of the mobile robot showing the mop module separated.

Fig. 24 is a perspective view of the water supply module and the mop module.

Fig. 25 is an exploded perspective view of the mop module of fig. 24.

Fig. 26 is an exploded perspective view of the mop module of fig. 24.

Fig. 27 is a partial sectional view showing a state in which the water supply counter part and the water supply connection part are coupled.

Fig. 28 is a bottom view of fig. 1 illustrating the center of gravity and the lowermost end of the rotary mop of the present invention.

Fig. 29 is a top view of the center of gravity of the present invention in fig. 1 with the housing removed from the main body and viewed from above.

Detailed Description

The expressions of directions such as "front F/rear R/left Le/right Ri/upper U/lower D" mentioned below are defined as shown in the drawings, but this is merely for the purpose of illustrating the present invention and it is clearly understood that, of course, the respective directions may be defined differently depending on the positioning of the reference.

For example, a direction parallel to an imaginary line connecting a center axis of the left rotary mop and a center axis of the right rotary mop is defined as a left-right direction, a direction perpendicular to the left-right direction and parallel to the center axis of the rotary mop or within an error angle of 5 degrees is defined as an up-down direction, and a direction perpendicular to the left-right direction and the up-down direction is defined as a front-back direction.

The terms first, second, third, etc. are used before the structural elements mentioned below, only to avoid confusion of the structural elements, and are irrelevant to the order, importance, master-slave relationship, etc. between the structural elements. For example, the invention may include only the second structural element without the first structural element.

Hereinafter, the "wipe" may be made of various materials such as fabric or paper, may be a wipe that is repeatedly used by washing, or may be a disposable wipe.

The invention can be applied to a mobile robot which is manually moved by a user or a sweeping robot which automatically runs, and the like. In the present embodiment, the explanation will be made with reference to the floor sweeping robot.

The cleaner 1 according to an embodiment of the present invention includes a main body 30 having a control part. The cleaner 1 comprises a mop module 40 which contacts the floor surface (the surface to be cleaned) and mops up. The cleaner 1 comprises a sweeper module 2000 (sweep module) for collecting dirt from the floor surface.

The mop module 40 is disposed at the lower side of the main body 30, and can support the main body 30. The cleaning module 2000 is disposed at the lower side of the main body 30 and can support the main body 30. In this embodiment, the main body 30 is supported by the mop module 40 and the cleaning module 2000. The body 30 forms an external appearance. The main body 30 is configured to connect the mop module 40 and the cleaning module 2000.

The mop module 40 may form an external appearance. The mop module 40 is disposed at the lower side of the main body 30. The mop module 40 is disposed behind the cleaning module 2000. The mop module 40 provides a propulsive force for moving the cleaner 1. Preferably, the mop module 40 is disposed at the rear side of the cleaner 1 to move the cleaner 1.

The mop module 40 includes at least one cloth portion 411 that drags the floor while rotating. The mop module 40 includes at least one rotary mop 41, and the rotary mop 41 rotates in a clockwise direction or a counterclockwise direction when viewed from the upper side. The rotary mop 41 contacts the floor.

In this embodiment, the mop module 40 may include a pair of rotary mops 41a, 41b. The pair of rotary mops 41a, 41b rotates in a clockwise direction or a counterclockwise direction when viewed from the upper side, and mops the floor by the rotation. When viewed from the front of the cleaner in the traveling direction, the left rotary mop 41a is defined as a left rotary mop 41a, and the right rotary mop 41b is defined as a right rotary mop 41b.

The left rotary mop 41a and the right rotary mop 41b rotate about respective rotation axes. The rotation shaft is disposed in the up-down direction. The left rotary mop 41a and the right rotary mop 41b can be rotated independently, respectively.

The left rotary mop 41a and the right rotary mop 41b each include a wiper 411, a rotary plate 412, and a swivel shaft 414. The left and right rotary mops 41a and 41b include water supply receiving parts 413, respectively.

The cleaning module 2000 may form an external appearance. The cleaning module 2000 is disposed in front of the mop module 40. Preferably, the cleaning module 2000 is disposed in front of the traveling direction of the cleaner 1 to prevent foreign substances on the floor from first coming into contact with the mop module 40.

The cleaning module 2000 is spaced apart from the mop module 40. The cleaning module 2000 is disposed in front of the mop module 40 and contacts the floor. The cleaning module 2000 collects impurities of the ground.

The cleaning module 2000 contacts the floor surface, and when the cleaner 1 moves, impurities located in front of the cleaning module 2000 are collected inside. The cleaning module 2000 is disposed below the main body 30. The left-right width of the cleaning module 2000 is smaller than the left-right width of the mop module 40.

The main body 30 includes: a case 31 forming an external appearance; and a base 32 disposed below the housing 31.

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

In the present embodiment, the housing 31 is formed in a cylindrical shape with an opening at the bottom surface. The overall shape of the housing 31 is formed in a circular shape in a plan view. Since the plane of the housing 31 is formed in a circular shape, the radius of rotation at the time of rotation can be minimized.

The housing 31 includes: an upper sidewall 311 formed in a circular shape as a whole; and a sidewall 312 integrally formed with the upper sidewall 311 and extending downward from an edge of the upper sidewall 311.

A portion of the side wall 312 is formed as an opening. The portion of the side wall 312 that is open is defined as a water tank insertion port 313, and the water tank 81 is detachably provided through the water tank insertion port 313. The water tank insertion port 313 is disposed rearward with reference to 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.

A mop module 40 is incorporated in the base 32. A cleaning module 50 is coupled to the base 32. A control unit Co and a battery Bt are disposed in an internal space formed by the case 31 and the chassis 32. Further, a mop drive unit 60 is disposed in the main body 30. A water supply module is disposed in the main body 30.

The base 32 includes: a base body 321 covering the bottom surface of the case 31 in the form of an opening; a base protrusion 322 formed along an outer edge of the base body 321, protruding downward from an edge of the base body 321; and an insertion port 323 penetrating the base body 321 in the vertical direction, and the cleaning module 2000 being detachably inserted into the insertion port 323.

The cleaning module 2000 is detachably attached to the main body 30 through the insertion port 323. The cleaning module 2000 is located more forward than the mop module 40 and collects foreign substances in front of the mop module 40. The cleaning module 2000 is detachably assembled with the base 32. The cleaning module 2000 is separated from the base 32 by a lever 2500 (lever) in a state of being attached to the base 32.

The base 32 is formed with an installation space 325 for installing the cleaning module 2000. In the present embodiment, a housing case 326 is also provided, which is assembled to the base 32, is disposed above the insertion port 323, and forms an installation space 325.

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

The lower side of the storage case 326 is open and communicates with the insertion port 323. The inner space of the receiving case 326 provides an installation space 325. The installation space 325 of the storage case 326 corresponds to the shape of the cleaning module 2000.

The cleaning module 2000 includes: a dust collecting housing 2100 detachably assembled with the main body 30 for storing foreign substances; an agitator 2200 rotatably assembled to the dust collecting housing 2100; a driving part 2300 provided to the main body 30 and providing a rotational force to the agitator 2200; a driving coupling 2320 disposed at the driving part 2300 and transmitting a rotational force of the driving part 2300 to the agitator 2200; driven coupling 2220, disposed at agitator 2200, transmits the rotational force of driving coupling 2320 to agitator 2200; and a lever 2500 disposed in the dust collecting housing 2100, receiving an operation force, and coupling or uncoupling the driving coupler 2320 and the driven coupler 2220.

The dust collecting housing 2100 accommodates an agitator 2200. Also, the dust collecting housing 2100 stores foreign substances collected by the rotation of the agitator 2200. That is, the dust collecting housing 2100 not only provides a mounting and operating structure of the agitator 2200, but also provides a storage space for foreign substances.

The dust collecting housing 2100 includes: a collection space 2102 for rotating the agitator 2200; and a storage space 2104 for storing impurities. The dust collecting housing 2100 is formed to be elongated in the left-right direction. The dust collecting housing 2100 is formed to be narrower in width than the mop module 40.

The dust collection housing can be assembled after separately fabricating the structure for the collection space 2102 and the structure for the storage space 2104, respectively. In the present embodiment, a collection space 2102 and a storage space 2104 are arranged in the dust collection housing 2100, and a partition 2145 (partition) that partitions the collection space 2102 and the storage space 2104 by a certain portion is arranged.

In the present embodiment, the dust collecting housing 2100 includes: an upper housing 2110 providing an upper profile; a lower case 2140 disposed at a lower side of the upper case 2110 and coupled to the upper case 2110; and a dust collection cover 2150 detachably assembled with at least one of the upper housing 2110 and the lower housing 2140.

The upper housing 2110 and the lower housing 2140 form the collection space 2102 and the storage space 2104 by assembly. That is, upper housing 2110 provides a portion of the upper side of collection space 2102 and storage space 2104, and lower housing 2140 provides the lower side of the remaining space of collection space 2102 and storage space 2014.

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

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

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

Dust collection cover 2150 is removably assembled with the housing assembly. When the dust collecting cover 2150 is separated from the housing assembly, the storage space 2104 is exposed to the outside. By separating the dust collecting cover 2150, the foreign substances stored in the storage space 2104 can 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 collecting housing 2100. The upper housing 2110 forms the upper side of the collection space 2102 and the storage space 2104. The upper housing 2110 provides a portion of the upper side of the collection space 2102 and the storage space 2104.

The upper housing 2110 includes: a first upper housing portion 2112 forming an upper sidewall of the storage space 2104; a second upper housing portion 2114 integrally connected to the first upper housing portion 2112 and forming an upper side wall and a back side wall of the collecting space 2102; a third upper housing portion 2116 providing a left side wall portion of the collection space 2102 and the storage space 2104; and a fourth upper housing portion 2118 providing a right side wall portion of the collection space 2102 and the storage space 2104.

The shape of the first upper housing portion 2112 is not particularly limited. Note that, since the second upper housing portion 2114 accommodates the agitator 2200, it corresponds to the shape of the agitator 2200.

A center of curvature of at least a portion of the second upper housing portion 2114 is formed at a rotational axis of the agitator 2200. At least a portion of the second upper housing portion 2114 is formed into an arc shape.

In this embodiment, the radius of curvature R1 of the second upper housing portion 2114 is greater than the diameter of the agitator 2200. Preferably, the outer edge of the agitator 2200 is in contact with the inner side of the second upper housing portion 2114.

Impurities collected by contact of the agitator 2200 and the second upper housing portion 2114 may be moved to the collecting space 2104 along an inner side surface of the second upper housing portion 2114. When the agitator 2200 is spaced apart from the second upper housing portion 2114, the foreign matter collected by the agitator 2200 may fall to the ground again.

A collection opening surface 2101 is formed in the lower case 2140. The collection opening surface 2101 is exposed to the ground, and the agitator 2200 penetrates the collection opening surface 2101 and protrudes further downward than the collection opening surface 2101.

The collection opening 2101 is disposed further rearward than the storage space 2102.

The lower case 2140 is disposed below the upper case 2110 and is spaced apart from the upper case 2110 to form a storage opening surface 2103. In the present embodiment, the lower case 2140 and the upper case 2110 are spaced apart in the up-down direction.

The lower case 2140 includes: a first lower case portion 2142 which forms a lower side wall of the storage space 2104 and is formed with a collection opening surface 2101 for collecting impurities; a third lower housing portion 2146 providing a left side wall remainder of the collection space 2102 and storage space 2104; a fourth lower housing portion 2148 providing a collection space 2102 and a remaining portion of the right side wall of storage space 2104; and a partition 2145 formed integrally with the first lower housing portion 2142 and dividing the collection space 2102 and the storage space 2104.

In the present embodiment, the first lower casing portion 2142, the third lower casing portion 2146, the fourth lower casing portion 2148, and the partition 2145 are integrally formed. Unlike the present embodiment, any one of the first lower case portion 2142, the third lower case portion 2146, the fourth lower case portion 2148, and the partition 2145 may be separately manufactured and then assembled.

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

The left hand rotational shaft of the agitator 2200 passes through the left side wall 2011 of the housing assembly and the right hand rotational shaft of the agitator 2200 passes through the right side wall 2012 of the housing assembly.

The partition 2145 protrudes upward from the first lower case portion 2142. The left-right length of the partition 2145 corresponds to the left-right length of the agitator 2200. The left-right length of the partition 2145 is formed longer than the left-right length of the agitator 2200.

The partition 2145 includes: a first partition 2145a protruding upward from the first lower case 2142, forming a collection opening surface 2101 that separates the collection space 2102 and the storage space 2104 and is not in contact with the agitator 2200; and a second partition 2145b extending upward from the first partition 2145a, separating the collection space 2102 and the storage space 2104, and contacting the agitator 2200.

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

The front-rear direction length L1 of the collection opening surface 2101 is smaller than the diameter of the agitator 2200. Since the front-rear direction length L1 of the collection opening face 2101 is smaller than the diameter of the agitator 2200, the agitator 2200 cannot be led out to the outside via the collection opening face 2101.

The agitator 2200 is placed on the upper side of the lower case 2140, and the lower end of the agitator 2200 protrudes to the outside of the collection opening surface 2101 and contacts the ground.

The first partition 2145a is not in contact with the agitator 2200.

However, the second partition 2145b may be in contact with the agitator 2200.

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

The second partition 2145b may be curved toward the agitator 2200. The upper end 2147a of the second partition portion 2145b is located at a position higher than the rotation axis Ax of the agitator 2200.

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

The upper end 2147a of the second partition portion 2145b may be formed sharply. An inclined surface 2147b is formed at the upper end 2147a of the second partition wall portion 2145 b. The inclined surface 2147b separates foreign substances attached to the surface of the agitator 2200 and guides the foreign substances to the collecting space 2104.

When the upper case 2110 and the lower case 2140 are assembled, a discharge surface 2105 that opens toward the front is formed. A discharge surface 2105 is formed on the front surface of the housing unit 2001, and a dust collection cover 2150 opens and closes the discharge surface 2105.

Dust collection cover 2150 is disposed forward of housing assembly 2001 and covers discharge surface 2105. The foreign substances in the storage space 2104 can be discharged to the outside of the cleaning module 2000 through the discharge surface 2105.

Dust collection cover 2150 is removably assembled with housing assembly 2001. In the present embodiment, the dust collection cover 2150 and the housing assembly 2001 are assembled by being engaged with each other. The mutual engagement can be released by the user's operation force.

A projection 2151 is provided on either one of the dust collection cover 2150 and the housing assembly 2001, and an engagement groove 2152 is formed on the other so that the dust collection cover 2150 and the housing assembly 2001 engage with each other.

In the present embodiment, the dust collecting cover 2150 is formed with an engagement groove 2152, and the housing assembly 2001 is formed with a projection 2151.

The number of the engaging grooves 2152 corresponds to the number of the protruding portions 2151. The protruding portion 2151 is provided in plural. The protruding portions 2151 are disposed in the upper housing 2110 and the lower housing 2140, respectively.

In the present embodiment, two protrusions 2151 are provided on the upper housing 2110, and two protrusions 2151 are provided on the lower housing 2140.

When it is necessary to distinguish between them, the projections disposed on the upper case 21110 are referred to as upper projections 2151a and 2151b, and the projections disposed on the lower case 2140 are referred to as lower projections 2151c and 2151d.

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

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

Dust collection cover 2150 includes: a front cover 2153 disposed opposite the discharge surface 2105; a top cover 2154 protruding from an upper edge of the front cover 2153 toward the housing assembly; a left cover 2155 protruding from a left edge of the front cover 2153 toward the housing assembly; a right cover 2156 protruding from a right edge of the front cover 2153 toward the housing assembly side; a bottom cover 2157 projects from the lower edge of the front cover 2153 toward the housing assembly.

The dust collection cover 2150 is formed with an insertion space recessed from the rear to the front side.

Upper engaging grooves 2152a, 2152b are formed in the top cover 2154. Lower engaging grooves 2152c, 2152d are formed in the bottom cover 2157. Preferably, the upper engagement grooves 2152a, 2152b and the lower engagement grooves 2152c, 2152d are disposed on opposite sides of each other.

The upper engagement grooves 2152a, 2152b or the lower engagement grooves 2152c, 2152d may be formed in a groove or hole pattern.

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

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

In the present embodiment, the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 are connected to each other. 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 also be separated from each other. The insertion portion 2160 is formed so that its cross section becomes narrower from the rear side toward the front side.

The top insertion portion 2164 is abutted against the top cover portion 2154, the left insertion portion 2165 is abutted against the left cover portion 2155, the right insertion portion 2166 is abutted against the right cover portion 2156, and the bottom insertion portion 2167 is abutted against the bottom cover portion 2157.

In the present embodiment, upper protruding portions 2151a, 2151b are formed in the top insertion portion 2164. Lower protruding portions 2151c, 2151d are formed in the bottom insertion portion 2167.

The upper protruding portions 2151a, 2151b are inserted into the upper engaging grooves 2152a, 2152b from below to above to engage with each other. The lower protruding portions 2151c, 2151d are inserted from the upper side to the lower side of the lower engaging grooves 2152c, 2152d to engage with each other.

The dust collecting cover 2150 or the insertion portion 2160 is elastically deformed by an operation force of pulling the dust collecting cover 2150 by a user, and can be released from engagement with each other.

The agitator 2200 is disposed within the housing assembly 2001 and is rotatable within the housing assembly 2001.

The agitator 2200 may be disposed between the upper housing 2110 and the lower housing 2140. The agitator 2200 may also be disposed in the upper housing 2110. In the present embodiment, the agitator 2200 is disposed at the lower casing 2140, and is rotatable in a state supported by the lower casing 2140.

The rotation shaft of the agitator 2200 is disposed in the left-right direction and can be rotated forward or backward.

The housing assembly 2001 also includes a first journal 2010 (journ) and a second journal 2020 that support the agitator 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 extend through the housing assembly 2001 in a left-right direction and communicate with the collection space 2102.

In the present embodiment, the first journal 2010 and the second journal 2020 are formed in cylindrical shapes. Unlike the present embodiment, at least one of the first journal and the second journal may be formed in a semi-cylindrical shape. When the first and second journals are formed in a semi-cylindrical shape, they are configured to support the rotation shaft of the agitator 2200 from the lower side.

The dust collecting housing 2100 is provided with a lever 2500, and the lever 2500 is mounted in the mounting space 325 of the chassis 32 and couples or decouples the chassis 32 and the dust collecting housing 2100.

The lever 2500 is disposed between the base 32 and the dust collecting housing 2100, and can engage the base 32 and the dust collecting housing 2100 with each other. The rods 2500 are engaged with each other in the gravitational direction of the dust collecting housing 2100, and prevent the dust collecting housing 2100 from being separated downward from the chassis 32.

The rods 2500 are disposed in plural numbers, and are engaged with each other at plural positions of the dust collecting housing 2100. In the present embodiment, the lever 2500 includes a first lever 2510 and a second lever 2520, and is arranged in the left-right direction.

The first rod 2510 is disposed at the left side of the dust collecting housing 2100, and the second rod 2520 is disposed at the right side of the dust collecting housing 2100.

The first rod 2510 and the second rod 2520 operate in the same manner, but in opposite directions.

The first rod 2510 disposed on the left side moves rightward and releases the mutual engagement with the base 32, and the second rod 2520 disposed on the right side moves leftward and releases the mutual engagement with the base 32.

The cleaning module 2000 further includes: a first rod 2510 disposed at one side of the housing assembly and configured to be relatively movable in a left-right direction; a second lever 2520 disposed at the other side of the housing assembly and configured to be relatively movable in a left-right direction; a first rod elastic member 2541 disposed between the first rod 2510 and the dust collecting housing 2100, and providing an elastic force to the first rod 2510; and a second lever elastic member 2542 disposed between the second lever 2520 and the dust collecting housing 2100, and providing an elastic force to the second lever 2520.

Since the first rod 2510 and the second rod 2520 have the same structure, the first rod is taken as an example.

In the present embodiment, first and second side covers 2170 and 2180 for hiding the first and second rods 2510 and 2520 are respectively disposed in the dust collecting housing 2100.

Unlike the present embodiment, the first and second rods 2510 and 2520 may be provided to be exposed to the outside of the dust collecting housing 2100, without the first and second side covers 2170 and 2180. Unlike the present 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 agitator 2200 from being exposed to the outside. The first side cover 2170 conceals most of the first rod 2510, and only exposes a structure for engaging with the base 32.

The first side cover 2170 includes: a first side cover body 2173 closely attached to one side surface of the housing assembly 2001; through-holes 2171, 2172 configured to pass through the first side cover main body 2173; a catch portion 2174 protruding from the first side cover body 2173 toward the housing assembly 2001 side and coupled to the housing assembly 2001 in a catch manner; a journal coupling portion 2175 protruding from the first side cover main body 2173 toward the housing assembly 2001 side and coupled with the journal 2010 (first journal in the present embodiment) to each other; and a fastening portion 2176 for coupling the first side cover body 2173 and the housing assembly 2001 by a fastening member (not shown).

The fastening portion 2176 and the catch portion 2174 are disposed on opposite sides of each other with respect to the journal coupling portion 2175. The plurality of catch portions 2174 are arranged in the vertical direction.

Journal coupler 2175 is inserted into the inner diameter of first journal 2010.

The first rod 2510 includes: an upper rod main body 2512 disposed between the housing assembly 2001 and the first side cover 2170 and elastically supported by the first rod elastic member 2541; a lower rod main body 2514 disposed between the housing assembly 2001 and the first side cover 2170, integrally formed with the upper rod main body 2512, exposed to the outside of the housing assembly 2001, and receiving an operation force of a user; and a rod engaging portion 2516 configured to protrude from the upper rod main body 2512 and penetrate through the through-holes 2171, 2172 of the first side cover 2170.

The upper rod body 2512 is disposed in the up-down direction, and the lower rod body 2514 is disposed in the horizontal direction.

The lower rod body 2514 is configured to be exposed to the outside of the dust collecting housing 2100. The lower rod body 2514 is disposed below the upper rod body 2152. The lower rod main body 2514 is exposed to the outside of the bottom surface of the lower case 2140.

In the present embodiment, an operation portion 2519 protruding downward from the lower rod main body 2514 is also provided. Since the operation portion 2519 extends long and thin in the front-rear direction, it is easy to receive the user's left-right direction operation force.

The user can move the first rod 2510 by pushing the operating part 2519 in the left and right directions.

The lever engagement portion 2516 protrudes outward (opposite to where the agitator is located) from the upper lever body 2512. Since the rod engaging portions 2516 correspond to the number of through-holes, in the present embodiment, the first rod engaging portion 2516a and the second rod engaging portion 2516b are arranged.

The lever engagement portion 2516 is configured to be engaged with each other in the direction of gravity, and to be minimized in the direction opposite to the direction of gravity. Accordingly, the upper side surface of the lever engagement portion 2516 is formed in an arc shape or an inclined surface toward the lower side, and the lower side surface is formed in a flat surface.

If the bars 2510 and 2520 are not returned to the initial positions when they move, the cleaning modules 2000 may be separated from the predetermined positions because the engagement therebetween is not formed. To prevent such a situation, the cleaning module 2000 further includes a structure for guiding the horizontal movement of the first rod 2510.

The cleaning module 2000 further includes: a first guide 2545 protruding from one side surface (left side surface in the present embodiment) of the dust collection housing 2100 toward the first rod 2510, interfering with the first rod 2510 and guiding the moving direction; a first guide hole 2518 formed in the first rod 2510, into which the first guide 2545 is inserted and which guides the movement of the first guide 2545; a second guide 2547 protruding from the other side surface (right side surface in the present embodiment) of the dust collection housing 2100 toward the second lever 2520, interfering with the second lever 2520 and guiding the moving direction; and a second guide hole 2528 formed in the second rod 2520, into which the second guide 2547 is inserted and guides the movement of the second guide 2547.

The first guide 2545 is formed along the moving direction of the first rod 2510, and the second guide 2547 is formed along the moving direction of the second rod 2520. Accordingly, the first and second guides 2545 and 2547 are formed in the horizontal direction. The first guide hole 2518 and the second guide hole 2528 are formed in the horizontal direction corresponding to the first guide 2545 and the second guide 2547.

The guide holes 2518 and 2528 may be provided in either the upper rod body 2512 or the lower rod body 2514. In the present embodiment, the guide holes 2518 and 2528 are formed to penetrate the upper rod main body 2512 in the horizontal direction.

One end of the first rod elastic member 2541 is supported by the dust collecting housing 2100, and the other end thereof is supported by the first rod 2510. The first rod elastic member 2541 elastically supports the first rod 2510 toward the outside of the dust collection housing 2100.

The cleaning module 2000 also includes structure for preventing the lever elastic members 2541, 2542 from being out of position.

To maintain the working position of the first lever elastic member 2541, the cleaning module 2000 further includes: a first position fixing portion 2517 disposed at the first rod 2510 for inserting the other end of the first rod elastic member 2541; the second position fixing portion 2544 is disposed on the dust collecting housing 2100, and is inserted into one end of the first lever elastic member 2541.

In the present embodiment, the first and second lever elastic members 2541 and 2542 are formed as coil springs. In the present embodiment, the first position fixing portion 2517 is formed in a convex pillar shape, and the second position fixing portion 2544 is formed in a groove shape.

The first position fixing portion 2517 is inserted into the first rod elastic member 2541, and the first position fixing portion 2517 allows the first rod elastic member 2541 to move in the left-right direction. The first lever elastic member 2541 is restrained from moving in the front-rear or up-down direction.

The second position fixing portion 2544 is formed in a groove shape, and the first lever elastic member 2541 is inserted. The second position fixing portion 2544 allows the first lever elastic member 2541 to move in the left-right direction. The first lever elastic member 2541 is restrained from moving in the front-rear or up-down direction.

In the present embodiment, the second position fixing portion 2544 is disposed between the first journal 2010 and the first guide 2545. The second position fixing portion 2544 includes: a 2-1 th position fixing portion 2544a formed concavely at a portion of the lower side of the first journal 2010; and a 2-2 position fixing portion 2544b concavely formed at a portion of an upper side of the first guide 2545.

The 2-1 st and 2-2 nd position fixing portions 2544a and 2544b are respectively formed as curved surfaces when viewed from the side, and the center of curvature is located inside the first lever elastic member 2541.

The radius of curvature of the 2-1 st and 2-2 nd position fixing parts 2544a and 2544b may be greater than the diameter of the first lever elastic member 2541.

When the first lever 2510 is moved toward the housing assembly 2001 side by the user's operation force, the lever engagement portion 2516 and the base 32 are disengaged from each other. At this time, since the first rod elastic member 2541 elastically supports the first rod 2510, when the user's operation force is removed, the first rod 2510 is moved again to the first side cover 2170 side, and the rod engaging portion 2516 protrudes to the outside of the through-holes 2171, 2172.

The cleaning module 2000 can be kept attached to the base 32 by the engagement of the rod engaging portions 2516 protruding to the outside of the through-holes 2171 and 2172 with the base 32.

When the rod engagement portion 2516 and the base 32 are disengaged from each other, the cleaning module 2000 can be separated from the base 32.

In the present embodiment, since the first rod 2510 and the second rod 2520 are disposed on the left and right sides of the cleaning module 2000, it is necessary to disengage both the first rod 2510 and the second rod 2520 to separate the cleaning module 2000 from the main body 30.

The first rod 2510 provides a mutual engagement or disengagement with the base 32, while the second rod 2520 provides not only the function of the first rod 2510 but also a connection structure with the driving part 2300.

The second rod 2520 includes: an upper lever main body 2522 disposed between the housing assembly 2001 and the second side cover 2180, and elastically supported by the second lever elastic member 2542; a lower lever main body 2524 disposed between the housing assembly 2001 and the second side cover 2180, integrally formed with the upper lever main body 2522, exposed to the outside of the housing assembly 2001, and receiving an operation force of a user; a lever engagement portion 2526 configured to protrude from the upper lever main body 2522 and to penetrate through the through-holes 2181, 2182 of the second side cover 2180; and an operation portion 2519 protruding downward from the lower lever main body 2524.

The lever engagement portion 2526 protrudes outward (opposite to where the agitator is located) from the lower lever main body 2522, and the lever engagement portion 2526 includes a first lever engagement portion 2526a and a second lever engagement portion 2526b.

The lever engagement portion 2526 is engaged with an engagement groove 3266 formed in the storage case 326 of the base 32.

Since the lever engagement portion 2526 is constituted by the first lever engagement portion 2526a and the second lever engagement portion 2526b, the engagement groove 3266 is also provided with the first engagement groove 3266a and the second engagement groove 3266b in correspondence therewith. The lever engagement portion 2516 of the first lever 2510 is also provided with an engagement groove (not shown) having the same structure. The first engagement groove 3266a and the second engagement groove 3266b are formed in a side wall 3262 of the storage case 326.

The first engagement groove 3266a and the second engagement groove 3266b are located at a lower side than the driven coupling 2220 and the driving coupling 2320.

The second side cover 2180 includes: a second side cover main body 2183 closely attached to the other side surface (right side surface in the present embodiment) of the housing assembly 2001; the through holes 2181 and 2182 are arranged to penetrate the second side cover main body 2183; a catch portion 2184 protruding from the second side cover main body 2183 toward the case assembly 2001 side and coupled to the case assembly 2001 in a catch manner; a fastening portion 2186 that couples the second side cover main body 2183 and the housing assembly 2001 by a fastening member (not shown); and an opening surface 2185 through which the structure of the driving portion 2300 penetrates, to transmit the driving force of the driving portion 2300 to the agitator 2200.

The opening surface 2185 is disposed in the left-right direction. The first coupling 2310 of the driving portion 2300 described later is inserted through the opening surface 2185.

In addition, the cleaning module 2000 includes: a second guide 2547 protruding from the other side surface (right side surface in the present embodiment) of the dust collection housing 2100 toward the second lever 2520, interfering with the second lever 2520 and guiding the moving direction; a second guide hole 2528 formed at the second rod 2520, and into which the second guide 2547 is inserted and guides the movement of the second guide 2547; a third position fixing portion 2527 disposed on the second rod 2520, the other end of the second rod elastic member 2542 being inserted into the third position fixing portion 2527; and a fourth position fixing portion 2546 disposed in the dust collecting housing 2100, one end of the second lever elastic member 2542 being inserted into the fourth position fixing portion 2546.

The agitator 2200 includes: an agitator assembly 2210 for sweeping impurities of the ground into the interior of the collecting space 2102 by rotation; the driven coupling 2220, which receives the rotational force from the driving part 2300, is relatively movably disposed between the driving part 2300 and the agitator assembly 2210; a coupling elastic member 2230 disposed between the agitator assembly 2210 and the driven coupling 2220, providing an elastic force to the driven coupling 2220, and pressing the driven coupling 2220 to the driving part 2300 side; and a coupling stopper 2270 penetrating the driven coupling 2220 and coupled to the agitator assembly 2210, and forming a mutual engagement with the driven coupling 2220 in the left-right direction, preventing separation of the driven coupling 2220.

The agitator assembly 2210 includes: an agitator main body 2240 disposed in the collection space 2102 and rotated by receiving the rotational force of the driving part 2300; shaft members 2201 disposed on one side and the other side of the agitator body 2240, respectively, providing a rotation center of the agitator body 2240, rotatably supported by the dust collecting housing 2100; a collecting member 2250 provided at an outer circumferential surface of the agitator main body 2240 to sweep foreign substances into the inside of the collecting space 2102; and a bearing 2260 provided in the dust collecting housing 2100 and providing rolling friction to the shaft member 2201.

In the present embodiment, the driven coupling 2220 is detachably assembled with the lever (the second lever 2520 in the present embodiment) and the shaft member 2201, and moves together with the lever. In the present embodiment, the coupling of the driven coupling 2220 and the driving part 2300 can be released by the user's operation force applied to the second lever 2520.

The driven coupling 2220 is movable in the direction of the shaft member 2201, and releases the coupling with the driving portion 2300. The driven coupling 2220 is relatively movable in the horizontal direction between the agitator assembly 2210 and the driving part 2300.

The agitator main body 2240 is arranged in the left-right direction. The agitator main body 2240 is disposed inside the collection space 2102.

The collecting member 2250 is formed along an outer circumferential surface of the agitator body 2240. The collecting member 2250 protrudes radially outward from the outer circumferential surface of the agitator body 2240. As the agitator body 2240 rotates, the collection member 2250 rotates together. The collection member 2250 may pass through the collection opening surface 2101 and contact the ground. The collection member 2250 may be constituted by a plurality of brushes.

As the agitator assembly 2210 rotates, the collection member 2250 contacts the ground surface impurities and moves the impurities toward the interior of the collection space 2102.

The shaft members 2201 are disposed on one side and the other side of the agitator body 2240, respectively. The shaft member 2201 forms the center of rotation of the agitator assembly 2210.

The shaft member 2201 is arranged in the left-right direction. Shaft member 2201 extends through left and right sides of collection space 2102.

In the present embodiment, the shaft member 2201 penetrates the left side wall 2011 and the right side wall 2012 of the dust collection housing 2100. The shaft member 2201 may be integrally formed with the agitator body 2240.

In this embodiment, the shaft member 2201 is detachably assembled with the agitator body 2240. The shaft member 2201 and the agitator main body 2240 may be engaged with each other in the rotation direction of the agitator 2200, and may be separated in the rotation axis direction (left-right direction in the present embodiment) of the agitator 2200.

Since the agitator assembly 2210 and the shaft member 2201 are detachably assembled, only the agitator assembly 2210 may be replaced. That is, in a state where the respective shaft members 2201 are assembled to the dust collecting housing 2100, the agitator assembly 2210 can be separated from the dust collecting housing 2100.

Since the agitator 2200 is a consumable part, it needs to be replaced periodically. By the coupling structure of the shaft member 2201 and the agitator body 2240, only the agitator body 2240 can be separated from the dust collecting housing 2100 without disassembling the entire agitator 2200. The shaft member 2201 and the agitator body 2240 remain engaged with each other.

The shaft member 2201 includes: a rotation shaft body 2202 coupled to the agitator body 2240; a shaft portion 2203 protruding from the rotation shaft main body 2202 toward the driving portion 2300 side, providing a rotation center of the agitator 2200, and coupled to the bearing 2260; and a coupler guide portion 2204, which further protrudes from the shaft portion 2203 toward the driving portion 2300 side, penetrates the driven coupler 2220, and is coupled to the coupler stopper 2270.

The rotation shaft body 2202 is formed in a disc shape. The shaft portion 2203 protrudes from the rotation shaft body 2202 toward the driving portion 2300 side.

The shaft portion 2203 is formed to have a smaller diameter than the rotation shaft body 2202.

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

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

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

One side end of the coupler elastic member 2230 is supported at the first end 2205.

The coupler guide 2204 may also be formed with a penetration portion 2206 penetrating the driven coupler 2220. A coupler stopper 2270 is fixed to the through section 2206.

The driven coupling 2220 can move in the left-right direction along with the coupling guide 2204. Since the driven coupler 2220 is elastically supported by the coupler elastic member 2230, a state of being abutted against the driving part 2300 side is maintained without an external force being applied.

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

The penetration portion 2206 is inserted into the driven coupling 2220 and engaged with each other in the rotation direction of the agitator 2200.

On the other hand, the shaft member 2201 is formed with a key groove 2207 for engagement with the agitator main 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 agitator body 2240 side. The key groove 2207 may be formed in an irregular polygonal shape. The key groove 2207 may be open in a radial direction of the rotation shaft.

A key 2247 inserted into the key groove 2207 is formed in the agitator body 2240. The key 2247 protrudes toward the shaft member 2201 or the driven coupling 2220 side.

The driven coupling 2220 includes: a coupling main body 2222 coupled to a lever 2520 (a second lever in the present embodiment); a first guide groove 2224 concavely formed at one side (left side in the present embodiment) of the coupling main body 2222, into which the coupling guide 2204 is inserted, and into which the coupling elastic member 2230 is inserted; a second guide groove 2226 communicating with the first guide groove 2224, penetrating the coupling body 2222, and having a penetrating portion 2206 inserted therein; a second end 2225 disposed between the first guide groove 2224 and the second guide groove 2226 and supporting the first end 2205; and a transmission groove 2228 concavely formed at the other side surface (right side surface in the present embodiment) of the coupling body 2222, the drive coupling 2220 coupled to the drive part 2300 being detachably inserted into the transmission groove 2228.

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

The first guide groove 2224 is formed as a circular hollow.

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

The coupling body 2222 is formed with a groove 2223 recessed radially inward from the outer side surface. The diameter of the groove 2223 is formed smaller than the diameter of the outer side surface of the coupling body 2222.

The second lever 2520 is formed with a coupling groove 2523, and the coupling groove 2523 is formed at the upper lever body 2522, is clamped in the groove 2223, and is coupled with the driven coupling member 2220.

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

The second lever 2520 may be coupled to or decoupled from the driven coupling 2220 in the up-down direction, and engaged with the driven coupling 2220 in the left-right direction.

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

The first extension 2522a and the second extension 2522b are structures for more securely assembling with the driven coupling 2220. The first and second extension portions 2522a and 2522b may contact one side surface 2223a and the other side surface 2223b of the groove 2223.

The coupler stopper 2270 penetrates the driven coupler 2220, and is fastened to the penetration 2206. The driven coupling 2220 can move in the left-right direction between the coupling stopper 2270 and the shaft member 2201.

The head portion 2272 of the coupler stopper 2270 interferes with the driving groove 2228 of the driven coupler 2220, and prevents the driven coupler 2220 from being separated to the right side. The engaging portion 2274 of the coupler stopper 2270 is inserted into and fastened to the fastening groove 2207 of the through section 2206.

The drive coupler 2320 is inserted into the transmission groove 2228 and coupled in such a manner as to be able to transmit rotational force. The driving grooves 2228 may be formed in various shapes. In this embodiment, the transmission groove 2228 is a hexagonal groove when viewed from the side.

The diameter of the driving groove 2228 is larger than that of the second guide groove 2226. The transmission groove 2228 and the second guide groove 2226 communicate with each other. The first guide groove 2224 is disposed in communication with one side of the second guide groove 2226, and the transmission groove 2228 is disposed in communication with the other side thereof.

The transmission groove 2228 is open to the other side, and the first guide groove 2224 is open to one side.

When the driven coupling 2220 is coupled to the upper lever body 2522, the driving groove 2228 is located at the other side of the upper lever body 2522, and the first guide groove 2224 is located at one side of the upper lever body 2522.

The second lever 2520 is engaged with the driven coupling 2220 in a direction orthogonal to the shaft member 2201. The lever engagement portion 2526 of the second lever 2520 is engaged with the base 32.

When the second lever 2520 is pressed toward the agitator 2200 side, the second lever 2520 moves toward the agitator 2200 side, and thus the mutual engagement between the lever engagement portion 2526 and the base 32 is released, so that the dust collecting housing 2100 is in a state detachable from the base 32.

In addition, when the second lever 2520 is pressed to the side of the agitator 2200, the coupling elastic member 2230 is compressed so that the driven coupling 2220 can be moved to the side of the agitator 2200.

When the driven coupling 2220 is moved to the agitator 2200 side by the second lever 2520, the driven coupling 2220 and the driving part 2300 are physically separated, so that the dust collecting housing 2100 is in a state that can be separated from the chassis 32.

The cleaning module 2000 of the present embodiment is configured to have the agitator 2200 provided therein, and thus, when the dust collecting housing 2100 is separated from the chassis 32, it is also required to be physically separated from the driving portion 2300.

Movement of the second lever 2520 not only releases the coupling between the dust collecting housing 2100 and the chassis 32, but also releases the coupling between the driven coupling 2220 and the driving part 2300.

Here, since the second lever 2520 is hidden inside the dust collecting housing 2100 and only the operation portion 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 structure of the second lever 2520, it is possible to minimize the damage of the second lever 2520 due to external impact or the like.

Since the second lever 2520 moves only inside the dust collecting housing 2100 even if the second lever 2520 is repeatedly used, it is possible to minimize the separation or damage thereof.

Further, since the side covers 2170 and 2180 conceal the rods 2510 and 2520 inside the dust collecting housing 2100, foreign substances and the like from outside can be minimized to enter the region of the rods 2510 and 2520, and thus operation reliability can be ensured.

In addition, when the operation force applied to the second lever 2520 is removed, the driven coupler 2230 is moved to the other side by the elastic force of the coupler elastic member 2230.

At this time, the driven coupler 2230 is in a state of being penetrated by the shaft member 2201, and the coupler stopper 2270 is in a state of being coupled to the shaft member 2201, so that the driven coupler 2230 can be prevented from being separated from the shaft member 2201. That is, the driven coupler 2230 can move in the axial direction of the shaft member 2201, but is blocked from separation by the coupler stopper 2270.

The driving unit 2300 includes: a driving housing 2310 assembled to the main body 30; a motor 2330 assembled to the driving housing 2310; a transmission assembly 2340 disposed inside the driving housing 2310, assembled to the motor 2330, and receiving a rotational force; and a drive coupler 2320, coupled to the drive assembly 2340, selectively engageable with the driven coupler 2220.

Since the agitator 2200 is disposed inside the cleaning module 2000 and the motor 2330 is disposed inside the main body 30, the driving coupling 2320 and the driven coupling 2220 transmitting the rotational force from the motor 2330 to the agitator 2200 have a selectively separable structure. When the driving coupling 2320 and the driven coupling 2220 cannot be separated, the dust collecting housing 2100 cannot be separated from the main body 30.

The drive housing 2310 may be secured to the main body 30, which in this embodiment is secured to the base 32. The drive housing 2310 is a structure for mounting the transmission assembly 2340 and the motor 2330.

The driving housing 2310 may be formed in various shapes. In this embodiment, the transmission assembly 2340 is hidden inside the driving housing 2310, and only the motor 2330 and the driving coupler 2320 are exposed to the outside.

The driving housing 2310 includes: the first and second driving housings 2312 and 2314 form an outer shape; a coupling attachment portion 2315 that is disposed in either one of the first and second drive cases 2312 and 2314 and that is provided with a drive coupling 2320; the hole 2316 is disposed in either one of the first driving housing 2312 and the second driving housing 2314, and is penetrated by a motor shaft (not shown) of the motor 2330.

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

In the present embodiment, the first driving housing 2312 is disposed at one side (the agitator 2200 side), and the second driving housing 2314 is disposed at the other side (the outer side).

In the present embodiment, the coupler mounting portion 2315 is disposed at the first driving housing 2312. A drive coupler 2320 is provided at the coupler mount 2315 and is connected to a transmission assembly 2340. The driving coupler 2320 may be rotated in a state of being provided to the coupler mounting portion 2315.

The driving coupler 2320 corresponds in shape to the driving slot 2228 of the driven coupler 2220. In this embodiment, the drive coupler 2320 is hexagonal in shape when viewed from the side. The drive coupler 2320 may be selectively engaged with the driven coupler 2220 through the open face 2185 of the second side cover 2180.

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

The rotation center of the driving coupler 2320 is disposed in the left-right direction, and may coincide with the rotation center of the agitator 2200.

In the present embodiment, a space is formed inside the first driving housing 2312, and the transmission assembly 2340 is rotatably provided in the space. The second driving housing 2314 is in a cover form covering the first driving housing 2312.

The driving housing 2310 further includes a first fastening part 2317 and a second fastening part 2318. The first fastening portion 2317 and the second fastening portion 2318 are disposed in the first driving housing 2312. The first and second fastening portions 2317 and 2318 are formed such that the fastening members can be disposed in the up-down direction.

The motor shaft of the motor 2330 is disposed in the left-right direction. The motor 2330 may be disposed at one side or the other side of the driving housing 2310.

The motor 2330 is disposed toward the inside of the main body 30 with reference to the driving housing 2310. By disposing the motor 2330 on the agitator 2200 side, the volume of the main body 30 can be minimized.

In the present embodiment, the motor shaft direction Mx of the motor 2330 is parallel to the rotation shaft Ax of the agitator 2200. In the present embodiment, the rotation center of the agitator 2200, the rotation center of the shaft member 2201, the center of the driven coupling 2220, and the center of the driving coupling 2320 are located on the rotation axis Ax line of the agitator 2200.

In the present embodiment, the motor 2330 is located above the dust collection housing 2100. The motor 2330 is located at a rear side of the dust collection housing 2100. The motor 2330 is located above the mounting space 325 of the base 32 and the storage case 326.

The transmission assembly 2340 includes a plurality of gears. The number and form of gears of the transmission assembly 2340 may be variously set according to the number of transmitted revolutions and torque.

On the other hand, the cleaning module 2000 further includes a housing elastic member 327 that provides an elastic force to the dust collecting housing 2100. The case elastic member 327 is disposed in the installation space 325.

The case elastic member 327 is disposed on the base 32, specifically, on the storage case 326. In the present embodiment, the case elastic member 327 uses a leaf spring. The housing case 326 is provided with a case elastic member 327 in the form of a plate spring for insertion and fixation.

The housing case 326 is formed with an elastic member housing portion 328 protruding from the mounting space 325 toward the upper drum. An elastic member receiving space 328b for receiving the case elastic member 327 is formed at a lower side of the elastic member receiving portion 328.

The elastic member housing portion 328 further includes an elastic member opening surface 328a that opens in the up-down direction. The elastic member open surface 328a communicates with the elastic member housing space 328b and the installation space 325.

Further, an elastic member support 329 is provided, which is disposed below the elastic member housing space 328b and is connected to the housing case 326.

The elastic member support portion 329 is located at a lower position than the elastic member housing portion 328.

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

The case elastic member 327 is located at both sides of the elastic member supporting portion 329.

The elastic member housing portion 328 extends in a laterally elongated manner, and the elastic member support portion 329 is disposed in the laterally elongated manner.

The housing elastic member 327 includes: a first elastic portion 327a located at an upper side of the elastic member supporting portion 329; the second elastic portion 327b extends from the first elastic portion 327a to one side (left side in the present embodiment), and is disposed in the elastic member housing space 328b; the third elastic portion 327c extends from the first elastic portion 327a to the other side (right side in the present embodiment) and is disposed in the elastic member housing space 328b.

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

The second elastic portion 327b and the third elastic portion 327c are located at the lower side of the elastic member housing portion 328. The second elastic portion 327b is disposed obliquely to the lower left, and the third elastic portion 327c is disposed obliquely to the lower right.

When the dust collecting 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 collecting housing 2100.

In addition, when the mutual engagement of the dust collecting housing 2100 and the chassis 32 is released by the first rod 2510 and the second rod 2520, the second elastic portion 327b and the third elastic portion 327c push the dust collecting housing 2100 downward, so that the dust collecting housing 2100 moves to the outside of the storage housing 326.

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

Since the elastic member support 329 supports the case elastic member 327, the case elastic member 327 can be prevented from being separated toward the installation space 325. Even if the dust collecting housing 2100 is repeatedly mounted and separated, the housing elastic member 327 is firmly supported by the elastic member supporting portion 329.

The mobile robot 1 is configured to move the main body 30 by a rotational action of at least one of the mop module 40 and the cleaning module 2000 without being equipped with additional driving wheels. The body 30 may be moved only by the rotational action of the mop module 40. The mobile robot 1 may be configured to be able to move the main body 30 by the rotating action of the pair of rotating mops 41a, 41b without being equipped with additional driving wheels.

The mobile robot 1 includes a mop driving part (not shown) that provides a driving force of the mop module 40. The rotation force provided from the mop driving part is transmitted to the rotary mop 41 of the mop module 40.

The mobile robot 1 includes a water supply module 80 that supplies water required for mopping. The water supply module may supply the mop module 40 or the cleaning module 2000 with water as needed. In this embodiment, the water supply module supplies water to the mop module 40. The water supply module supplies water to the pair of rotary mops 41a, 41 b.

The water supply module 80 may include: a water tank 81 storing water for supply to the mop module 40 or the cleaning module 2000; and a supply unit that supplies water in the water tank 81 to the mop module 40.

Referring to fig. 23, the water supply module includes a water supply connection 87 for guiding water in the water tank 81 to the mop module 40. Water moves from the main body 30 to the mop module 40 through the water supply connection 87. The water supply connection portion 87 is disposed at the lower side of the main body 30. The water supply connection portion 87 is disposed at the module mounting portion 36. The water supply connection portion 87 is disposed on the lower side surface of the module seating portion 36. The water supply connection portion 87 is disposed on the lower surface portion 361 of the module mounting portion 36.

A pair of water supply connection portions 87 corresponding to the pair of rotary mops 41a, 41b are provided. The pair of water supply connection portions 87 are arranged in bilateral symmetry.

The water supply connection portion 87 protrudes from the module seating portion 36. The water supply connection portion 87 is formed to protrude downward from the module seating portion 36. The water supply connection portion 87 is engaged with a water supply corresponding portion 441 of the mop module 40, which will be described later. The water supply connection part 87 is formed with a hole penetrating up and down, and water moves from the main body 30 to the mop module 40 through the hole of the water supply connection part 87. The water moves from within the main body 30 to the mop module 40 via the water supply connection portion 87 and the water supply counter portion 441.

Referring to fig. 25 and 26, the mop module 40 includes at least one wipe 411 configured to mop the floor while rotating. Viewed from the upper side, the mop module 40 includes at least one rotary mop 41 configured to contact the floor while rotating in a clockwise or counterclockwise direction. The mop module 40 may include a pair of rotary mops 41a, 41b. When viewed from the upper side, the pair of rotary mops 41a, 41b mops the floor by rotating in the clockwise direction or the counterclockwise direction. The pair of rotary mops 41a, 41b includes a left rotary mop 41a and a right rotary mop 41b. In the present embodiment, the rotary mop 41 is configured to rotate around rotation axes Osa, osb extending substantially in the up-down direction.

The mop module 40 is disposed at the lower side of the main body 30. The mop module 40 is disposed behind the cleaning module 2000.

The left rotary mop 41a and the right rotary mop 41b each include a cleaning cloth 411, a rotary plate 412, and a swivel shaft 414. The left and right rotary mops 41a and 41b include water supply receiving parts 413, respectively. The left and right rotary mops 41a and 41b include driven joints 415, respectively. The description of the cloth 411, the rotary plate 412, the swivel shaft 414, the water supply housing 413, and the driven joint 415, which will be described later, is understood to be the components provided to the left rotary mop 41a and the right rotary mop 41b, respectively.

The main body 30 and the mop module 40 may be detachably coupled to each other. Hereinafter, a state in which the main body 30 and the mop module 40 are coupled to each other may be referred to as a "coupled state". In addition, hereinafter, a state in which the main body 30 and the mop module 40 are separated from each other may be referred to as a "separated state". The mobile robot 1 includes a loading/unloading module 90 for removably engaging the mop module with the main body. In the coupled state, the attachment/detachment module 90 can release the engagement of the mop module 40 with respect to the main body 30. The loading and unloading module 90 operates to load and unload the mop module 40 and the main body 30 from and to each other. In the separated state, the attachment/detachment module 90 can engage the mop module 40 with the main body 30. The handling module 90 may be configured to traverse the gap between the sink 81 and the battery Bt.

The mobile robot 1 includes a base 32 forming the underside of the body 30. The base 32 forms the underside, front, rear, left side, and right side of the body 30. A mop module 40 is incorporated in the base 32. A cleaning module 2000 is coupled to the base 32. A control unit Co and a battery Bt are disposed in an internal space formed by the case 31 and the chassis 32. Further, a mop drive unit 60 is disposed in the main body 30. A water supply module (not shown) is disposed in the main body 30. A loading and unloading module 90 is disposed in the main body 30. The water supply module supplies water in the tub 200 to the mop module 40.

The mobile robot 1 includes a module housing 42 forming the external appearance of the mop module 40. The module case 42 is disposed on the lower side of the main body 30. The mobile robot 1 includes a module case 52 forming the external appearance of the cleaning module 2000. The module case 52 is disposed below the main body 30. The module case 42 and the module case 52 are arranged to be spaced apart in the front-rear direction.

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

Referring to fig. 22, the module seating part 36 is provided at the lower side of the main body 30. The body seating part 43 is disposed at an upper side of the mop module 40. The module mounting portion 36 is disposed on the lower side of the base 32. The main body mounting portion 43 is disposed on the upper side surface of the module case 42.

Either one of the module seating part 36 and the body seating part 43 is protruded in the up-down direction, and the other is recessed in the up-down direction to be engaged with the either one.

In this embodiment, the body seating part 43 protrudes upward from the mop module 40. The module seating part 36 is recessed from the main body 30 to the upper side to be engaged with the main body seating part 43.

The shape of the body placement portion 43 is formed asymmetrically in the front-rear direction when viewed from the upper side. Thus, when the mop module 40 is turned in the front-rear direction and coupled with the main body 30, the mop module 40 and the main body 30 can be coupled with each other in a predetermined direction by not engaging the main body seating part 43 with the module seating part 36.

Referring to fig. 23, the mop module 40 includes a pair of body seating parts 43a, 43b arranged to be spaced apart from each other. The pair of body placement portions 43a, 43b correspond to the pair of rotary mops 41a, 41 b. The pair of main body mounting portions 43a, 43b correspond to the pair of module mounting portions 36a, 36b.

The main body 30 includes a pair of module placement portions 36a, 36b arranged spaced apart from each other. The pair of module placement portions 36a, 36b correspond to the pair of body placement portions 43a, 43b.

The pair of body mounting portions 43a, 43b protrude toward the upper side of the mop module 40. The pair of module seating parts 36a, 36b are recessed upward to be engaged with the pair of body seating parts 43a, 43b.

The module seating part 36 includes a lower surface part 361 forming a lower side surface. In the coupled state, the lower surface portion 361 is in contact with the upper surface portion 431 of the main body seating portion 43. The lower surface portion 361 faces downward. The lower surface portion 361 may be horizontally formed. The lower surface portion 361 is disposed above the peripheral counter portion 363.

The module setting part 36 includes a peripheral counter part 363 disposed along the periphery of the lower surface part 361. In the coupled state, the peripheral counter portion 363 is in contact with the peripheral portion 433 of the body mounting portion 43. The peripheral counter 363 forms an inclined surface for connecting the lower surface of the chassis 32 and the lower surface portion 361. The peripheral counter portion 363 has an inclination that increases from the lower side surface of the base 32 toward the lower surface portion 361. The peripheral counter 363 is disposed so as to surround the lower surface portion 361.

The pair of module mounting portions 36 includes a pair of engagement surfaces 363a interposed between the pair of body mounting portions 43. The engagement surface 363a is disposed in a region close to the adjacent other module mounting portion 36 in the peripheral counter portion 363 of any one of the module mounting portions 36. The engagement surface 363a is disposed in a region of the peripheral counter portion 363 that is relatively close to the center vertical surface Po. The engagement surface 363a forms a part of the peripheral counter portion 363.

The module mounting portion 36 is formed with a joint hole 364 exposing at least a portion of the active joint 65. A joint hole 364 is formed in the lower surface portion 361. The active connector 65 may be configured to pass through the connector aperture 364. The driving joint 65 is coupled to the driven joint 415, and transmits a driving force of a mop driving part (not shown) to the rotary mop.

In either one of the module setting part 36 and the main body setting part 43, convex engaging parts 915, 365 are provided on the surface, and concave engaging counter parts 435, 436 are provided on the other surface to engage with the engaging parts 915, 365 in the coupled state.

The body seating portion 43 includes an upper surface portion 431 forming an upper side surface. In the coupled state, the upper surface portion 431 is in contact with the lower surface portion 361 of the module setting portion 36. The upper surface portion 431 faces upward. The upper surface portion 431 may be horizontally formed. The upper surface 431 is disposed above the peripheral portion 433.

The body mount 43 includes a peripheral portion 433 disposed along a peripheral edge of the upper surface portion 431. In the coupled state, the peripheral portion 433 is in contact with the peripheral counter portion 363 of the module housing portion 36. The peripheral portion 433 forms an inclined surface for connecting the upper side surface of the module case 42 and the upper surface portion 431. The peripheral portion 433 has an inclination that increases from the upper side surface of the module case 42 toward the upper surface portion 431. The peripheral portion 433 is configured to surround the upper surface portion 431.

The body mounting portion 43 includes an engagement counter surface 433a that contacts the engagement surface 363a in the coupled state. The pair of body mounting portions 43 includes a pair of engagement counter surfaces 433a. The pair of engagement counter surfaces 433a are arranged to face each other obliquely left and right. The pair of engagement counter surfaces 433a are arranged between the pair of body placement portions 43. The engagement counter surface 433a is disposed in a region of the peripheral portion 433 of any one of the body placement portions 43, which is close to the adjacent other body placement portion 43. The engagement counter surface 433a is disposed in a region of the peripheral portion 433 that is relatively close to the center vertical surface Po. The engagement counter surface 433a constitutes a part of the peripheral portion 433.

The body mounting portion 43 is formed with a driving hole 434 exposing at least a portion of the driven joint 415. The driving hole 434 is formed at the upper surface portion 431. In the coupled state, the driving joint 65 may be inserted into the driving hole 434 and connected with the driven joint 415.

The engagement corresponding portions 435 and 436 may be holes or grooves formed on the surface of the body mounting portion 43. The engagement corresponding portions 435 and 436 may be disposed on the peripheral portion 433. A plurality of engagement corresponding portions 435, 436 corresponding to the plurality of engagement portions 915, 365 may be formed.

The engagement portions 435 and 436 include a first engagement portion 435 engaged with the first engagement portion 915. The first engagement corresponding portion 435 is formed on the engagement corresponding surface 433a.

The engagement portions 435 and 436 include a second engagement portion 436 that engages with the second engagement portion 365. The second engagement corresponding portion 436 is formed in the peripheral portion 433.

Referring to fig. 22 and 24, the water supply module 80 may supply desired water 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 the pair of rotary mops 41a, 41 b.

The water supply module 80 includes a water tank 81 for storing water supplied to the mop module 40 or the collecting module 50. In this embodiment, the water tank 81 stores water supplied to the mop module 40. Mop module 40 is configured 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 provided to the main body.

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

The water tank 81 may be configured to be able to be led out from the outside of the main body 30. The water groove 81 may be configured to be slidable toward the rear side of the main body 30. A water tank engaging portion 84 is provided, and the water tank engaging portion 84 engages the water tank 81 with the main body 30 in a state where the water tank 81 is placed inside the main body 30.

The water supply module 80 may include a water tank opening and closing part 82 for opening or closing the water tank 81. The water tank opening/closing portion 82 is disposed on the upper side surface of the water tank 81. The water tank 81 may be filled with water by opening the water tank opening/closing portion 82 in a state where the water tank 81 is drawn out from the main body 30.

The water supply module 80 may include a water level indicating part (not shown) indicating the water level of the water tank 81. The water level indicator 83 may be disposed on the outer cover of the water tank. The water level indicator 83 may be disposed on the rear side of the water tank. The water level indicating unit 83 is formed of a transparent material, and is configured so that a user can directly observe the water level inside the water tank 81.

The water supply module 80 includes a pump 85 for pressurizing to move the water W in the water tank 81 toward the mop module 40. The pump 85 is disposed in the main body 30. The pump 85 is disposed on the center vertical plane Po.

Although not shown, in another embodiment, the water supply module 80 may include a valve that, when opened, allows water in the sink to move under the force of gravity of the water toward the mop module 40 without the need for a pump.

Although not shown, in yet another embodiment, the water supply module 80 may include a water permeable plug. The water permeable plug is disposed in the supply pipe, and water can pass through the water permeable plug and move, so that the moving speed of the water can be reduced.

Hereinafter, the present embodiment provided with the pump 85 will be described with reference to the drawings, but the present embodiment is not necessarily limited thereto.

The water supply module 80 includes a water tank connection portion 89 that connects the water tank 81 and the supply pipe 86 in a state where the water tank 81 is placed in the main body 30. The water W in the water tank 81 flows into the supply pipe 86 through the water tank connection portion 89.

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

The supply tube 86 includes: a first supply pipe 861 guiding the water W to move from the water tank 81 to the pump 85; and a second supply pipe 862 guiding the water W to move from the pump 85 to the mop module 40. One end of the first supply pipe 861 is connected to the water tank connection portion 89, and the other end thereof is connected to the pump 85. One end of the second supply pipe 862 is connected to the pump 85, and the other end thereof is connected to the water supply connection portion 87.

In addition, the water supply module 80 may further include a check valve 863 to prevent leakage of residual water of the water supply connection 87. A check valve 863 may be provided at the second supply pipe 862 adjacent to the water supply connection 87.

The water supply module 80 includes a water supply connection 87 for directing water within the water reservoir 81 to the mop module 40. The water W moves from the main body 30 to the mop module 40 through the water supply connection 87. The water supply connection portion 87 is disposed at the lower side of the main body 30. The water supply connection portion 87 is disposed at the module mounting portion 36. The water supply connection portion 87 is disposed on the lower side surface of the module seating portion 36. The water supply connection portion 87 is disposed on the lower surface portion 361 of the module mounting portion 36.

The water supply connection portion 87 is provided with one to be easily coupled and easily sealed while supplying water to the pair of rotary mops 41a, 41 b. Specifically, the water supply connection portion 87 may be disposed between the rotation shafts of the left-hand rotary mops 41a, 41b and the rotation shafts of the right-hand rotary mops 41a, 41 b. More preferably, the water supply connection part 87 may be disposed at the center between the rotation shafts of the left rotary mops 41a, 41b and the rotation shafts of the right rotary mops 41a, 41 b. Further preferably, the water supply connection 87 may be located on the central vertical plane Po.

If the water supply connection 87 is disposed at the center of the two rotary mops 41a, 41b, sealing and coupling can be easily achieved by constituting one water supply connection 87, and water can be equally supplied to the two wipes.

The water supply connection 87 protrudes from the outer surface of the main body 30. Specifically, the water supply connection portion 87 protrudes from the module seating portion 36. The water supply connection portion 87 may be in the shape of a pipe protruding from the module seating portion 36 to the lower side.

The water supply connection portion 87 is engaged with a water supply corresponding portion 441 of the mop module 40, which will be described later. The water supply connection portion 87 is formed with a hole communicating with the supply pipe 86 and penetrating up and down, and water moves from the inside of the main body 30 to the mop module 40 through the hole of the water supply connection portion 87. The water moves from within the main body 30 to the mop module 40 via the water supply connection portion 87 and the water supply counter portion 441.

The flow direction of water is described as follows. The movement of the water W can be induced by driving the pump 85. The water W in the water tank 81 flows into the water supply connection portion 87 via the supply pipe 86. The water W in the water tank 81 moves sequentially through the first supply pipe 861 and the second supply pipe 862. The water W in the water tank 81 flows into the water supply corresponding portion 441 of the mop module 40 via the supply pipe 86 and the water supply connection portion 87 in order. The water flowing into the water supply counter portion 441 flows into the two water supply accommodating portions 413 through the two water supply distribution pipes, and the water flowing into the water supply accommodating portions 413 flows into the central portion of the wiper 411 through the water supply holes 412 a. The water flowing into the center of the wiper 411 moves toward the edge of the wiper 411 by centrifugal force generated by the rotation of the wiper 411.

Next, the respective structures of the "mop module 40" and the "relationship between the mop module 40 and the main body 30" will be specifically described with reference to fig. 22 to 26.

Mop module 40 is configured to wet mop with water in water tank 81. The pair of rotary mops 41a, 41b is configured to mop the floor by contacting the floor and rotating.

Referring to fig. 22 to 24, the mop module 40 includes a pair of rotary mops 41a, 41b symmetrically disposed about a center vertical plane Po. Hereinafter, the description of the respective structures of the rotary mops 41a, 41b, 41 can be understood as the description of the respective ones of the pair of rotary mops 41a, 41b.

The rotary mops 41a, 41b, 41 include a rotary plate 412 configured to rotate on the lower side of the main body 30. The rotation plate 412 may be formed as a circular plate-shaped member. The cloth 411 is fixed to the lower side of the rotary plate 412. The rotating plate 412 rotates the wiper 411. The rotation shaft 414 is fixed to a central portion of the rotation plate 412.

The rotary plate 412 includes a cloth fixing portion (not shown) for fixing the cloth 411. The wipe fixing portion may detachably fix the wipe 411. The wiper fixing portion may be a hook and loop fastener or the like disposed on the lower side of the rotary plate 412. The wiper fixing portion may be a hook or the like disposed at an edge of the rotary plate 412.

A water supply hole 412a penetrating the rotary plate 412 up and down is formed. The water supply hole 412a connects the water supply space Sw and the lower side of the rotating plate 412. The water in the water supply space Sw moves to the lower side of the rotating plate 412 through the water supply hole 412a. The water in the water supply space Sw moves toward the wiper 411 through the water supply hole 412a. The water supply hole 412a is disposed at a central portion of the rotation plate 412. The water supply hole 412a is disposed at a position avoiding the swivel shaft 414.

The rotation plate 412 may be formed with a plurality of water supply holes 412a. The connection portion 412b is disposed between the plurality of water supply holes 412a. The connection part 412b connects the centrifugal direction XO and the centrifugal opposite direction XI of the rotation plate 412 with reference to the water supply hole 412a. The centrifugal direction XO is a direction away from the swivel axis 414, and the centrifugal opposite direction XI is a direction toward the swivel axis 414.

The plurality of water supply holes 412a may be spaced apart from each other along the circumferential direction of the swivel axis 414. The plurality of water supply holes 412a may be disposed at a certain interval from each other. The plurality of connection portions 412b may be spaced apart from each other along the circumferential direction of the swivel axis 414. A water supply hole 412a is arranged between the plurality of connection portions 412b.

The rotation plate 412 includes an inclined portion 412d disposed at a lower end portion of the rotation shaft 414. Under the action of gravity, the water in the water supply space Sw flows down along the inclined portion 412d. The inclined portion 412d is formed along the periphery of the lower end of the swivel shaft 414. The inclined portion 412d is formed to be inclined downward in the centrifugal reverse direction XI. The inclined portion 412d may form a lower side of the water supply hole 412a.

The rotary mop 41a, 41b, 41 includes a cloth 411 configured to be coupled to the underside of the rotary plate 412 and to contact the ground. The wiper 411 may be fixedly disposed on the rotary plate 412 or may be disposed interchangeably. The wiper 411 may be detachably fixed to the rotary plate 412 by a hook and loop fastener or the like. The wiper 411 may be constituted by a wiper alone or may include a wiper and a spacer (not shown). The cleaning cloth is the part which is directly contacted with the ground and mopped. Spacers are disposed between the rotating plate 412 and the wipes, and the position of the wipes may be adjusted. The spacer may be removably secured to the rotating plate 412 and the wipe may be removably secured to the spacer. Of course, the wiper 121a may be directly removably secured to the rotating plate 412 without the need for a spacer.

The rotary mops 41a, 41b, 41 include a swivel shaft 414 for rotating the rotary plate 412. The swivel shaft 414 is fixed to the swivel plate 412, and transmits the rotational force of the mop drive unit 60 to the swivel plate 412. A swivel shaft 414 is connected to the upper side of the swivel plate 412. The rotation shaft 414 is disposed at the upper center of the rotation plate 412. The swivel shaft 414 is fixed to the rotation centers Osa, osb of the swivel plate 412. The swivel shaft 414 includes a joint fixing portion 414a for fixing the driven joint 415. The joint fixing portion 414a is disposed at an upper end of the swivel shaft 414.

The swivel axis 414 extends perpendicularly with respect to the swivel plate 412. The left swivel shaft 414 is disposed vertically to the lower side surfaces of the left rotary mops 41a, 41b, 41a, and the right swivel shaft 414 is disposed vertically to the lower side surfaces of the right rotary mops 41a, 41 b. In an embodiment in which the lower sides of the rotary mops 41a, 41b, 41 are inclined with respect to the horizontal plane, the swivel axis 414 is inclined with respect to the up-down direction axis. The swivel shaft 414 is configured such that an upper end thereof is inclined to one side with respect to a lower end thereof.

The inclination angle of the swivel shaft 414 with respect to the vertical axis may vary according to the rotation of the knock frame 47 about the knock shaft 48. The swivel shaft 414 is rotatably coupled to the knock frame 47, and is configured to be tiltable integrally with the knock frame 47. When the knock frame 47 is tilted, the swivel shaft 414, the swivel plate 412, the water supply container 413, the driven joint 415, and the wiper 411 are integrally tilted together with the knock frame 47.

The mop module 40 includes a water supply receiving part 413 disposed at an upper side of the rotation plate 412 and capable of receiving water. The water supply accommodating part 413 forms a water supply space Sw for accommodating water. The water supply container 413 surrounds the periphery of the swivel shaft 414 and is spaced apart from the swivel shaft 414 to form a water supply space Sw. The water supply receiving part 413 collects water supplied to the upper side of the rotation plate 412 in the water supply space Sw before passing through the water supply hole 412 a. The water supply space Sw is disposed at the upper center of the rotary 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. Is configured to flow water into the water supply space Sw through an upper side of the water supply space Sw.

The water supply receiving part 413 protrudes toward the upper side of the rotation plate 412. The water supply container 413 extends along the circumferential direction of the swivel shaft 414. The water supply container 413 may be formed in a ring rib shape. A water supply hole 412a is provided on the inner lower surface of the water supply container 413. The water supply container 413 is disposed apart from the swivel shaft 414.

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

Next, the driving joint 65 and the driven joint 415 are described in detail with reference to fig. 23. The mop driving part 60 includes a driving joint 65 rotated by the mop motor 61, and the rotary mops 41a, 41b, 41 include a driven joint 415 rotated in engagement with the driving joint 65. The active tab 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 driving joint 65 and the driven joint 415 are separated from each other. In the coupled state, the driving joint 65 and the driven joint 415 are engaged.

Either one of the driving joint 65 and the driven joint 415 includes a plurality of driving protrusions 65a arranged along a peripheral direction centering on a rotation axis of either one, and the other forms a plurality of driving grooves 415h arranged along a peripheral direction centering on the rotation axis of the other.

The plurality of driving protrusions 65a are disposed at a certain interval from each other. The plurality of driving grooves 415h are disposed at a predetermined interval from each other. In the coupled state, the driving protrusion 65a is inserted into the driving groove 415h. In the separated state, the driving protrusion 65a is separated from the driving groove 415h.

Preferably, the number of the plurality of driving grooves 415h is greater than the number of the plurality of driving protrusions 65 a. The plurality of driving protrusions 65a may be n, and the plurality of driving grooves 415h may be n×m (a value obtained by multiplying n and m). Wherein n is a natural number of 2 or more, and m is a natural number of 2 or more. In the present embodiment, four driving protrusions 65a1, 65a2, 65a3, 65a4 are provided at a certain interval from each other, and eight driving grooves 415h1, 415h2, 415h3, 415h4, 415h5, 415h6, 415h7, 415h8 are provided at a certain interval from each other.

Either one of the driving joint 65 and the driven joint 415 includes a plurality of driving protrusions 65a arranged to be spaced apart from each other along a peripheral direction centered on the rotation axis of either one, and the other includes a plurality of opposing protrusions 415a arranged to be spaced apart from each other along a peripheral direction centered on the rotation axis of the other. The plurality of opposing projections 415a project in any one direction.

The plurality of opposing projections 415a are disposed at a predetermined interval from each other. In the coupled state, any one of the driving projections 65a is disposed between the adjacent two opposing projections 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 projection 415a is disposed between two adjacent driving projections 65 a. In the present embodiment, it is configured that in the coupled state, the two opposing projections 415a are arranged between the adjacent two driving projections 65 a.

The protruding end of the opposing protrusion 415a is formed in a manner having an arc. The protruding ends of the opposing protrusions 415a are formed in a manner having an arc along the arrangement direction of the plurality of opposing protrusions 415a. The projecting end of the opposing projection 415a has a corner portion that is curved in the direction of the adjacent opposing projection 415a with reference to the central axis of the projecting direction. Thus, when changing from the separated state to the engaged state, the driving protrusion 65a can be smoothly moved along the protruding end of the opposing protrusion 415a in the arc shape and inserted into the driving groove 415h.

The number of the plurality of opposing projections 415a may be greater than the number of the plurality of driving projections 65 a. The plurality of driving protrusions 65a may be n, and the plurality of opposing protrusions 415a may be n×m (a value obtained by multiplying n and m). Wherein n is a natural number of 2 or more, and m is a natural number of 2 or more. In the present embodiment, four driving projections 65a1, 65a2, 65a3, 65a4 are provided at a certain interval from each other, and eight opposing projections 415a are provided at a certain interval from each other.

In the present embodiment, the driving joint 65 includes a driving protrusion 65a, and the driven joint 415 forms a driving groove 415h. In the present embodiment, the driven joint 415 includes an opposing projection 415a. Hereinafter, description will be made with reference to this embodiment.

The driving joint 65 is fixed to the lower end of the driving shaft 624. The driving joint 65 includes a driving boss shaft 65b fixed to the driving shaft 624. The driving boss 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 driving joint 65. The plurality of driving protrusions 65a are arranged 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 driving joint 65.

The driven joint 415 is fixed to the upper end of the swivel shaft 414. The driven joint 415 includes a driven shaft portion 415b fixed to the swivel shaft. The driven shaft portion 415b may be formed in a cylindrical shape. The driving groove 415h is formed in front of the peripheral edge portion of the driven shaft portion 415b. The driving groove 415h is formed to be recessed in the up-down direction. The plurality of driving grooves 415h are arranged along the periphery of the driven shaft portion 415b. The driven joint 415 includes an opposing projection 415a projecting from a driven shaft portion 415b. The opposing projection 415a projects from the driven shaft portion 415b in a direction toward the driving joint 65 in the up-down direction. In the present embodiment, the opposing projection 415a projects in the upward direction. The opposing projection 415a forms a projecting tip in an upward direction. The opposing projection 415a forms a projection end having an arc shape. In the process of changing from the separated state to the coupled state, when the surface of the driving protrusion 65a is in contact with the arc-shaped end of the opposing protrusion 415a, the driving protrusion 65a can naturally slide and be inserted into the driving groove 415h. The opposing projection 415a is disposed in front of the driven shaft portion 415b. The plurality of opposing projections 415a and the plurality of driving grooves 415h are alternately arranged along the periphery of the driven shaft portion 415b.

In the coupled state, when the suspension units 47, 48, 49 described later swim within a prescribed range, the drive projection 65a and the drive groove 415h are configured to swim with each other and engage with each other to transmit the rotational force. Specifically, the depth of the driving groove 415h in the up-down direction is larger than the width of the driving protrusion 65a in the up-down direction, and thus, even if the driving protrusion 65a moves in the up-down direction with respect to the driving groove 415h within a predetermined range, the rotational force of the driving joint 65 can be transmitted to the driven joint 415.

The module case 42 connects a pair of rotary mops 41a, 41b. The pair of rotary mops 41a, 41b are separated from the main body 30 together by the module case 42 and are coupled to the main body 30 together. A main body mounting portion 43 is disposed on the upper side of the module case 42. The rotary mops 41a, 41b, 41 can be rotatably supported by the module housing 42. The rotary mops 41a, 41b, 41 can be configured to penetrate the module housing 42.

The module housing 42 may include: an upper side cover 423 forming an upper side portion; and a lower side cover 421 forming a lower side portion. The upper and lower side covers 423 and 421 are coupled to each other. The upper and lower side covers 423 and 421 form an inner space accommodating a portion of the rotary mops 41a, 41b, 41.

Suspension units 47, 48, 49 may be disposed in the module case 42. Suspension units 47, 48, 49 may be disposed in an inner space formed by the upper side cover 423 and the lower side cover 421. The suspension units 47, 48, 49 support the swivel shaft 414 so as to be movable up and down within a predetermined range. The suspension units 47, 48, 49 of the present embodiment include a knock frame 47, a knock shaft 48, and an elastic member 49.

The module housing 42 may include a limiter for limiting the rotation range of the knock frame 47.

The limiter may include a lower end limiter 427 for limiting a rotation range of the lower side direction of the knock frame 47. The lower end limiter 427 may be disposed in the module housing 42. The lower end stopper 427 is configured to contact the lower end stopper contact portion 477 in a state where the knock frame 47 is maximally rotated in the downward direction. The lower end limiter contact portion 477 is spaced apart from the lower end limiter 427 in a state where the mobile robot 1 is normally disposed on an external horizontal plane. In a state where there is no force pushing from the lower side surfaces of the rotary mops 41a, 41b, 41 to the upper side, the knock frame 47 is rotated to the maximum angle, the lower end limiter contact portion 477 is in contact with the lower end limiter 427, and the inclination angle will reach the maximum state.

The limiter may include an upper end limiter (not shown) for limiting an upper-side direction rotation range of the knock frame 47. In the present embodiment, the upper-side rotation range of the knock frame 47 can be restricted by the close contact between the driving joint 65 and the driven joint 415. In a state where the mobile robot 1 is normally disposed on the external horizontal plane, the driven joint 415 and the driving joint 65 are in close contact with each other to the maximum extent, and the tilt angle is minimized.

The module housing 42 includes a second support 425 for securing the end of the elastic member 49. When the knock frame 47 rotates, the elastic member 49 is elastically deformed or restored by the first support part 475 fixed to the knock frame 47 and the second support part 425 fixed to the module case 42.

The module housing 42 includes a lift shaft support 426 for supporting the lift shaft 48. The lift shaft support 426 supports both side ends of the lift shaft 48.

The lift frame 47 is connected to the module case 42 by a lift shaft 48. The knock frame 47 rotatably supports the swivel shaft 414.

The knock frame 47 is configured to be rotatable within a predetermined range about knock rotation shafts Ota, otb. The knock rotation shafts Ota, otb extend in directions crossing the rotation shafts Osa, osb of the swivel shaft 414. The lifting shaft 48 is disposed on the lifting rotation shaft Ota, otb. The left knock frame 47 is configured to be rotatable within a predetermined range around the knock rotation axis Ota. The right knock frame 47 is configured to be rotatable within a predetermined range around the knock rotation axis Otb.

The knock frame 47 is configured to be tiltable within a prescribed angular range with respect to the mop module 40. The tilt angle of the knock frame 47 may be changed according to the state of the ground. The knock frame 47 may perform a suspension (to relieve up-and-down vibration while supporting weight) function of the rotary mops 41a, 41b, 41.

The knock frame 47 includes a frame base 471 forming a lower side. The swivel shaft 414 is disposed to penetrate the frame chassis 471 up and down. The frame chassis 471 may be formed in a plate shape having an upper and lower thickness. The lifting shaft 48 rotatably connects the module housing 42 and the frame base 471.

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

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

The knock frame 47 includes a first support 475 supporting one end of the elastic member 49. The other end of the elastic member 49 is supported by the second support portion 425 of the module case 42. When the knock frame 47 is tilted about the knock shaft 48, the position of the first support 475 is changed and the length of the elastic member 49 is changed.

The first supporting portion 475 is fixed to the knock frame 47. A first support 475 is disposed on the left side of the left knock frame 47. A first support 475 is disposed on the right side of the right knock frame 47. A second support portion 425 is disposed in the left region of the left rotary mop 41a, 41b, 41 a. A second support portion 425 is disposed in the right region of the right rotary mop 41a, 41 b.

The first supporting portion 475 is fixed to the knock frame 47. When the knock frame 47 performs the tilting operation, the first supporting portion 475 tilts together with the knock frame 47. The distance between the first support part 475 and the second support part 425 becomes nearest in a state where the inclination angle is minimized, and the distance between the first support part 475 and the second support part 425 becomes farthest in a state where the inclination angle is maximized. In a state where the inclination angle is minimized, the elastic member 49 is elastically deformed and provides a restoring force.

The knock frame 47 includes a lower end limiter contact portion 477 configured to be able to contact the lower end limiter 427. The lower side of the lower end limiter contact 477 may be configured to be able to contact the upper side of the lower end limiter 427.

The lifting shaft 48 is disposed in the module housing 42. The lifting shaft 48 serves as a rotation shaft for lifting the frame 47. The lifting shaft 48 may be configured to extend in a direction perpendicular to the tilting direction of the rotary mops 41a, 41b, 41. The lifting shaft 48 may be configured to extend in a horizontal direction. In the present embodiment, the lift shaft 48 is configured to extend in a direction inclined at an acute angle to the front-rear direction.

The elastic member 49 applies an elastic force to the knock frame 47. An elastic force is applied to the knock frame 47 so that the inclination angle of the lower sides of the rotary mops 41a, 41b, 41 with respect to the horizontal plane becomes large.

The elastic member 49 is configured to be elongated when the knock frame 47 is rotated downward and to be shortened when it is rotated upward. The elastic member 49 can operate the knock frame 47 in a buffer manner (elastic manner). The elastic member 49 applies moment to the knock frame 47 in a direction in which the tilt angle becomes larger.

A pair of rotary mops 41a, 41b are connected to each other to form a group. When the coupled state is changed to the separated state, the pair of rotary mops 41a, 41b coupled by the mop module 40 are integrally separated from the main body 30. When the state is changed from the separated state to the coupled state, the pair of rotary mops 41a and 41b connected by the mop module 40 are integrally coupled to the main body 30.

The module seating part 36 is disposed at the lower side of the main body 30. The body seating part 43 is disposed at an upper side of the mop module 40. The module mounting portion 36 is disposed on the lower side of the base 32. The main body mounting portion 43 is disposed on the upper side surface of the module case 42.

Either one of the module seating part 36 and the body seating part 43 is protruded in the up-down direction, and the other is recessed in the up-down direction to be engaged with either one.

In this embodiment, the body seating part 43 protrudes upward from the mop module 40. The body seating part 43 is recessed upward from the body 30 to be engaged with the body seating part 43.

The overall shape of the body placement portion 43 is formed such that the length in the front-rear direction thereof increases as it moves away from the center vertical plane Po, as viewed from the upper side. The main body seating portion 43 has an inclined shape as a whole when viewed from the upper side, such that the farther it is opposed to the center vertical plane Po, the closer to the front.

The mop module 40 includes a pair of body seating parts 43a, 43b arranged to be spaced apart from each other. The pair of body placement portions 43a, 43b correspond to the pair of rotary mops 41a, 41 b. The pair of main body mounting portions 43a, 43b correspond to the pair of module mounting portions 36a, 36 b.

The main body 30 includes a pair of module placement portions 36a, 36b arranged spaced apart from each other. The pair of module placement portions 36a, 36b correspond to the pair of body placement portions 43a, 43 b.

The pair of body mounting portions 43a, 43b protrude toward the upper side of the mop module 40. The pair of module seating parts 36a, 36b are recessed upward to be engaged with the pair of body seating parts 43a, 43 b.

The pair of body placement portions 43a, 43b are spaced apart from each other. The pair of module placement portions 36a, 36b are spaced apart from each other. The pair of body placement portions 43a, 43b are symmetrically disposed about the center vertical plane Po. The pair of module placement portions 36a, 36b are symmetrically disposed about the center vertical plane Po. Hereinafter, the description of the main body seating part 43 may be understood as the description of each of the pair of main body seating parts 43a, 43b, and the description of the module seating part 36 may be understood as the description of each of the pair of module seating parts 36a, 36b.

The module setting part 36 includes a peripheral counter part 363 disposed along the periphery of the lower surface part 361. In the coupled state, the peripheral counter portion 363 contacts the peripheral portion 433 of the body mounting portion 43. The peripheral counter 363 forms an inclined surface for connecting the lower surface of the chassis 32 and the lower surface portion 361. The peripheral counter portion 363 has an inclination that increases from the lower side surface of the base 32 toward the lower surface portion 361. The peripheral counter 363 is disposed so as to surround the lower surface portion 361.

The module mounting portion 36 is formed with a joint hole 364 exposing at least a portion of the active joint 65. A joint hole 364 is formed in the lower surface portion 361. The active connector 65 may be configured to pass through the connector aperture 364.

A convex engagement portion 911 is provided on a surface of either one of the module mounting portion 36 and the main body mounting portion 43, and concave engagement counter portions 435, 436 are provided on the other surface to engage with the engagement portion 911 in a coupled state. In the present embodiment, the engagement portion 911 is provided on the surface of the module mounting portion 36, and the engagement corresponding portions 435, 436 are provided on the surface of the main body mounting portion 43.

The engagement portion 911 may be formed in a hook shape. The engagement portion 911 may be disposed in the peripheral counter portion 363. The lower side surface of the protruding distal end portion of the engagement portion 911 may have an inclination closer to the upper side as it approaches the distal end. One body mounting portion 43 may be provided with a plurality of engagement portions 911.

The body seating portion 43 includes an upper surface portion 431 forming an upper side surface. In the coupled state, the surface portion 431 is in contact with the lower surface portion 361 of the module setting portion 36. The upper surface portion 431 faces upward. The upper surface portion 431 may be horizontally formed. The upper surface 431 is disposed above the peripheral portion 433.

The body mount 43 includes a peripheral portion 433 disposed along a peripheral edge of the upper surface portion 431. In the coupled state, the peripheral portion 433 is in contact with the peripheral counter portion 363 of the module setting portion 36. The peripheral portion 433 forms an inclined surface for connecting the upper side surface of the module case 42 and the upper surface portion 431. The peripheral portion 433 has an inclination that increases from the upper side surface of the module case 42 toward the upper surface portion 431. The peripheral portion 433 is configured to surround the upper surface portion 431.

The engagement corresponding portions 435 and 436 may be holes or grooves formed on the surface of the body mounting portion 43. The engagement corresponding portions 435 and 436 may be disposed on the peripheral portion 433. A plurality of engagement corresponding portions 435, 436 corresponding to the plurality of engagement portions 911 may be formed.

The body seating part may include: a left main body mounting portion 43a formed with a left driving hole 434; a right body seating part 43b spaced apart from the left body seating part 43a, formed with a right driving hole 434; and a center mounting portion 43c located between the left side body mounting portion 43a and the right side body mounting portion 43 b.

The upper surface portions 431 of the left-side main body mounting portion 43a, the right-side main body mounting portion 43b, and the center mounting portion 43c may all be the same height, but the upper surface portion 431 of the center mounting portion 43c may be disposed further down than the upper surface portions 432 of the left-side main body mounting portion 43a and the right-side main body mounting portion 43b so as to dispose the engagement corresponding portions 435, 436 at positions that are not visible in the center. A water supply corresponding portion 441 described later may be disposed in the center of the upper surface portion 431 of the center mounting portion 43 c.

The mop module 40 includes a water supply distribution module 44, and in a coupled state, the water supply distribution module 44 can guide water flowing in from the water supply connection 87 to the two rotary mops 41a, 41b, 41. The water distribution module 44 guides water from the upper side to the lower side. The water W in the water tank 81 is supplied to the rotary mops 41a, 41b, 41 via the water supply distribution module 44. The water W in the water tank 81 flows into the water supply distribution module 44 via the water supply connection 87. At least a portion of the water supply distribution module may be housed inside the module housing 42.

In particular, referring to fig. 27, the water supply distribution module 44 includes one water supply counter portion 441 that receives water from the water supply module 80, a left water supply distribution pipe 443a, and a right water supply distribution pipe 443b. The water supply counter portion 441 is configured to be connected to the water supply connection portion 87. The water supply counterpart 441 may be configured to be fitted or interference-fitted with the water supply connection portion 87.

The water supply corresponding portion 441 is formed with a press-fit hole 441a into which one end of the water supply connecting portion 87 is inserted. The water supply connection portion 87 may be interference fit or press-fit into the press-in hole 441a. A detachment prevention groove 441b for preventing the detachment of the water supply connection portion 87 may be formed at an inner surface of the press-in hole 441a. The press-in hole 441a extends in the up-down direction and is coupled when the main body 30 and the mop module 40 are coupled in the up-down direction.

The upper end of the press-in hole 441a may have a width that is more expanded than the press-in hole 441a, and may have an expanded portion 441c that communicates with the press-in hole 441a. The expansion portion 441c may be a hole whose width expands in a direction away from the press-in hole 441a. The expansion portion 441c guides the water supply connection portion 87 so as to be easily inserted into the press-in hole 441a.

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

The water supply counter portion 441 may be disposed at a position corresponding to the water supply connection portion 87. The water supply counter 441 may be located on an imaginary central vertical plane. The water supply counter part 441 may be disposed at the body mounting part 43. Specifically, the water supply counter portion 441 may be disposed at the center of the upper surface portion 431 of the center mounting portion 43 c.

The upper surface of the water supply counter part 441 may penetrate the upper surface of the module seating part and be exposed to the outside of the module seating part. An upper end of the water supply counter portion 441 (an upper end of the expansion portion 441 c) may be exposed to the upper surface portion 431 of the body mounting portion 43. The upper end of the water supply counter part 441 (the upper end of the expanding part 441 c) may have the same height as the upper surface part 431 of the body seating part 43 or a lower height.

The water supply counter part 441 may be made of a material having an elastic force. For example, it may include a rubber material or a resin material.

As another example, the upper end (the expansion portion 441 c) of the water supply counter portion 441 may be formed by being recessed downward from the surface of the body mounting portion 43.

The left water supply distributing pipe 443a is connected to the water supply corresponding portion 441 and supplies water of the water supply corresponding portion 441 to the water supply space Sw of the left rotary plate. One end of the left water supply distribution pipe 443a is connected to the press-in hole 441a of the water supply counter portion 441, and the other end 444a (spout) of the left water supply distribution pipe 443a is located in the water supply space Sw. The water discharged from the discharge port 444a of the left water supply distribution pipe 443a falls into the water supply space Sw. The outlet 444a of the left water supply distributing pipe 443a is arranged to vertically overlap with the water supply space Sw of the left rotary plate 412 a.

The right water supply distributing pipe 443b is connected to the water supply corresponding portion 441 and supplies water of the water supply corresponding portion 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 counter portion 441, and the other end (spout) 444b of the right water supply distribution pipe 443b is located in the water supply space Sw. The water discharged from the discharge port 444b of the right water supply distribution pipe 443b falls into the water supply space Sw. The spouting port 444b of the right water supply distribution pipe 443b is arranged to vertically overlap with the water supply space Sw of the right rotary plate 412 b.

Specifically, the spout 444a of the left water supply dispensing tube 443a and the spout 444b of the right water supply dispensing tube 443b are coupled to the fixing holes 426a and 426b formed in the knock shaft support part 426, respectively. The spouting port 444a of the left water distribution pipe 443a and the spouting port 444b of the right water distribution pipe 443b communicate with the lower portion of the knock shaft support portion 426 through the fixing holes 426a and 426 b.

The left water supply distribution pipe 443a and the left water supply distribution pipe 443a may be directly connected to the water supply counter portion 441, but may be connected through the branch pipe 442. The branch pipe 442 is connected to the press-in hole 441a, the left water supply distribution pipe 443a, and the right water supply distribution pipe 443b as a T-pipe.

The left and right water distribution pipes 443a and 443b are received inside the module case 42.

The length of the left water distribution pipe 443a may be the same as the length of the right water distribution pipe 443b to supply water equally to the left and right cloth. Where identical means having similarity in a range including a certain degree of error, not exactly identical in intended mathematical meaning. Preferably, the error ranges from 0% to 2%.

The inner diameter of the left water distribution pipe 443a may be the same as that of the right water distribution pipe to uniformly distribute water. Preferably, the length of the left water distribution pipe 443a may be the same as the length of the right water distribution pipe, and the inner diameter of the left water distribution pipe 443a may be the same as the inner diameter of the right water distribution pipe.

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

Referring to fig. 28, a position where the rotation shaft Osa of the left rotary mop 41a and the lower side of the left rotary mop 41a intersect is shown, and a position where the rotation shaft Osb of the right rotary mop 41b and the lower side of the right rotary mop 41b intersect is shown. The clockwise direction of the rotation direction of the left-side rotary mop 41a is defined as a first forward direction w1f and the counterclockwise direction is defined as a first reverse direction w1r when viewed from the lower side. The counterclockwise direction in the rotation direction of the right-side rotary mop 41b is defined as a second forward direction w2f and the clockwise direction is defined as a second reverse direction w2r when viewed from the lower side. In addition, when viewed from the lower side, "an acute angle formed by the inclination direction of the lower side surfaces of the left rotary mops 41a, 40a and the left-right direction axis" and "an acute angle formed by the inclination direction of the lower side surfaces of the right rotary mops 41b, 40b and the left-right direction axis" are defined as inclination direction angles Ag1a, ag1b. The inclination angle Ag1a of the left rotary mops 41a, 40a and the inclination angle Ag1b of the right rotary mops 41b, 40b may be the same. Referring to fig. 6, the "angle formed by the lower side surfaces I of the left rotary mops 41a and 40a with respect to the virtual horizontal plane H" and the "angle formed by the lower side surfaces I of the left rotary mops 41a and 40a with respect to the virtual horizontal plane H" are defined as inclination angles Ag2a and Ag2b.

When the left rotary mop 41a rotates, a position Pla of the lower side surface of the left rotary mop 41a, which receives the greatest friction force from the floor, is disposed on the left side of the rotation center Osa of the left rotary mop 41 a. By transmitting a greater load to the ground at the position Pla in the lower side of the left-hand rotary mop 41a than at other positions, the maximum friction force can be generated at the position Pla. In the present embodiment, the position Pla is disposed forward and leftward of the rotation center Osa, but in another embodiment, the position Pla may be disposed right left or rearward with respect to the rotation center Osa.

When the right rotary mop 41b rotates, a position Plb, which receives the greatest friction force from the floor surface, of the lower side surface of the right rotary mop 41b is disposed on the right side of the rotation center Osb of the right rotary mop 41 b. By transferring a greater load to the floor at location Plb in the underside of the right hand rotary mop 41b than at other locations, maximum friction can be created at location Plb. In the present embodiment, the position Plb is disposed forward of the right side of the rotation center Osb, but in another embodiment, the position Plb may be disposed right side or rearward of the right side with reference to the rotation center Osb.

The lower side surface of the left rotary mop 41a and the lower side surface of the right rotary mop 41b are disposed obliquely, respectively. The inclination angle Ag2a of the left rotary mop 41a and the inclination angles Ag2a, ag2b of the right rotary mop 41b form an acute angle. The inclination angles Ag2a, ag2b may be set so as to be small, so that the positions where the frictional force is maximized are at the positions Pla, plb, and so that the entire lower surface area of the cloth section 411 can be brought into contact with the floor surface in accordance with the rotation operation of the left-hand rotary mop 41a and the right-hand rotary mop 41 b.

The lower side surface of the left rotary mop 41a is formed to be inclined downward in the left direction as a whole. The lower side surface of the right rotary mop 41b is formed to be inclined downward in the right direction as a whole. Referring to fig. 6, the lower side of the left rotary mop 41a forms a lowest point Pla at the left side thereof. The lower side of the left rotary mop 41a forms the highest point phaat the right side thereof. The lower side of the right rotary mop 41b forms a lowest point Plb at the right side thereof. The lower side of the right rotary mop 41b forms a highest point Phb at the left side thereof.

According to an embodiment, the inclination angles Ag1a, ag1b may be 0 degrees. In addition, according to the embodiment, when viewed from the lower side, the inclination direction of the lower side surfaces of the left rotary mops 41a, 120a can be made to form the inclination direction angle Ag1a in the clockwise direction with respect to the left-right direction axis, and the inclination direction of the lower side surfaces of the right rotary mops 41b, 120b can be made to form the inclination direction angle Ag1b in the counterclockwise direction with respect to the left-right direction axis. In the present embodiment, the inclination direction of the lower side surfaces of the left rotary mops 41a, 120a forms an inclination direction angle Ag1a in the counterclockwise direction with respect to the left-right direction axis, and the inclination direction of the lower side surfaces of the right rotary mops 41b, 120b forms an inclination direction angle Ag1b in the clockwise direction with respect to the left-right direction axis, as viewed from the lower side.

The movement of the cleaner 1 may be achieved by friction with the floor surface generated by the mop module 40.

The mop module 40 may generate a "forward moving friction force" that moves the main body 30 forward, or a "rearward moving friction force" that moves the main body rearward. The mop module 40 may generate a "left moment friction force" that rotates the main body 30 left, or a "right moment friction force" that rotates the main body 30 right. The mop module 40 may generate a friction force that combines any one of the front moving friction force and the rear moving friction force with any one of the left moment friction force and the right moment friction force.

In order to generate a forward movement friction force of the mop module 40, the left rotary mop 41a may be rotated in a first forward direction w1f by a predetermined rotation number (rpm) R1, and the right rotary mop 41b may be rotated in a second forward direction w2f by a rotation number (rpm) R1.

In order to generate a rear movement friction force of the mop module 40, the left rotary mop 41a may be rotated in a first reverse direction w1R by a predetermined rotation number (rpm) R2, and the right rotary mop 41b may be rotated in a second reverse direction w2R by a rotation number (rpm) R2.

In order to generate a right moment friction force to the mop module 40, the left rotary mop 41a may be rotated at a predetermined rotation number (rpm) R3 in the first forward direction w1f, and the right rotary mop 41b, i may be rotated in the second reverse direction w2R, or ii may be stopped from rotating, or iii may be rotated at a rotation number (rpm) R4 smaller than the rotation number (rpm) R3 in the second forward direction w2 f.

In order to generate a left-hand torque friction force in the mop module 40, the right-hand rotary mop 41b may be rotated in the second forward direction w2f by a predetermined number of rotations (rpm) R5, and the left-hand rotary mops 41a, i may be rotated in the first reverse direction w1R, or ii may be stopped from rotating, or iii may be rotated in the first forward direction w1f by a number of rotations (rpm) R6 smaller than the number of rotations (rpm) R5.

Next, an arrangement of each structure for improving the friction force of the rotary mop 41 disposed on the left and right sides, improving the stability in the left and right directions and the front and rear directions, and stably traveling irrespective of the water level in the water tank 81 will be described.

Referring to fig. 28 and 29, a relatively heavy mop motor 61 and a battery Bt may be disposed at an upper portion of the rotary mop 41 to increase friction of the rotary mop 41 and to restrict the mobile robot from being eccentric in one direction when rotating.

Specifically, the left-side mop motor 61a may be disposed on the upper side of the left-side rotary mop 41a, and the right-side mop motor 61b may be disposed on the upper side of the right-side rotary mop 41 b. That is, at least a portion of the left mop motor 61a may vertically overlap the left rotary mop 41 a. Preferably, the entire left mop motor 61a may vertically overlap with the left rotary mop 41 a. At least a portion of the right mop motor 61b may vertically overlap the right rotary mop 41 b. Preferably, the entire right mop motor 61b may vertically overlap with the right rotary mop 41 b.

More specifically, the left and right mop motors 61a and 61b may be configured to vertically overlap with an imaginary center horizontal line HL connecting the rotation shaft Osa of the left and right rotary mops 41a and Osb of the right rotary mop 41 b. Preferably, the center of gravity Mca of the left-side mop motor 61a and the center of gravity MCb of the right-side mop motor 61b may be configured to vertically overlap with an imaginary center horizontal line HL connecting the rotation shaft Osa of the left-side rotary mop 41a and the rotation shaft Osb of the right-side rotary mop 41 b. Alternatively, the geometric center of the left-side mop motor 61a and the geometric center of the right-side mop motor 61b may be configured to vertically overlap with an imaginary center horizontal line HL connecting the rotation shaft Osa of the left-side rotary mop 41a and the rotation shaft Osb of the right-side rotary mop 41 b. Of course, the left mop motor 61a and the right mop motor 61b are symmetrically arranged with respect to the center vertical line Po.

The center of gravity Mca of the left mop motor 61a and the center of gravity MCb of the right mop motor 61b are arranged symmetrically left and right to each other without being separated from the upper side of each rotary mop 41, so that the running performance and left and right balance can be maintained while enhancing the friction force of the rotary mop 41.

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

Since the water tank 81 is disposed further rearward than the center horizontal line HL and the amount of water in the water tank 81 is variable, the left mop motor 61a can be biased to the left from the left rotation axis Osa to maintain stable front-rear balance regardless of the water level of the water tank 81. The left mop motor 61a is disposed so as to be biased in the left forward direction from the left 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 may be offset from the left rotation axis Osa in the left direction, or the geometric center of the left mop motor 61a or the center of gravity Mca of the left mop motor 61a may be offset from the left rotation axis Osa in the left front direction.

The right mop motor 61b may be biased in a rightward direction from the right rotation shaft Osb. The right mop motor 61b may be biased in a rightward front direction from the right rotation shaft Osb. Preferably, the geometric center of the right mop motor 61b or the center of gravity MCb of the right mop motor 61b may be offset from the right rotation shaft Osb toward the right, or the geometric center of the right mop motor 61b or the center of gravity MCb of the right mop motor 61b may be offset from the right rotation shaft Osb toward the right front.

Since the left-side mop motor 61a and the right-side mop motor 61b apply pressure at positions biased to the front outside from the center of each rotary mop 41, the pressure is concentrated on the front outside of each rotary mop 41, so that the traveling performance can be improved by the rotational force of the rotary mop 41.

The left rotation shaft Osa and the right rotation shaft Osb are disposed rearward of the center of the main body. The center horizontal line HL is disposed further rearward than the geometric center Tc of the main body 30 and the center of gravity WC of the mobile robot. The left rotation axis Osa and the right rotation axis Osb are disposed at the same distance from the center vertical plane Po.

The left driving joint 65a may be disposed on the upper side of the left rotary mop 41a, and the right driving joint 65b may be disposed on the upper side of the right rotary mop 41 b.

In the present embodiment, the battery Bt is provided singly. At least a part of the battery Bt is disposed above the left rotary mop 41a and the right rotary mop 41 b. The relatively heavy battery Bt is disposed on the rotary mop 41, so that the friction of the rotary mop 41 can be increased, and the eccentricity caused by the rotation of the mobile robot can be reduced.

Specifically, a left portion of the battery Bt may be configured to vertically overlap the left rotary mop 41a, and a right portion of the battery Bt may be configured to vertically overlap the right rotary mop 41 b. The battery Bt may be configured to vertically overlap the center horizontal plane HL, and may be configured to vertically overlap the center 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 the center vertical plane Po and may be disposed on the center horizontal line HL. Of course, the center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed on the center vertical plane Po, and may be disposed further forward than the center horizontal line HL, and may be disposed further rearward than the geometric center Tc of the main body 30.

The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed further forward than the center of gravity PC of the water tank 81 or the water tank 81. The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be located further rearward than the center of gravity SC of the cleaning module 2000.

Since one battery Bt is disposed in the middle between the left and right rotary mops 41a and 41b and on the center horizontal line HL and the center vertical plane Po, the heavier battery Bt stabilizes the center and applies weight to the rotary mop 41 when the rotary mop 41 rotates, thereby increasing the friction of the rotary mop 41.

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

At least a part of the water tank 81 is disposed above the left rotary mop 41a and the right rotary mop 41 b. The water tank 81 is disposed further rearward than the center horizontal line HL, and may be disposed to vertically overlap with the center vertical plane 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 the center vertical plane Po, and may be located further forward than the center 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 center vertical plane Po, and may be disposed further rearward than the center horizontal line HL. Here, the position where the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 is disposed further rearward than the center horizontal line HL means that the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 is disposed vertically overlapping with one area that is biased further rearward than the center horizontal line HL. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 is configured to vertically overlap with the main body 30 without deviating from the main body 30.

The center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed further rearward than 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 further rearward than the center of gravity SC of the cleaning module 2000.

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

The cleaning module 2000 may be disposed in a position of the main body in front of the rotary mop 41, the battery Bt, the water tank 81, the mop driving unit 60, the right mop motor 61b, and the left mop motor 61 a.

The center of gravity SC of the cleaning module 2000 or the geometric center of the cleaning module 2000 may be located on the center vertical plane Po and may be disposed further forward than the geometric center Tc of the main body 30. The body 30 may be circular in shape and the base 32 may be circular in shape when viewed from above. When the body 30 is circular, the geometric center Tc of the body 30 represents the center of the circle. Specifically, the main body 30 has a circular shape with a radius error of 3% or less when viewed from the top.

Specifically, the center of gravity SC of the cleaning module 2000 or the geometric center of the cleaning module 2000 may be located on the center vertical plane Po, and may be disposed further forward than the center of gravity BC of the battery Bt, the center of gravity PC of the water tank 81, the center of gravity MCa of the left mop motor 61a, the center of gravity MCb of the right mop motor 61b, and the center of gravity WC of the mobile robot.

Preferably, the center of gravity SC of the cleaning module 2000 or the geometric center of the cleaning module 2000 is located more forward than the center horizontal line HL and the front end of the rotary mop 41.

The cleaning module 2000 may include the dust collecting housing 2100 having the storage space 2104, the agitator 2200, and the cleaning motor 2330 as described above.

The agitator 2200 is rotatably provided to the dust collecting housing 2100 and is disposed at a position further rearward than the storage space 2104, so that the agitator 2200 does not protrude from the main body to the outside and can be maintained to have an appropriate length capable of covering the left and right rotary mops 41b, 41.

The rotation axis of the agitator 2200 is arranged in parallel with the center horizontal line HL, and the center of the agitator 2200 is located on the imaginary center vertical plane Po. Accordingly, the large foreign substances flowing into the rotary mop 41 are effectively removed by the agitator 2200. The rotation axis of the agitator 2200 is located more forward than the geometric center Tc of the main body 30. Preferably, the length of the agitator 2200 is longer than the distance from the left-hand rotation axis Osa to the right-hand rotation axis Osb. The rotation shaft of the agitator 2200 may be disposed adjacent to the front end of the rotary mop 41.

Left and right casters 58a and 58b contacting the ground may be further included at both ends of the dust collecting housing 2100. The left and right casters 58a and 58b contact and roll with the ground and can be moved up and down by elastic force. The left and right casters 58a and 58b support the cleaning module 2000 and support a portion of the main body. Left caster 58a and right caster 58b protrude from the lower end of dust collection housing 2100 toward the lower portion.

The left caster 58a and the right caster 58b are arranged on a line parallel to the center horizontal line HL, and may be arranged further forward than the center horizontal line HL and the agitator 2200. An imaginary line connecting the left caster 58a and the right caster 58b may be disposed further forward than the center horizontal line HL, the agitator 2200, and the geometric center Tc of the main body 30. Of course, the left caster 58a and the right caster 58b may be symmetrically disposed about the center vertical plane Po. The left and right casters 58a, 58b may be configured to be spaced the same distance from the center vertical plane Po.

In a virtual quadrangle in which the left caster 58a, the right caster 58b, the right rotation shaft Osb, and the left rotation shaft Osa are connected in this order, the geometric center Tc of the main body 30, the center of gravity WC of the mobile robot, the center of gravity SC of the cleaning module 2000, and the center of gravity BC of the battery Bt are arranged, and the battery Bt, the left rotation shaft Osa, and the right rotation shaft Osb, which are relatively heavy, are arranged close to the center horizontal line HL, whereby the main load of the mobile robot is applied to the rotary mop 41, and the remaining auxiliary load is applied to the left caster 58a and the right caster 58b.

When the cleaning motor 2330 is located on the center vertical plane Po or the cleaning motor 2330 is disposed on one side with respect to the center vertical plane Po, the pump 85 is disposed on the other side (see fig. 19), and thus the total center of gravity of the cleaning motor 2330 and the pump 85 can be disposed on the center vertical plane Po.

Therefore, the center of gravity of the mobile robot is kept biased forward irrespective of the water level of the water tank 81 disposed at the rear, and therefore, the friction force of the rotary mop 41 is increased, and the center of gravity WC of the mobile robot can be positioned close to the geometric center Tc of the main body 30, thereby enabling stable running.

The center of gravity COC of the controller Co or the geometric center of the controller Co may be disposed further forward than the geometric center Tc of the main body 30 and the center horizontal line HL. The controller Co may be configured such that at least 50% or more thereof vertically overlaps the cleaning module 2000.

The center of gravity WC of the mobile robot is located on the center vertical plane Po, forward of the center horizontal line HL, forward of the center of gravity BC of the battery Bt, forward of the center of gravity PC of the water tank 81, rearward of the center of gravity SC of the cleaning module 2000, and rearward of the left caster 58a and the right caster 58 b.

The center of gravity WC of the mobile robot is located on the center vertical plane Po by arranging the respective structures symmetrically with respect to the center vertical plane Po or considering the weight arrangement of each other. When the center of gravity WC of the mobile robot is located on the center vertical plane Po, there is an advantage in that stability in the left-right direction is improved.

A portion of each rotary mop 41 may vertically overlap with the main body 30. Preferably, the ratio of the area where the left or right rotary mop 41a or 41b vertically overlaps the main body 30 is 85% to 95% of each rotary mop. Specifically, an angle (not shown) between a line (not shown) connecting the right side end of the main body and the right side end of the right side rotary mop 41b and a vertical line (not shown) connecting the right side end of the main body in parallel with the center vertical line Po may be 0 degrees to 5 degrees.

Preferably, the length of the region of each rotary mop 41 exposed to the outside of the main body is 1/2 to 1/7 of the radius of each rotary mop 41. The length of the region of each rotary mop 41 exposed to the outside of the main body may be a distance from one end of each rotary mop 41 exposed to the outside of the main body to the rotation axis of each rotary mop 41.

The distance between the end of the region exposed to the outside of the body of each rotary mop 41 and the geometric center Tc may be greater than the average radius of the body.

In consideration of the relationship with the cleaning module, the exposed position of each rotary mop is between the side and rear of the main body 30. That is, when the main body is viewed from the lower side and the quadrants are sequentially arranged in the clockwise direction, the exposed position of each rotary mop may be 2/4 quadrant or 3/4 quadrant of the main body 30.

Claims

1. A mobile robot, wherein,

comprising the following steps:

a main body;

a mop module including a left rotating plate rotatably provided to the main body and having a water supply space, and a right rotating plate rotatably provided to the main body and having a water supply space;

a water supply distribution module for distributing and supplying water to the water supply space of the left rotary plate and the water supply space of the right rotary plate; and

a water supply module for supplying water to the water supply distribution module,

the water supply distribution module includes:

a water supply counter part connected with the water supply module and receiving water;

a left water supply distribution pipe connected to the water supply counter portion, for supplying water from the water supply counter portion to the water supply space of the left rotary plate; and

a right water supply distribution pipe connected to the water supply counter portion for supplying water from the water supply counter portion to the water supply space of the right rotary plate,

the length of the left water supply distribution pipe is the same as the length of the right water supply distribution pipe.

2. The mobile robot according to claim 1, wherein,

the inner diameter of the left water supply distribution pipe is the same as the inner diameter of the right water supply distribution pipe.

3. The mobile robot according to claim 1, wherein,

the water supply module is arranged on the main body.

4. The mobile robot according to claim 3, wherein,

the water supply module includes:

a water tank for storing water;

a water supply connection part coupled with the water supply counter part; and

and a supply pipe connecting the water tank and the water supply connection part.

5. The mobile robot according to claim 4, wherein,

the water supply connection part has a pipe shape protruding from an outer surface of the main body.

6. The mobile robot according to claim 5, wherein,

the water supply counter part includes:

and one end of the water supply connecting part is pressed into the pressing hole.

7. The mobile robot according to claim 1, wherein,

the left water supply distribution pipe and the right water supply distribution pipe are symmetrically arranged with respect to an imaginary center vertical plane.

8. The mobile robot according to claim 1, wherein,

the water supply counter part is positioned on an imaginary central vertical plane.

9. The mobile robot according to claim 4, wherein,

the water supply connection is located on an imaginary central vertical plane.

10. The mobile robot according to claim 1, wherein,

The mop module is combined with or separated from the main body, the mop module further comprises a main body placement part protruding to the upper side of the mop module,

the main body includes a module seating portion recessed upward to be engaged with the main body seating portion.

11. The mobile robot of claim 10, wherein,

the water supply counter-part is located at the module setting part.

12. The mobile robot of claim 11, wherein,

the upper surface of the water supply counter part penetrates the upper surface of the module setting part and is exposed to the outside of the module setting part.

13. The mobile robot of claim 10, wherein,

the mop module further includes:

a module case, in which the main body mounting part is formed on an upper surface of the module case, a part of the left rotary plate and a part of the right rotary plate are accommodated inside the module case,

the left water distribution pipe and the right water distribution pipe are accommodated inside the module case.

14. The mobile robot according to claim 1, wherein,

the mop module further includes:

a swivel shaft connected to the upper side of the left rotary plate and the upper side of the right rotary plate;

A water supply accommodating portion surrounding a periphery of each swivel shaft and spaced apart from the swivel shaft to form a water supply space; and

and a water supply hole formed through each of the rotary plates and connecting the water supply space and the lower side of the rotary plate.

15. The mobile robot of claim 14, wherein,

the upper side of the water supply space is opened,

water flows into the water supply space through an upper side of the water supply space.

16. The mobile robot of claim 15, wherein,

the spouting port of the left water supply distribution pipe is disposed to vertically overlap with the water supply space of the left rotary plate,

the spouting port of the right water supply distribution pipe is disposed to vertically overlap the water supply space of the right rotating plate.

17. The mobile robot of claim 14, wherein,

the plurality of water supply holes are arranged at predetermined intervals along the circumference of the swivel shaft.

18. The mobile robot according to claim 1, wherein,

further comprises:

and a mop motor for providing a rotation force to the left rotating plate and the right rotating plate.

19. The mobile robot according to claim 1, wherein,

The lower surface of the left rotary plate is formed to be inclined downward in the left front direction, and the lower surface of the right rotary plate is formed to be inclined downward in the right front direction.

20. A mobile robot, comprising:

a main body formed with a module mounting part;

a mop module including a left rotary plate rotatably provided to the main body and having a water supply space, a right rotary plate rotatably provided to the main body and having a water supply space, and a module housing accommodating a portion of the left rotary plate and a portion of the right rotary plate and having a main body seating portion engaged with the module seating portion;

the water supply distribution module includes:

a water supply counter part connected to the water supply module and receiving water, and located at the main body installation part;

the water supply module includes:

a water tank for storing water;

a water supply connection part correspondingly combined with the water supply corresponding part and positioned at the module placement part; and