EP4005751A1 - Mobile robot - Google Patents
Mobile robot Download PDFInfo
- Publication number
- EP4005751A1 EP4005751A1 EP20848058.2A EP20848058A EP4005751A1 EP 4005751 A1 EP4005751 A1 EP 4005751A1 EP 20848058 A EP20848058 A EP 20848058A EP 4005751 A1 EP4005751 A1 EP 4005751A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mop
- disposed
- module
- base
- water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
- A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Definitions
- the present disclosure relates to a mobile robot mopping a floor.
- a mobile robot is a device that cleans a floor by inhaling a foreign material such as a dust on the floor or wiping a foreign material on the floor. Recently, a mobile robot capable of mopping a floor has been developed. In addition, a mobile robot is a device that cleans while driving or traveling on its own.
- a mobile robot capable of moving by a mop surface is known.
- the mobile robot is provided with a first rotating member and a second rotating member of fixing a pair of mop surfaces arranged in a left-right direction and rotating on axes in an up-down direction or a vertical direction.
- the mobile robot according to the conventional art moves as the first rotating member and the second rotating member rotate in a state that only the mop surfaces fixed to the first rotating member and the second rotating member are in contact with the floor.
- the mobile robot for cleaning when it may be shocked by structures in the house or other obstacles, and may include a bumper structure to alleviate the impact. Inside the structure of the bumper, an impact detection sensor for detecting an impact is included to detect the impact in each direction.
- a bumper structure in which a separate bumper is disposed on each side in the moving direction to absorb an impact and prevent an error in obstacle rotation.
- the body is separated into a case and a bumper, the movement of the bumper is guided to the guide of the case, and the bumper is returned to its original position by an elastic member such as a spring.
- the prior bumper structure requires the use of the spring and the guide, etc., it has a complicated structure, and even with this structure, the bumper is not elastically supported on the body, and there is also a problem that the ability to return to the original position is reduced.
- the first object of the present disclosure is to provide a mobile robot having excellent origin return ability of the case regardless of the direction of the force applied from the outside while the base elastically supports the weight of the case in the bumper structure having the entire outer surface structure as a detecting range.
- the second object of the present disclosure is to provide the mobile robot capable of improving detection sensitivity and maintaining rigidity of the structure in the bumper structure having the entire outer surface structure as a detecting range.
- the third object of the present disclosure is to provide the mobile robot that can easily manufacture the bumper structure having the entire outer surface structure as the detecting range and is inexpensive to manufacture.
- the fourth object of the present disclosure is to solve this problem, and to improve the stability of the mobile robot in the left-right direction and the front-rear direction.
- the fifth object of the present disclosure is to solve this problem.
- the sixth object of the present disclosure is to provide a device capable of performing dry cleaning and wet cleaning in a complex manner, to perform clean and efficient cleaning.
- Another object of the present disclosure is to increase the friction between the mop and the bottom surface regardless of the water level change in the water tank for effective mopping and travelling of the robot cleaner, and to enable pattern driving capable of thorough cleaning through accurate travelling.
- the present disclosure features a push supporter that provides elastic restoring force to the case at least in the upper direction of the base and the outer direction of the base.
- the robot cleaner comprises a mop module including a left rotating plate to which a mop is attached to the bottom surface and a right rotating plate to which the mop is attached to the bottom surface; a base on which the mop module is installed; a case disposed to cover at least an upper portion and a part of a side of the base; and a plurality of push supporters supporting the case spaced apart from the base, wherein each push supporter provides the case with the elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- each push supporter One end of each push supporter is connected to the base and the other end of each push supporter is connected to the case.
- each push supporter One end of each push supporter is connected to the base, and some areas of the case are supported at the other end of each push supporter.
- the base includes a supporter groove into which one end of the push supporter is inserted.
- the supporter groove is opened upward.
- a corresponding support portion is formed on a side of the case, has a thickness greater than that of other portions of the side of the case, and provides a space where the other end of the push supporter is located.
- the plurality of push supporters are disposed on a virtual circle centered on a center of the base, and the separation distances between the push supporters are the same.
- the push supporter includes a leaf spring.
- the push supporter includes, a connecting plate connected to the base; a support plate supporting the case; and an elastic plate having one end connected to the connecting plate and the other end connected to the support plate to provide elastic force.
- the elastic plate is convex upward.
- the elastic plate includes a first portion of which one end is connected to the connecting plate; a second portion of which one end is connected to the support plate; and a third portion connecting the other end of the first portion and the other end of the second portion, and wherein the other end of the first portion is positioned higher than one end of the first portion, and the other end of the second portion is positioned higher than one end of the second portion.
- the slope of the first portion is constant or increases in one direction.
- the slope of the second portion is constant or increases in one direction.
- the third portion has an inflection point.
- the second portion is inclined with a side of the case.
- the virtual line connecting the connecting plate and the support plate meets the center of the base.
- the mobile robot further comprises a collection module having a collection part disposed at a position spaced forward from the mop module and forming a collection space for storing foreign matter, a sweeping part rotating to introduce the foreign matter into the collection space, and a sweeping motor providing a driving force to the sweeping part.
- the collection module may be installed on the base.
- the lower surface of the left rotating plate may form a downward slope in the left front direction
- the lower surface of the right rotating plate may form a downward slope in the right front direction
- the mobile robot comprises a base on which a moving means is installed; a case disposed to cover at least an upper portion and a part of side of the base; and a plurality of push supporters supporting the case spaced apart from the base, wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- the mobile robot according to the present disclosure comprises a power device providing power required for cleaning; a base on which the power device is installed; a case disposed to cover at least an upper portion and a part of side of the base; and a plurality of push supporters supporting the case spaced apart from the base, wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- the power device includes a motor that provides power to a agitator; and at least one of a mop motor that provides power to a rotating plate.
- the origin return ability is excellent regardless of the direction of the force applied from the outside, and the case can be supported on the base while maintaining the rigidity of the body since the case is spaced apart from the base with a V-shaped leaf spring, the case has the excellent origin return ability in the horizontal direction and the upper direction.
- the present disclosure has the advantage of being able to effectively transmit the load of a relatively heavy case to the base by a plurality of radially arranged push supports to achieve high sensitivity.
- a plurality of leaf spring structures are radially arranged to easily fabricate the bumper structure having an entire outer surface as a detecting range (a structure in which the case surrounds the entire outer surface), there is an advantage that the cost is reduced by a simple structure, and due to the characteristics of the wet cleaner performing mopping, the bumper covers the entire side of the base, thereby easily detecting a carpet, etc. having a low height, thereby there is an advantage that can limit the carpet travelling of the wet cleaner.
- the present disclosure can implement the mobile robot that performs mopping while simultaneously collecting relatively large foreign substances.
- the present disclosure has an effect of increasing the efficiency of mopping by supporting the mobile robot with the mop module.
- the virtual central vertical plane which is a reference plane in which a pair of spin-mops are symmetrically symmetrical
- a pair of collection parts containing foreign substances are provided to be symmetrically left and right, thereby driving control by a pair of left and right spin-mops can be accurately implemented, and the unexpected eccentric movement can be prevented.
- a direction parallel to an imaginary line connecting a central axis of a left spin mop and a central axis of a right spin mop may be defined as a left-right direction.
- a direction perpendicular to the left-right direction and parallel to the central axes of the spin mops or has an error angle within 5 degrees with the central axes of the spin mops may be defined as an up-down direction or a vertical direction.
- a direction perpendicular to each of the left-right direction and the up-down direction may be defined as a front-back direction or a longitudinal direction.
- a term of 'first', 'second', 'third', or so on in front of a component mentioned below is only to avoid confusion between the component being referred to and other component, and does not relate to an order, an importance, or a master-servant relationship between components.
- an embodiment only having a second component without a first component may be possible.
- a term of 'a mop' mentioned hereinafter may have any of materials such as fabric or paper, and may be a multi-use product being able to be used repeatedly through washing or a disposable product.
- the present disclosure may be applied to a mobile robot manually moved by a user or a robot cleaner traveling or driving on its own.
- a robot cleaner traveling or driving on its own.
- a cleaner 1 may include a body 30 having a controller.
- the cleaner 1 may include a mop module 40 to mop a floor (a surface to be cleaned) while being in contact with the floor.
- the cleaner 1 may include a sweep module 2000 provided to collect a foreign material on the floor.
- the mop module 40 may be disposed at a lower side of the body 30 and may support the body 30.
- the sweep module 2000 may be disposed at the lower side of the body 30 and may support the body 30.
- the body 30 may be supported by the mop module 40 and the sweep module 2000.
- the body 30 may form an appearance or an exterior.
- the body 30 may be arranged to connect the mop module 40 and the sweep module 2000.
- the mop module 40 may form an appearance or an exterior.
- the mop module 40 is disposed at the lower side of the body 30.
- the mop module 40 is disposed at a rear side of the sweep module 2000.
- the mop module 40 provides driving force for a movement of the cleaner 1.
- the mop module 40 may be preferably disposed at the rear side of the cleaner 1.
- the mop module 40 may be provided with at least one mop portion 411 to mop the floor while rotating.
- the mop module 40 may include at least one spin mop 41, and the spin mop 41 may rotate in a clockwise direction or a counterclockwise direction when viewed from an upper side.
- the spin mop 41 may be in contact with the floor.
- the mop module 40 may include a pair of spin mops 41a and 41b.
- the pair of spin mops 41a and 41b may rotate in a clockwise direction or a counterclockwise direction when viewed from an upper side, and may mop the floor through rotation.
- a spin mop disposed at a left side may be referred to as a left spin mop 41a
- a spin mop disposed at a right side may be defined as a right spin mop 41b.
- Each of the left spin mop 41a and the right spin mop 41b may be rotated with respect to its rotation axis.
- the rotation axis may be arranged in an up-down direction.
- the left spin mop 41a and the right spin mop 41b may be rotated independently of each other.
- Each of the left spin mop 41a and the right spin mop 41b may include a rotating plate 412, the mop portion 411, and a spin shaft 414.
- Each of the left spin mop 41a and the right spin mop 41b may include a water container (a water receiving portion) 413.
- the sweep module 2000 may form an appearance or an exterior.
- the sweep module 2000 may be disposed at a front side of the mop module 40.
- the sweep module 2000 may preferably disposed at the front side of the cleaner 1 in a traveling direction.
- the sweep module 2000 may be spaced apart from the mop module 40.
- the sweep module 2000 may disposed at the front side of the mop module 40 and be in contact with the floor.
- the sweep module 2000 collects the foreign material on the floor.
- the sweep module 2000 may be in contact with the floor and may collect the foreign material at the front side of the sweep module 2000 to an inside when the cleaner 1 moves.
- the sweep module 2000 may be disposed at a lower side of the body 30.
- a width of the sweep module 2000 in a left-right direction may be smaller than a width of the mop module 40 in the left-right direction.
- the body 30 may include a case 31 forming an appearance or an exterior and a base 32 disposed at a lower side of the case 31.
- the case 31 may form a side surface and an upper surface of the body 30.
- the base 32 may form a bottom surface of the body 30.
- the case 31 may have a cylindrical shape with an open bottom surface. When viewed in a top view, an overall shape of the case 31 may be a circular shape. Since the case 31 has a plane shape of a circular shape, a rotation radius when rotating can be minimized.
- the case 31 may include an upper wall 311 having an overall shape in a circular shape, and a side wall 312 formed integrally with the upper wall 311 and extending downward from an edge of the upper wall 311.
- a part of the sidewall 312 may be open.
- An opened portion of the side wall 312 may be defined as a water-tank insertion opening (a water-tank insertion hole or a water-tank insertion portion) 313, and a water tank 81 may be detachably installed through the water-tank insertion opening 313.
- the water-tank insertion opening 313 may be disposed at a rear side based on the traveling direction of the cleaner. Since the water tank 81 is inserted through the water-tank insertion opening 313, the water-tank insertion opening 313 may be preferably disposed close to the mop module 40.
- the mop module 40 may be coupled to the base 32.
- the sweep module 2000 may be coupled to the base 32.
- a controller Co and a battery Bt may be disposed in an inner space formed by the case 31 and the base 32.
- a mop driving unit (a mop driver) 60 may be disposed on the body 30.
- a water supply module may be disposed at the body 30.
- the base 32 may include a base body 321, a base guard 322, and an insertion hole 323.
- the base body 321 may cover the opened bottom surface of the case 31.
- the base guard 322 may be formed along an outer edge of the base body 321 and protrude downward from the edge of the base body 321.
- the insertion hole 323 may penetrate through the base body 321 in an up-down direction, and the sweep module 2000 may be detachably inserted into the insertion hole 323.
- the front portion of the body 30 may protrude below the rear portion of the body 30 to which each spin mop 41 is mounted.
- the height of the bottom of the front portion of the body 30 is positioned higher than the height of the bottom of each spin mop 41 (the bottom of the mop portion 411), and is preferably positioned lower than the top of the rotating plate 412. That is, the rear portion of the body 30 on which the spin mop 41 is disposed has a shape recessed toward the upper side of the lower surface compared to other portions.
- a bumper (not shown) for detecting an external impact may be disposed on the front portion of the body 30.
- the bumper formed at the same height as the lower surface of the body 30 and disposed at the lower end of the front portion of the case 31 may be included.
- the bumper has a semicircular band shape and is disposed along the outside of the front portion of the case 31. Both ends of the bumper are not perpendicular to the lower end of the rear portion of the body 30 and have a slope.
- the bumper When viewed from the front, the bumper covers at least a portion of each spin mop 41 and exposes at least a portion of each spin mop 41. Specifically, when viewed from the front, the bumper exposes at least a portion of both ends of each spin mop 41. Preferably, when viewed from the front, at least a portion of both ends of each spin mop 41 is exposed to the side of both ends of the bumper. Here, it is preferable that the ratio of the area where each spin mop 41 is exposed is 85% to 95% of each spin mop 41.
- each spin mop 41 since at least a portion of each spin mop 41 is exposed to the outside of the body, even when the spin mop is exposed to the outside of the body, the spin mop is circular thereby when the body rotates, friction between the obstacles and the spin mops is reduced, and the body can be easily rotated, and although the cleaning area can be enlarged, there is an area that the bumper cannot cover, so that the mop can be restricted to the area that cannot be cleaned.
- the bumper is arranged in the form of the semicircular band, only on the outer periphery of the front lower portion of the body, and the bumper covers most of each spin mop 41 as viewed from the front, thereby while maintaining a compact cleaner size, it is possible to secure the size of the mop, and it is possible to quickly detect obstacles and carpets in the front lower part, and there is an advantage of preventing the restriction of the mop.
- the sweep module 2000 may be detachably mounted or installed on the body 30 through the insertion hole 323.
- the sweep module 2000 may be positioned at a front side than the mop module 40 and collect a foreign material at the front side of the mop module 40.
- the sweep module 2000 may be detachably assembled with the base 32.
- the sweep module 2000 in an assembled state with the base 32 may be separated from the base 32 through a lever 2500.
- An installation space 325 in which the sweep module 2000 is mounted is formed at the base 32.
- a storage housing 326 forming the installation space 325 may be further provided.
- the storage housing 326 may be assembled with the base 32 and may be disposed at an upper side of the insertion hole 323.
- the storage housing 326 may protrude to an upper side from the base body 321.
- a lower side of the storage housing 326 may be opened to communicate with the insertion hole 323.
- An interior space of the storage housing 326 provides the installation space 325.
- the installation space 325 of the storage housing 326 corresponds to a shape of the sweep module 2000.
- the sweep module 2000 may include a dust housing 2100, an agitator 2200, a driving unit 2300, a driving coupling 2320, a driven coupling 2220, and a lever 2500.
- the dust housing 2100 may be detachably assembled with the body 30, and a foreign material may be stored in the dust housing 2100.
- the agitator 2200 may be rotatably assembled with the dust housing 2100.
- the driving unit 2300 may be installed on the body 30 and provide rotational force to the agitator 2200.
- the driving coupling 2320 may be disposed at the driving unit 2300 and transmit the rotational force of the driving unit 2300 to the agitator 2200.
- the driven coupling 2220 may transmit the rotational force of the driving coupling 2320 to the agitator 2200.
- the lever 2500 may be disposed at the dust housing 2100.
- the lever 2500 may couple or separate the driving coupling 2320 and the driven coupling 2220 by receiving operation force.
- the dust housing 2100 accommodates the agitator 2200.
- a foreign material collected through the rotation of the agitator 2200 may be stored in the dust housing 2100. That is, the dust housing 2100 provides an installation and operation structure of the agitator 2200, and also provides a storage space for a foreign material.
- the dust housing 2100 may include a collection space 2102 for a rotation of the agitator 2200 and a storage space 2104 for storing a foreign material.
- the dust housing 2100 may longitudinally extend in a left-right direction.
- a width of the dust housing 2100 may be narrower than a width of the mop module 40.
- the dust housing may be formed by separately fabricating a structure for the collection space 2102 and a structure for the storage space 2104 and assembling them each other.
- the collection space 2102 and the storage space 2104 are disposed in the dust housing 2100, and a partition 2145 for partitioning the collection space 2102 and the storage space 2104 may be disposed.
- the dust housing 2100 may include an upper housing 2110, a lower housing 2140, a dust cover 2150.
- the upper housing 2110 may provide an upper outer shape.
- the lower housing 2140 may be disposed at a lower side of the upper housing 2110 and be coupled to the upper housing 2110.
- the dust cover 2150 may detachably assembled with at least one of the upper housing 2110 and the lower housing 2140.
- the collection space 2102 and the storage space 2104 are formed by assembling the upper housing 2110 and the lower housing 2140. That is, the upper housing 2110 may provide an upper partial space of the collection space 2102 and an upper partial space of the storage space 2104, and the lower housing 2140 may provide the remaining lower space of the collection space 2102 and the remaining lower space of the storage space 2014.
- the collection space 2102 may be positioned at a rear side of the storage space 2104.
- the storage space 2104 is positioned at a front side of the collection space 2102, and the dust cover 2150 is positioned at a front side than the upper housing 2110.
- the upper housing 2110 and the lower housing 2140 may be integrally assembled.
- the upper housing 2110 and the lower housing 2140 that are integrally assembled may be defined as a housing assembly 2001.
- the dust cover 2150 is detachably assembled with the housing assembly. When the dust cover 2150 is separated from the housing assembly, the storage space 2104 is exposed to an outside. The foreign material stored in the storage space 2104 may be discarded when the dust cover 2150 is separated.
- the upper housing 2110 provides an upper surface, a left upper surface, a right upper surface, and a rear surface of the dust housing 2100.
- the upper housing 2110 forms an upper side of the collection space 2102 and the storage space 2104.
- the upper housing 2110 provides upper partial portions of the collection space 2102 and the storage space 2104.
- the upper housing 2110 may include a first upper housing portion 2112, a second upper housing portion 2114, a third upper housing portion 2116, and a fourth housing portion 2118.
- the first upper housing portion 2112 may form an upper wall of the storage space 2104.
- the second upper housing portion 2114 may be integrally connected with the first upper housing portion 2112 and forms an upper wall and a rear wall of the collection space 2102.
- the third upper housing portion 2116 may provide a part of a left wall of the collection space 2102 and the storage space 2104
- the fourth upper housing portion 2118 may provide a part of a right wall of the collection space 2102 and the storage space 2104.
- a shape of the first upper housing 2112 is not limited. However, since the second upper housing portion 2114 accommodates the agitator 2200, the second upper housing portion 2114 may have a shape corresponding to a shape of the agitator 2200.
- At least a part of the second upper housing portion 2114 may have a center of curvature at a rotation axis of the agitator 2200. At least a part of the second upper housing portion 2114 may have an arc shape.
- the second upper housing portion 2114 may have a radius of curvature R1 greater than a diameter of the agitator 2200.
- An outer edge of the agitator 2200 may be preferably in contact with an inner surface of the second upper housing portion 2114.
- a foreign material collected through a contact of the agitator 2200 and the second upper housing portion 2114 may be moved to the storage space 2104 along the inner surface of the second upper housing portion 2114.
- the agitator 2200 and the second upper housing 2114 are spaced apart from each other, the foreign material collected by the agitator 2200 may fall back to the floor.
- a collection opening surface 2101 may be formed at the lower housing 2140.
- the collection opening surface 2101 may be exposed to the floor.
- the agitator 2200 may penetrate the collection opening surface 2101 and protrude to a down side than the collection opening surface 2101.
- the collection opening surface 2101 may be disposed at a rear side than the storage space 2102.
- the lower housing 2140 may be disposed at a lower side of the upper housing 2110 and may be spaced apart from the upper housing 2110 to form a storage opening surface 2103. In the present embodiment, the lower housing 2140 and the upper housing 2110 may be spaced apart from each other in the up-down direction.
- the lower housing 2140 may include a first lower housing portion 2142, a third lower housing portion 2146, a fourth lower housing portion 2148, and a partition 2145.
- the first lower housing portion 2142 may form a lower wall of the storage space 2104 and has the collection opening surface 2101 where the foreign material is collected.
- the third lower housing portion 2146 may provide a rest of the left wall of the collection space 2102 and the storage space 2104
- the fourth lower housing portion 2148 may provide a rest of the right wall of the collection space 2102 and the storage space 2104
- the partition 2145 may be integral with the first lower housing portion 2142, and may partition the collection space 2102 and the storage space 2104.
- the first lower housing portion 2142, the third lower housing portion 2146, the fourth lower housing portion 2148, and the partition 2145 may be formed to have an integral structure. Unlike the present embodiment, any one of the first lower housing portion 2142, the third lower housing portion 2146, the fourth lower housing portion 2148, or the partition 2145 may be separately manufactured and then be assembled.
- a left wall 2011 of the housing assembly 2001 may be provided through assembling the third lower housing portion 2146 and the third upper housing portion 2116.
- a right wall 2012 of the housing assembly 2001 may be provided through assembling the fourth lower housing portion 2148 and the fourth upper housing portion 2118.
- a left rotation axis of the agitator 2200 may penetrate the left wall 2011 of the housing assembly, and a right rotation axis of the agitator 2200 may penetrate the right wall 2012 of the housing assembly.
- the partition 2145 may protrude to an upper side from the first lower housing portion 2142.
- a length of the partition 2145 in the left-right direction may correspond to or relate to a length of the agitator 2200 in the left-right direction.
- the length of the partition 2145 in the left-right direction may be greater than the length of the agitator 2200 in the left-right direction.
- the partition 2145 may include a first partition portion 2145a and a second partition portion 2145b.
- the first partition portion 2145a may protrude to an upper side from the first lower housing portion 2142, form the collection opening surface 2101, and partition the collection space 2102 and the storage space 2104.
- the first partition portion 2145a may be not in contact with the agitator 2200.
- the second partition portion 2145b may extend to an upper side from the first partition portion 2145a, partition the collection space 2102 and the storage space 2104, and be in contact with the agitator 2200.
- the first partition portion 2145a may protrude to the upper side from the first lower housing portion 2142.
- the collection opening surface 2101 may be formed between the first partition portion 2145a and a rear end 2140b of the first lower housing portion 2142.
- a length L1 of the collection opening surface 2101 in a front-rear direction may be smaller than a diameter of the agitator 2200. Since the length L1 of the collection opening surface 2101 in the front-rear direction is smaller than the diameter of the agitator 2200, the agitator 2200 cannot be drawn out to an outside through the collection opening surface 2101.
- the agitator 2200 may be mounted on an upper side of the lower housing portion 2140, and a lower end of the agitator 2200 may protrude to an outside of the collection opening surface 2101 and thus may be in contact with the floor.
- the first partition portion 2145a may be not in contact with the agitator 2200.
- the second partition portion 2145b may be in contact with the agitator 2200.
- the second partition portion 2145b may have an arc shape.
- a curvature center of the second partition 2145b may be positioned at a rotation axis Ax of the agitator 2200.
- a radius of curvature R2 of the second partition 2145b may be equal to or smaller than a diameter of the agitator 2200.
- the second partition portion 2145b may have a curved surface facing the agitator 2200.
- An upper end 2147a of the second partition portion 2145b may be positioned higher than the rotation axis Ax of the agitator 2200.
- the upper end 2147a of the second partition portion 2145b may protrude to a rear side of the first partition portion 2145a.
- the upper end 2147a of the second partition portion 2145b may be sharply formed.
- An inclined surface 2147b may be formed at the upper end 2147a of the second partition portion 2145b.
- the inclined surface 2147b may separate a foreign material attached to a surface of the agitator 2200 and guide the foreign material to the storage space 2104.
- a discharge surface 2105 that is opened to a front side may be formed.
- the discharge surface 2105 may be formed at a front surface of the housing assembly 2001, and a dust cover 2150 may open and close the discharge surface 2105.
- the dust cover 2150 may be disposed at a front side of the housing assembly 2001 and may cover the discharge surface 2105.
- the foreign material in the storage space 2104 may be discharged to an outside of the sweep module 2000 through the discharge surface 2105.
- the dust cover 2150 may be detachably assembled with the housing assembly 2001.
- the dust cover 2150 and the housing assembly 2001 may be assembled through a mutually-engaged structure (a mutually-fastened structure, a mutually-locked structure, or a mutually-hooked structure).
- the mutually-engaged structure may be released by operation force of a user.
- a protrusion 2151 may be formed at one of the dust cover 2150 and the housing assembly 2001, and an engaged groove 2152 may be formed at the other of the dust cover 2150 and the housing assembly 2001.
- the engaged groove 2152 is formed at the dust cover 2150, and the protrusion 2151 is formed at the housing assembly 2001.
- a number of engaged grooves 2152 corresponds to a number of protrusions 2151.
- a plurality of protrusions 2151 may be disposed.
- the protrusions 2151 may be disposed at the upper housing 2110 and the lower housing 2140, respectively.
- two protrusions 2151 are disposed at the upper housing 2110, and two protrusions 2151 are also disposed at the lower housing 2140.
- protrusions disposed at the upper housing 2110 are referred to as upper protrusions 2151a and 2151b, and protrusions disposed at the lower housing 2140 are referred to as lower protrusions 2151c and 2151d.
- the upper protrusions 2151a and 2151b protrude to an upper side at an upper surface of the upper housing 2110.
- the lower protrusion 2151c and 2151d protrude to a lower side at a bottom surface of the lower housing 2140.
- upper engaged grooves 2152a and 2152b corresponding to the upper protrusions 2151a and 2151b are formed, and lower engaged groove 2152c and 2152d corresponding to the lower protrusions 2151c and 2151d are formed.
- the dust cover 2150 may include a front cover portion 2153, a top cover portion 2154, a left cover portion 2155, and a right cover portion 2156, and a bottom cover portion 2157.
- the front cover portion 2153 may be disposed to face the discharge surface 2105.
- the top cover portion 2154 may protrude from an upper edge of the front cover portion 2153 toward the housing assembly.
- the left cover portion 2155 may protrude from a left edge of the front cover portion 2153 toward the housing assembly, and the right cover portion 2156 may protrude from a right edge of the front cover portion 2153 toward the housing assembly.
- the bottom cover portion 2157 may protrude from a lower edge of the front cover portion 2153 toward the housing assembly side.
- the dust cover 2150 may have a concave insertion space from a rear side to a front side.
- the upper engaged groove 2152a and 2152b are formed at the top cover portion 2154.
- the lower engaged groove 2152c and 2152d are formed at the bottom cover portion 2157.
- the upper engaged groove 2152a and 2152b and the lower engaged groove 2152c and 2152d may be preferably disposed to be opposite to each other.
- the upper engaged groove 2152a and 2152b or the lower engaged groove 2152c and 2152d may have a shape of a groove or a hole.
- the housing assembly 2001 may have an insertion portion 2160 being inserted into the insertion space and being in close contact with an inner surface of the dust cover 2150.
- the insertion portion 2160 may be located at a front side of the upper housing 2110 and the lower housing 2140.
- the insertion portion 2160 may include a top insertion portion 2164, a left insertion portion 2165, a right insertion portion 2166, and a bottom insertion portion 2167.
- the top insertion portion 2164 may form an upper side of the discharge surface 2105 and protrude to a front side.
- the left insertion portion 2165 may form a left side of the discharge surface 2105 and protrude to a front side.
- the right insertion portion 2166 may form a right side of the discharge surface 2105 and protrude to a front side.
- the bottom insertion portion 2167 may form a lower side of the discharge surface 2105 and protrude to a front side.
- the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 are connected. Unlike the present embodiment, the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 may be separated. An area of the insertion portion 2160 may become narrower as it goes from a rear side to a front side.
- the top insertion portion 2164 may be in close contact with the top cover portion 2154, the left insertion portion 2165 may be in close contact with the left cover portion 2155, the right insertion portion 2166 may be in close contact with the right cover portion 2156, and the bottom insertion portion 2167 may be in close contact with the bottom cover portion 2157.
- the upper protrusions 2151a and 2111b are formed at the top insertion portion 2164, and the lower protrusions 2151c and 2151d are formed at the bottom insertion portion 2167.
- the upper protrusions 2151a and 2151b may be inserted into the upper engaged groove 2152a and 2152b from a lower side to an upper side of the upper engaged groove 2152a and 2152b to form a mutually-engaged structure.
- the lower protrusions 2151c and 2151d may be inserted into the lower engaged groove 2152c and 2152d from an upper side to a lower side of the lower engaged groove 2152c and 2152d to form a mutually-engaged structure.
- the dust cover 2150 or the insertion portion 2160 is elastically deformed and thus the mutually-engaged structure is released.
- the agitator 2200 may be disposed to be rotated in the housing assembly 2001.
- the agitator 2200 may be disposed between the upper housing 2110 and the lower housing 2140.
- the agitator 2200 may be disposed at the upper housing 2110.
- the agitator 2200 is disposed at the lower housing 2140 and rotates while being supported by the lower housing 2140.
- a rotation axis of the agitator 2200 is disposed in the left-right direction and the agitator 2200 may rotate forward or backward.
- the housing assembly 2001 may further include a first journal 2010 and a second journal 2020 supporting the agitator 2200.
- the first journal 2010 is disposed at a left side of the housing assembly 2001
- the second journal 2020 is disposed at a right side of the housing assembly 2001.
- the first journal 2010 and the second journal 2020 penetrate the housing assembly 2001 in the left-right direction and communicate with the collection space 2102.
- first journal 2010 and the second journal 2020 may have a cylindrical shape. Unlike the present embodiment, at least one of the first journal and the second journal may have a semi-cylindrical shape. When the first journal and the second journal have a semi-cylindrical shape, the first journal and the second journal are arranged to support the rotation axis of the agitator 2200 at a lower side.
- the dust housing 2100 may be mounted on the installation space 325 of the base 32, and a lever 2500 may be disposed to couple or separate the base 32 and the dust housing 2100.
- the lever 2500 may be disposed between the base 32 and the dust housing 2100 and may form a mutually-engaged structure with respect to the base 32 and the dust housing 2100.
- the lever 2500 may form a mutually-engaged structure with the dust housing 2100 in a direction of gravity and suppress the dust housing 2100 from being separated from a lower side of the base 32.
- a plurality of levers 2500 may be disposed, and form a mutually-engaged structure at a plurality of places of the dust housing 2100.
- the lever 2500 includes a first lever 2510 and a second lever 2520, and the first lever 2510 and the second lever 2520 are arranged in the left-right direction.
- the first lever 2510 is disposed at a left side of the dust housing 2100, and the second lever 2520 is disposed at a right side of the dust housing 2100.
- Operation mechanisms of the first lever 2510 and the second lever 2520 are the same, and only operation directions of the first lever 2510 and the second lever 2520 are opposite to each other.
- the first lever 2510 disposed at the left side is moved to the right side to release the mutually-engaged structure with the base 32, and the second lever 2520 disposed at the right side is moved to a left side to release the mutually-engaged structure with the base 32.
- the sweep module 2000 may include a first lever 2510, a second lever 2520, a first-lever elastic member 2541, and a second-lever elastic member 2542.
- the first lever 2510 may be disposed at one side of the housing assembly to be relatively movable in the left-right direction.
- the second lever 2520 may be disposed at the other side of the housing assembly to be relatively movable in the left-right direction.
- the first-lever elastic member 2541 may be disposed between the first lever 2510 and the dust housing 2100 and provide elastic force to the first lever 2510.
- the second-lever elastic member 2252 may be disposed between the second lever 2520 and the dust housing 2100 and provide elastic force to the second lever 2520.
- first lever 2510 and the second lever 2520 may have the same or similar structures, a structure of the first lever will be described as an example.
- the dust housing 2100 may be provided with a first side cover 2170 covering or shielding the first lever 2510 and a second side cover 2180 covering or shielding the second lever 2520.
- first lever 2510 and the second lever 2520 may be exposed to an outside of the dust housing 2100 without the first side cover 2170 and the second side cover 2180.
- first side cover 2170 may be disposed at a right side and the second side cover 2180 may be disposed at a left side.
- the first side cover 2170 may be coupled to a left side of the housing assembly 2001.
- the first side cover 2170 may have a shape corresponding to a left shape of the housing assembly 2001.
- the first side cover 2170 may shield a shaft member 2201 of the agitator 2200 from being exposed to an outside.
- the first side cover 2170 may cover or shield most of the first lever 2510 and exposes only a portion for the mutually-engaged structure with the base 32.
- the first side cover 2170 may include a first side cover body 2173, a through hole 2171 or 2172, a hook portion 2174, a journal-coupled portion 2175, and a fastening portion 2176.
- the first side cover body 2173 may be in close contact with one side of the housing assembly 2001.
- the through hole 2171 or 2172 may be disposed to penetrate the first side cover body 2173.
- the hook portion 2174 may protrude from the first side cover body 2173 toward the housing assembly 2001 and may be hooked-coupled with the housing assembly 2001.
- the journal-coupled portion 2175 may protrude from the first side cover body 2173 toward the housing assembly 2001 and be mutually coupled to the journal 2010 (the first journal 2010 in the present embodiment).
- the fastening portion 2176 may couple the first side cover body 2173 and the housing assembly 2001 by a fastening member (not shown).
- the fastening portion 2176 and the hook portion 2174 are disposed at opposite sides based on the journal-coupled portion 2175.
- a plurality of hook portions 2174 may be arranged in an up-down direction.
- the journal-coupled portion 2175 may be inserted into an inner diameter of the first journal 2010.
- the first lever 2510 may include an upper lever body 2512, a lower lever body 2514, and a lever engaging portion 2516.
- the upper lever body 2512 may be disposed between the housing assembly 2001 and the first side cover 2170 and be elastically supported by the first-lever elastic member 2541.
- the lower lever body 2514 may be disposed between the housing assembly 2001 and the first side cover 2170, be integral with the upper lever body 2512, be exposed to an outside of the housing assembly 2001, and receive operation force of a user.
- the lever engaging portion 2516 may protrude from the upper lever body 2512 and be disposed to penetrate the through holes 2171 and 2172 of the first side cover 2170.
- the upper lever body 2512 may be disposed in an up-down direction, and the lower lever body 2514 may be disposed in a horizontal direction.
- the lower lever body 2514 may be disposed to be exposed to an outside of the dust housing 2100.
- the lower lever body 2514 may be positioned at a lower side of the upper lever body 2512.
- the lower lever body 2514 may be exposed to an outside of a lower surface of the lower housing 2140.
- an operation portion 2519 protruding to a lower side from the lower lever body 2514 may further provided. Since the operation portion 2519 longitudinally extends in the front-rear direction, the operation portion 2519 may easily receive operation force of a user in the left-right direction.
- a user may move the first lever 2510 by pushing the operation unit 2519 in the left-right direction.
- the lever engaging portion 2516 may protrude from the upper lever body 2512 to an outside (a side opposite to the agitator). Since a number of the lever engaging portions 2516 corresponds to a number of through holes, a first lever engaging portion 2516a and a second lever engaging portion 2516b are disposed in the present embodiment.
- the lever engaging portion 2516 has a structure that forms a mutually-engaged structure in a direction of gravity and minimizes forming a mutually-engaged structure in an opposite direction of gravity. Therefore, an upper surface of the lever engaging portion 2516 may have a round shape or an inclined surface to a lower side, and a lower surface of the lever engaging portion 2516 may have a flat surface.
- the sweep module 2000 may be separated from a fixed position because the mutually engaged structure is not formed. To prevent this, the sweep module 2000 may further include a structure for guiding a horizontal movement of the first lever 2510.
- the sweep module 2000 may include a first guide 2545, a first guide hole 2518, a second guide 2547, and a second guide hole 2528.
- the first guide 2545 may protrude to the first lever 2510 at one side (a left side in the present embodiment) of the dust housing 2100 and mutually interfere with the first lever 2510 to guide a movement direction of the first lever 2510.
- the first guide hole 2518 may be formed at the first lever 2510, and the first guide 2545 may be inserted into the first guide hole 2518 so that the movement of the first guide 2545 is guided.
- the second guide 2547 may protrude to the second lever 2520 at the other side (a right side in the present embodiment) of the dust housing 2100 and mutually interfere with the second lever 2520 to guide a movement direction of the second lever 2520.
- the second guide hole 2528 may be formed at the second lever 2520, and the second guide 2547 may be inserted to the second guide hole 2528 so that the movement of the second guide 2547 is guided.
- the first guide 2545 may be formed in the movement direction of the first lever 2510, and the second guide 2547 may be formed in the moving direction of the second lever 2520.
- the first guide 2545 and the second guide 2547 may be formed in a horizontal direction.
- the first guide hole 2518 and the second guide hole 2528 may be formed in the horizontal direction to correspond to the first guide 2545 and the second guide 2547.
- the guide holes 2518 and 2528 may be disposed at either the upper lever body 2512 or the lower lever body 2514. In the present embodiment, the guide holes 2518 and 2528 are formed to penetrate the upper lever body 2512 in the horizontal direction.
- One end of the first-lever elastic member 2541 is supported by the dust housing 2100, and the other end of the first-lever elastic member 2541 is supported by the first lever 2510.
- the first-lever elastic member 2541 elastically supports the first lever 2510 toward an outside of the dust housing 2100.
- the sweep module 2000 may further include a structure for preventing displacement of the lever elastic members 2541 and 2542.
- the sweep module 2000 may include a first position fixing portion 2517 and a second position fixing portion 2544.
- the first position fixing portion 2517 may be disposed at the first lever 2510 and may be inserted into the other end of the first-lever elastic member 2541.
- the second position fixing portion 2544 may be disposed at the dust housing 2100 and one end of the first-lever elastic member 2541 may be inserted into the second position fixing portion 2544.
- the first-lever elastic member 2541 and the second-lever elastic member 2542 may be formed of a coil spring.
- the first position fixing portion 2517 may have a boss shape
- the second position fixing portion 2544 may have a groove shape.
- the first position fixing portion 2517 may be inserted into the first-lever elastic member 2541, and the first position fixing portion 2517 may allow the first-lever elastic member 2541 to move in the left-right direction. Thus, a movement of the first-lever elastic member 2541 in the front-rear direction or in the up-down direction may be suppressed.
- the second position fixing portion 2544 may have a groove shape, and the first-lever elastic member 2541 may be inserted into the second position fixing portion 2544.
- the second position fixing portion 2544 may allow the first-lever elastic member 2541 to move in the left-right direction. Thus, a movement of the first-lever elastic member 2541 in the front-rear direction or in the up-down direction may be suppressed.
- the second position fixing portion 2544 may be disposed between the first journal 2010 and the first guide 2545.
- the second position fixing portion 2544 may include a first position fixing part 2544a and a second position fixing part 2544b.
- the first position fixing part 2544a may have a concave shape at a portion of a lower side of the first journal 2010, and the second position fixing part 2544b may have a concave shape at a portion of an upper side of the first guide 2545.
- each of the first position fixing part 2544a and the second position fixing part 2544b may have a curved surface, and a curvature center of each of the first position fixing part 2544a and the second position fixing part 2544b may be positioned at an inside of the first-lever elastic member 2541.
- a radius of curvature of each of the first position fixing part 2544a and the second position fixing part 2544b may be larger than a diameter of the first-lever elastic member 2541.
- the lever engaging portion 2516 releases the mutually-engaged structure with the base 32.
- the first-lever elastic member 2541 elastically supports the first lever 2510, when the operation force of the user is removed, the first lever 2510 is moved back to the first side cover 2170 and the lever engaging portions 2516 are exposed to an outside of the through holes 2171 and 2172.
- the sweep module 2000 may be maintained in a state mounted on the base 32 through the mutually-engaged structure of the lever engaging portion 2516 protruding to an outside of the through holes 2171 and 2172 and the base 32.
- the sweep module 2000 can be separated from the base 32.
- the sweep module 2000 can be separated from the body 30 only when all the mutual engagement of the first lever 2510 and the second lever 2520 is released.
- the first lever 2510 provides the mutually-engaged structure with the base 32 and releases the mutually-engaged structure with the base 32.
- the second lever 2520 provides not only an act of the first lever 2510 but also a connection structure with the driving unit 2300.
- the second lever 2520 may include an upper lever body 2522, a lower lever body 2524, a lever engaging portion 2526, and an operation portion 2529.
- the upper lever body 2522 may be disposed between the housing assembly 2001 and the second side cover 2180 and be elastically supported by the second-lever elastic member 2542.
- the lower lever body 2524 may be disposed between the housing assembly 2001 and the second side cover 2180, be integral with the upper lever body 2522, be exposed to an outside of the housing assembly 2001, and receive operation force of a user.
- the lever engaging portion 2526 may protrude from the upper lever body 2522 and be disposed to penetrate through holes 2181 and 2182 of the second side cover 2180.
- the operation portion 2529 may protrude to a lower side from the lower lever body 2524.
- the lever engaging portion 2526 may protrude from the lower lever body 2522 to an outside (a side opposite to the agitator).
- the lever engaging portion 2526 may include a first lever engaging portion 2526a and a second lever engaging portion 2526b.
- the lever engaging portion 2526 may form a mutually-engaged structure with an engaged groove 3266 formed at the storage housing 326 of the base 32.
- the engaged groove 3266 may include a first engaged groove 3266a and a second engaged groove 3266b to correspond to them. With respect to the lever engaging portion 2516 of the first lever 2510, an engaged groove (not shown) having the same structure may be formed. The first engaged groove 3266a and the second engaged groove 3266b may be formed at a sidewall 3262 of the storage housing 326.
- the first engaged groove 3266a and the second engaged groove 3266b may be at a lower side than a driven coupling 2220 and a driving coupling 2320.
- the second side cover 2180 may include a second side cover body 2183, a through hole 2181 or 2182, a hook portion 2184, a fastening portion 2186, and an opening surface 2185.
- the second side cover body 2183 may be in close contact with the other side (a right side in the present embodiment) of the housing assembly 2001.
- the through hole 2181 or 2182 may be disposed to penetrate the second side cover body 2183.
- the hook portion 2184 may protrude from the second side cover body 2183 toward the housing assembly 2001 and may be hooked-coupled with the housing assembly 2001.
- the fastening portion 2186 may couple the second side cover body 2183 and the housing assembly 2001 by a fastening member (not shown). In order to transmit driving force of the driving unit 2300 to the agitator 2200, the driving unit 2300 may penetrate the opening surface 2185.
- the opening surface 2185 may be disposed in the left-right direction.
- a first coupler 2310 of the driving unit 2300 which will be described later, may be inserted through the opening surface 2185.
- the sweep module 2000 may include a second guide 2547, a second guide hole 2528, a third position fixing portion 2527, and a fourth position fixing portion 2546.
- the second guide 2547 may protrude to the second lever 2520 at the other side (a right side in the present embodiment) of the dust housing 2100 and mutually interfere with the second lever 2520 to guide a movement direction of the second lever 2520.
- the second guide hole 2528 may be formed at the second lever 2520, and the second guide 2547 may be inserted to the second guide hole 2528 so that the movement of the second guide 2547 is guided.
- the second position fixing portion 2527 may be disposed at the second lever 2520 and may be inserted into the other end of the second-lever elastic member 2542.
- the fourth position fixing portion 2544 may be disposed at the dust housing 2100 and one end of the second-lever elastic member 2542 may be inserted into the fourth position fixing portion 2546.
- the agitator 2200 may include an agitator assembly 2210, a driven coupling 2220, a coupling elastic member 2230, a coupling stopper 2270.
- the agitator assembly 2210 may sweep a foreign material on a floor into the collection space 2102 through rotation.
- the driven coupling 2220 may receive rotational force from the driving unit 2300 and may be relatively movably disposed between the driving unit 2300 and the agitator assembly 2210.
- the coupling elastic member 2230 may be disposed between the agitator assembly 2210 and the driven coupling 2220, provide elastic force to the driven coupling 2220, and press the driven coupling 2220 toward the driving unit 2300.
- the coupling stopper 2270 may penetrate the driven coupling 2220 and be coupled to the agitator assembly 2210, and form a mutually-engaged structure with the driven coupling 2220 in a left-right direction to prevent the driven coupling 2220 from being separated.
- the agitator assembly 2210 may include an agitator body 2240, a shaft member 2201, a collection member 2250, and a baring 2600.
- the agitator body 2240 may be disposed at the collection space 2102, and be rotated by receiving the rotational force of the driving unit 2300.
- the shaft members 2201 may be disposed at one side and the other side of the agitator body 2240, respectively, provide a rotation center of the agitator body 2240, and be rotatably supported by the dust housing 2100.
- the collection member 2250 may be installed on an outer circumferential surface of the agitator body 2240 and sweep a foreign material into the collection space 2102.
- the baring 2600 may provide rolling friction to the shaft member 2201.
- the driven coupling 2220 may be assembled detachably with a lever (the second lever 2520 in the present embodiment) and the shaft member 2201 and may move together with the lever.
- the coupling of the driven coupling 2220 with the driving unit 2300 may be released by operation force of a user applied to the second lever 2520.
- the driven coupling 2220 may move toward the shaft member 2201, and the coupling with the driving unit 2300 may be released.
- the driven coupling 2220 may relatively move in a horizontal direction between the agitator assembly 2210 and the driving unit 2300.
- the agitator body 2240 may be disposed in the left-right direction.
- the agitator body 2240 may be disposed at an inside of the collection space 2102.
- the collection member 2250 may be formed along an outer circumferential surface of the agitator body 2240.
- the collection member 2250 may protrude radially outward from the outer circumferential surface of the agitator body 2240.
- the collection member 2250 may rotate together with the agitator body 2240 when the agitator body 2240 rotates.
- the collection member 2250 may penetrate the collection opening surface 2101 and be in contact with the floor.
- the collection member 2250 may be composed of a plurality of brushes.
- the collection member 2250 may be contact with the foreign material on the floor and move the foreign material into the collection space 2102.
- the shaft members 2201 may be disposed at one side and the other side of the agitator body 2240, respectively.
- the shaft member 2201 may form a center of rotation of the agitator assembly 2210.
- the shaft member 2201 may be disposed in the left-right direction.
- the shaft member 2201 may penetrate left and right sides of the collection space 2102.
- the shaft member 2201 may penetrates the left wall 2011 and the right wall 2012 of the dust housing 2100.
- the shaft member 2201 may be integral with the agitator body 2240.
- the shaft member 2201 may be separably or detachably assembled with the agitator body 2240.
- the shaft member 2201 and the agitator body 2240 may form a mutually-engaged structure in a rotation direction of the agitator 2200, but may be separated in a rotation-axis direction (a left-right direction in the present embodiment) of the agitator 2200.
- the agitator assembly 2210 and the shaft member 2201 may be detachably assembled, Therefore, only the agitator assembly 2210 can be replaced. That is, the agitator assembly 2210 may be separated from the dust housing 2100 in a state that each shaft member 2201 is assembled to the dust housing 2100.
- the agitator 2200 may be periodically replaced. Through a coupling structure of the shaft member 2201 and the agitator body 2240, only the agitator body 2240 may be separated from the dust housing 2100 without an entire separation of the agitator 2200.
- the shaft member 2201 and the agitator body 2240 maintain a state of a mutually-engaged structure.
- the shaft member 2201 may include a rotating shaft body 2202, a shaft portion 2203, and a coupling guide 2204.
- the rotating shaft body 2202 may be mutually coupled to the agitator body 2240.
- the shaft portion 2203 may protrudes from the rotating shaft body 2202 toward the driving unit 2300, provide a rotation center of the agitator 2200, and be coupled with the bearing 2260.
- the coupling guide 2204 may protrude from the shaft portion 2203 toward the driving portion 2300 more and penetrate the driven coupling 2220.
- the coupling stopper 2270 may be coupled to the coupling guide 2204.
- the rotating shaft body 2202 may have a disk shape.
- the shaft portion 2203 may protrude from the rotating shaft body 2202 toward the driving portion 2300.
- a diameter or a size of the shaft portion 2203 may be smaller than a diameter of the rotating shaft body 2202.
- the shaft portion 2203 may have a cylindrical shape. An outer surface of the shaft portion 2203 may be inserted into the bearing 2260. The shaft portion 2203 may be inserted into and supported by the bearing 2260.
- the coupling guide 2204 may further protrude from the shaft portion 2203 toward the driving portion 2300 more. Curvature centers of the coupling guide 2204 and the shaft portion 2203 may be located on the same rotation center.
- a diameter of the coupling guide 2204 may be smaller than a diameter of the shaft portion 2203, and a first step 2205 may be formed between the coupling guide 2204 and the shaft portion 2203 due to a diameter difference.
- One end of the coupling elastic member 2230 may be supported by the first step 2205.
- the coupling guide 2204 may further include a through portion 2206 penetrating the driven coupling 2220.
- a coupling stopper 2270 may be fixed to the through portion 2206.
- the driven coupling 2220 may move in the left-right direction along the coupling guide 2204. Since the driven coupling 2220 is elastically supported by the coupling elastic member 2230, the driven coupling 2220 may be kept in close contact with the driving unit 2300 when external force is not applied.
- the coupling guide 2204 may have a circular columnar shape, and the through portion 2206 may have a polygonal column shape (a hexagonal column shape in the present embodiment).
- the through portion 2206 may be inserted into the driven coupling 2220 and form a mutually-engaged structure in a rotation direction of the agitator 2200.
- the shaft member 2201 is provided with a key groove 2207 for a mutually-engaged structure with the agitator body 2240.
- the key groove 2207 may be disposed on an opposite side of the shaft portion 2203 based on or with respect to the rotating shaft body 2202.
- the key groove 2207 may be disposed at a side facing the agitator body 2240.
- the key groove 2207 may have a shape of an atypical polygon.
- the key groove 2207 may be open in a radial direction of the rotation axis.
- a key 2247 which is inserted into the key groove 2207, may be formed at the agitator body 2240.
- the key 2247 may protrude toward the shaft member 2201 or the driven coupling 2220.
- the driven coupling 2220 may include a coupling body 2222, a first guide groove 2224, a second guide groove 2226, a second step 2225, and a power transmission groove 2228.
- the coupling body 2222 may be coupled with a lever (the second lever 2520 in the present embodiment).
- the first guide groove 2224 may be formed at one side (a left side in the present embodiment) of the coupling body 2222 to have a concave shape,
- the coupling guide 2204 may be inserted and the coupling elastic member 2230 may be inserted into the first guide groove 2224.
- the second guide groove 2226 may communicate with the first guide groove 2224, and penetrate the coupling body 2222.
- the through portion 2206 may be inserted to the second guide groove 2226.
- the second step 2225 may be disposed between the first guide groove 2224 and the second guide groove 2226, and the first step 2205 may be supported by the second step 2225.
- the power transmission groove 2228 may be formed at the other side (the right side in the present embodiment) of the coupling body 2222 to have a concave shape.
- the driving coupling 2320 coupled to the driving unit 2300 may be detachably inserted into the power transmission groove 2228.
- a diameter of the first guide groove 2224 may be larger than a diameter of the coupling elastic member 2230.
- a diameter of the coupling elastic member 2230 may be larger than a diameter of the coupling guide 2204 and smaller than a diameter of the first guide groove 2224.
- the first guide groove 2224 may have a circular hollow shape.
- the second guide groove 2226 may have a shape corresponding to a shape of the through portion 2206.
- the second guide groove 2226 has a hollow shape which side surface has a hexagonal shape.
- the coupling body 2222 may be provided with a groove 2223, which has a concave shape to an inside in a radial direction at an outer side surface.
- a diameter of the groove 2223 may be smaller than an outer surface diameter of the coupling body 2222.
- a coupling groove 2523 may be formed at the upper lever body 2522 of the second lever 2520.
- the coupling groove 2523 may be inserted into the groove 2223 and thus may be engaged with the driven coupling 2220.
- the groove 2223 may be perpendicular to a rotation center of the agitator 2200.
- the second lever 2520 may be coupled to or separated from the driven coupling 2220 in the up-down direction and form a mutually-engaged structure with the driven coupling 2220 in the left-right direction.
- the second lever 2520 may further include a first extension portion 2522a and a second extension portion 2522b extending from an upper side of the upper lever body 2522.
- the coupling groove 2523 may be formed between the first extension portion 2522a and the second extension portions 2522b.
- the first extension portion 2522a and the second extension portion 2522b are structures for more robust assembly with the driven coupling 2220.
- the first extension portion 2522a and the second extension portion 2522b may be contact with one side surface 2223a and the other side surface 2223b of the groove 2223.
- the coupling stopper 2270 may penetrate the driven coupling 2220 and may be fastened to the through portion 2206.
- the driven coupling 2220 may move in the left-right direction between the coupling stopper 2270 and the shaft member 2201.
- a head 2272 of the coupling stopper 2270 may interfere with the power transmission groove 2228 of the driven coupling 2220 and prevent the driven coupling 2220 from being separated to a right side.
- a coupling portion 2274 of the coupling stopper 2270 may be inserted into and fastened to a fastening groove 2207 of the through portion 2206.
- the driving coupling 2320 may be inserted into the power transmission groove 2228 and may be coupled to the power transmission groove 2228 to transmit rotational force.
- the power transmission groove 2228 may have any of various shapes or forms. In the present embodiment, the power transmission groove 2228 may have a hexagonal groove when viewed from a lateral side.
- a diameter of the power transmission groove 2228 may be larger than a diameter of the second guide groove 2226.
- the power transmission groove 2228 and the second guide groove 2226 may communicate with each other.
- the first guide groove 2224 may be disposed at one side of the second guide groove 2226 to be communicated with the second guide groove 2226 and the power transmission groove 2228 may be disposed at the other side of the second guide groove 2226 to be communicated with the second guide groove 2226.
- the power transmission groove 2228 may be open toward the other side, and the first guide groove 2224 may be open toward one side.
- the power transmission groove 2228 may be positioned at the other side of the upper lever body 2522 and the first guide groove 2224 may be positioned at one side of the upper lever body 2522.
- the second lever 2520 may form a mutually-engaged structure with the driven coupling 2220 with respect to a direction perpendicular to the shaft member 2201.
- the lever engaging portion 2526 of the second lever 2520 may form a mutually-engaged structure with the base 32.
- the coupling elastic member 2230 may be compressed and the driven coupling 2220 may move toward the agitator 2200.
- the driven coupling 2220 moves toward the agitator 2200 by the second lever 2520, the driven coupling 2220 and the driving unit 2300 are physically separated and the dust housing 2100 is in a state being able to be separated from the base 32.
- the sweep module 2000 since the sweep module 2000 according to the present embodiment has a structure in which the agitator 2200 is installed on the inside of the sweep module 2000, the dust housing 2100 should be physically separated from the driving unit 2300 when the dust housing 2100 is separated from the base 32.
- the movement of the second lever 2520 not only releases the coupling of the dust housing 2100 and the base 32 but also releases the coupling of the driven coupling 2220 and the driving unit 2300 at the same time.
- the driven coupling 2220 can be prevented from being separated from the shaft member 2201. That is, the driven coupling 2220 may move along an axis direction of the shaft member 2201, but may be prevented from being separated from the shaft member 2201 by the coupling stopper 2270.
- the driving unit 2300 may include a drive housing 2310, a sweep motor 2330, a power transmission assembly 2340, and a driving coupling 2320.
- the drive housing 2310 may be assembled with the body 30.
- the sweep motor 2330 may be assembled with a drive housing 2310.
- the power transmission assembly 2340 may be disposed at an inside of the drive housing 2310 and be assembled with the sweep motor 2330 to receive rotational force.
- the driving coupling 2320 may be coupled to the power transmission assembly 2340 and be selectively engaged with the driven coupling 2220.
- the driving coupling 2320 and the driven coupling 2220 transmitting the rotational force to the agitator 2200 may have selectively-detachable structure. If the driving coupling 2320 and the driven coupling 2220 are not detachable, the dust housing 2100 cannot be separated from the body 30.
- the drive housing 2310 may be fixed to the body 30.
- the drive housing 2310 is fixed to the base 32 in the present embodiment.
- the drive housing 2310 is a structure for installing the power transmission assembly 2340 and the sweep motor 2330.
- the drive housing 2310 may have any of various shapes of forms. In the present embodiment, the drive housing 2310 shields or covers the power transmission assembly 2340 therein, and exposes only the sweep motor 2330 and the driving coupling 2320 to the outside.
- the drive housing 2310 may include a first drive housing 2312 and a second drive housing 2314, a coupling-installed portion 2315, and a hole 2316.
- the first drive housing 2312 and the second drive housing 2314 may form an outer shape.
- the coupling-installed portion 2315 may be disposed at one of the first drive housing 2312 and the second drive housing 2314, and the driving coupling 2320 may be disposed at the coupling-installed portion 2315.
- the hole 2316 may be disposed at one of the first drive housing 2312 and the second drive housing 2314, and a motor shaft of the sweep motor 2330 may penetrate the hole 2316.
- the power transmission assembly 2340 may be disposed between the first drive housing 2312 and the second drive housing 2314.
- the first drive housing 2312 is disposed at one side (toward the agitator 2200), and the second drive housing 2314 is disposed at the other side (at an outside).
- the coupling-installed portion 2315 is disposed at the first drive housing 2312.
- the driving coupling 2320 is disposed at the coupling-installed portion 2315 and is connected to the power transmission assembly 2340.
- the driving coupling 2320 may rotate in a state that the driving coupling is installed on the coupling installation unit 2315.
- the driving coupling 2320 has a shape corresponding to a shape of the power transmission groove 2228 of the driven coupling 2220.
- the driving coupling 2320 has a hexagonal shape when viewed from a lateral side.
- the driving coupling 2320 may be selectively engaged with the driven coupling 2220 through the opening surface 2185 of the second side cover 2180.
- the driving coupling 2320 may protrude toward the second side cover 2180 than one side (a left side) of the first drive housing 2312 in a state that the driving coupling 2320 is assembled to the drive housing 2310.
- a rotation center of the driving coupling 2320 is disposed at the left-right direction and may match the rotation center of the agitator 2200.
- the first drive housing 2312 may have a space formed therein, and the power transmission assembly 2340 may be rotatably installed in the space.
- the second drive housing 2314 may have a shape or a form of a cover covering the first drive housing 2312.
- the drive housing 2310 may further include a first fastening portion 2317 and a second fastening portion 2318.
- the first fastening portion 2317 and the second fastening portion 2318 may be disposed at the first drive housing 2312.
- the first fastening portion 2317 and the second fastening portion 2318 may be formed so that a fastening member is installed on the first fastening portion 2317 or the second fastening portion 2318 in an up-down direction.
- a motor axis of the sweep motor 2330 may be disposed in the left-right direction.
- the sweep motor 2330 may be disposed at one side or the other side of the drive housing 2310.
- the sweep motor 2330 may be disposed toward an inside of the body 30 based on or with respect to the drive housing 2310. A volume of the body 30 may be minimized by arranging the sweep motor 2330 at a side of the agitator 2200.
- a motor axis direction Mx of the sweep motor 2330 and a rotation axis Ax of the agitator 2200 may be parallel.
- a rotation center of the agitator 2200, a rotation center of the shaft member 2201, a center of the driven coupling 2220, and a center of the driving coupling 2320 are located on a line of the rotation axis Ax of the agitator 2200.
- the sweep motor 2330 is positioned at an upper side than the dust housing 2100.
- the sweep motor 2330 is positioned at a rear side than the dust housing 2100.
- the sweep motor 2330 is positioned at an upper side than the installation space 325 and the storage housing 326 of the base 32.
- the power transmission assembly 2340 may include a plurality of gears. A number and a shape of gears included in the power transmission assembly 2340 may be various depending on a number of revolutions and transmitted torque.
- the sweep module 2000 may further include a housing elastic member 327 that provides elastic force to the dust housing 2100.
- the housing elastic member 327 may be disposed at the installation space 325.
- the housing elastic member 327 may be disposed at the base 32, and more particularly, may be installed on the storage housing 326.
- the housing elastic member 327 may be a plate spring.
- an installation structure for fitted-fixing is disposed at the storage housing 326.
- the storage housing 326 is provided with an elastic-member storage portion 328 that protrudes to an upper side to have a convex shape at the installation space 325.
- An elastic-member storage space 328b in which the housing elastic member 327 is accommodated is formed at a lower side of the elastic-member storage portion 328.
- the elastic member storage portion 328 may further include an elastic-member opening surface 328a opened in an up-down direction.
- the elastic-member opening surface 328a may communicate with the elastic-member storage space 328b and the installation space 325.
- an elastic-member support portion 329 which is disposed at a lower side of the elastic-member storage space 328b and is connected to the storage housing 326, may be further disposed.
- the elastic-member support portion 329 may be positioned at a lower side than the elastic-member storage portion 328.
- the housing elastic member 327 may be inserted between the elastic-member storage portion 328 and the elastic-member support portion 329.
- the housing elastic member 327 may be exposed to an upper side of the storage housing 326 through the elastic-member opening surface 328a.
- the housing elastic members 327 may be positioned at both sides of the elastic-member support portion 329, respectively.
- the elastic member storage portion 328 may longitudinally extend in the left-right direction, and the elastic-member support portion 329 may be disposed in the left-right direction.
- the housing elastic member 327 may include a first elastic portion 327a, a second elastic portion 327b, and a third elastic portion 327c.
- the first elastic portion 327a may be positioned at an upper side of the elastic-member support portion 329.
- the second elastic portion 327b may extend to one side (a left side in the present embodiment) from the first elastic portion 327a and be disposed in the elastic-member storage space 328b.
- the third elastic portion 327c may extend to the other side (a right side in the present embodiment) from the first elastic portion 327a and be disposed in the elastic-member storage space 328b.
- Each of the second elastic portion 327b and the third elastic portion 327c may be bent from the first elastic portion 327a.
- the second elastic portion 327b and the third elastic portion 327c may be positioned at a lower side of the elastic-member storage portion 328.
- the second elastic portion 327b may be disposed to be inclined toward a left down side
- the third elastic portion 327c may be disposed to be inclined toward a right down side.
- the second elastic portion 327b and the third elastic portion 327c may elastically support an upper surface of the dust housing 2100.
- the housing elastic member 327 can be prevented from being separated to the installation space 325. Even if the dust housing 2100 is repeatedly mounted and separated, the housing elastic member 327 is firmly supported by the elastic-member support portion 329.
- the mobile robot 1 may have a structure in which the body 30 moves by rotational motion of at least one of the mop module 40 and the sweep module 2000 without additional driving wheels.
- the body 30 may move only by the rotational motion of the mop module 40.
- the mobile robot 1 may have a structure in which the body 30 moves by rotational motion of a pair of spin mops 41a and 41b without additional driving wheels.
- the mobile robot 1 may include a mop driving unit (not shown) that provides driving force to the mop module 40.
- the rotational force provided by the mop driving unit is transmitted to the spin mop 41 of the mop module 40.
- the mobile robot 1 may include a water supply module 80 that supplies water required for mopping a floor.
- the water supply module 80 may supply water required for the mop module 40 or the sweep module 2000. In the present embodiment, the water supply module supplies water to the mop module 40.
- the water supply module supplies water to a pair of spin mops 41a and 41b.
- the water supply module 80 may include a water supply tank 81 for storing water supplied to the mop module 40 or the sweep module 2000 and a supply member for supplying water from the water tank 81 to the mop module 40.
- the water supply module may include a water-supply connection portion 87 for guiding water in the water tank 81 to the mop module 40. Water moves from the body 30 to the mop module 40 through the water-supply connection portion 87.
- the water-supply connection portion 87 may be disposed at a lower side of the body 30.
- the water-supply connection portion 87 may be disposed at a module seating portion 36.
- the water-supply connection portion 87 may be disposed on a lower surface of the module seating portion 36.
- the water-supply connection portion 87 may be disposed at a lower surface portion 361 of the module seating portion 36.
- a pair of water-supply connection portion 87 corresponding to the pair of spin mops 41a and 41b may be provided.
- the pair of water-supply connection portions 87 may be bisymmetrical or bilaterally symmetrical to each other. That is, the pair of water-supply connection portions 87 may be symmetrical to each other in a left-right direction or may be symmetrical to each other with respect to a vertical axis.
- the water-supply connection portion 87 may protrude from the module seating portion 36.
- the water-supply connection portion 87 may protrude to a lower side from the module seating portion 36.
- the water-supply connection portion 87 may be engaged with a water-supply counterpart portion 441 of the mop module 40 to be described later.
- the water-supply connection portion 87 may include a hole penetrating the module seating portion 36 in an up-down direction, and water in the body 30 may move to the mop module 40 through the hole of the water-supply connection portion 87.
- the water in the body 30 may move to the mop module 40 through the water-supply connection portion 87 and the water-supply counterpart portion 441.
- the mop module 40 may include at least one mop portion 411 provided to mop a floor while rotating.
- the mop module 40 may include at least one spin mop 41 provided to be in contact with the floor while rotating in a clockwise direction or a counterclockwise direction when viewed from an upper side.
- the mop module 40 may include a pair of spin mops 41a and 41b.
- the pair of spin mops 41a and 41b may mop the floor by a clockwise or counterclockwise rotation when viewed from an upper side.
- the pair of spin mops 41a and 41b may include a left spin mop 41a and a right spin mop 41b.
- the spin mop 41 may rotate around rotational axes Osa and Osb extending substantially in an up-down direction.
- the mop module 40 may be disposed at a lower side of the body 30.
- the mop module 40 may be disposed at a rear side of the sweep module 2000.
- the left spin mop 41a and the right spin mop 41b may include a mop portion 411, a rotating plate 412, and a spin shaft 414, respectively.
- the left spin mop 41a and the right spin mop 41b each includes a water container 413.
- the left spin mop 41a and the right spin mop 41b each includes a driven joint 415.
- the descriptions of the mop portion 411, the rotating plate 412, the spin shaft 414, the water container 413, and the driven joint 415, which will be described later, may be understood as components or elements included in each of the left spin mop 41a and the right spin mop 41b.
- the body 30 and the mop module 40 may be detachably coupled to each other.
- a state in which the body 30 and the mop module 40 are coupled to each other may be referred to as a 'coupled state'.
- a state in which the body 30 and the mop module 40 are separated from each other may be referred to as a 'separation state'.
- the mobile robot 1 may include a detachable module 90 that detachably hooks the mop module to the body. The detachable module 90 may release the coupling of the mop module 40 and the body 30 in the coupled state.
- the detachable module 90 operates such that the mop module 40 and the body 30 are detachably coupled to each other so that the mop module 40 is coupled to the body 30 and the mop module 40 is separated from the body 30 as necessary.
- the detachable module 90 may cause the mop module 40 to hang on or hooked to the body 30 in the separation state.
- the detachable module 90 may be disposed across the gap between the water tank 81 and the battery Bt.
- the mobile robot 1 may include a base 32 forming a lower surface of the body 30.
- the base 32 may form a lower surface, a front surface, a rear surface, a left surface, and a right surface of the body 30.
- the mop module 40 may be coupled to the base 32.
- the sweep module 2000 may be coupled to the base 32.
- a controller Co and a battery Bt are disposed at an inner space formed by the case 31 and the base 32.
- the mop driving unit 60 may be disposed at the body 30.
- a water supply module (not shown) may be disposed at the body 30.
- the detachable module 90 may be disposed at the body 30.
- the water supply module delivers the water in the water tank 81 to the mop module 40.
- the mobile robot 1 may include a module housing 42 that forms an external appearance of the mop module 40.
- the module housing 42 may be disposed at a lower side of the body 30.
- the mobile robot 1 may include a module cabinet 52 that forms an external appearance of the sweep module 2000.
- the module cabinet 52 may be disposed at a lower side of the body 30.
- the module housing 42 and the module cabinet 52 may be spaced apart in a front-rear direction.
- the mop module 40 may be detachably coupled to the body 30.
- the mop module 40 may be coupled to a lower side of the body 30.
- the body 30 may be coupled to an upper side of the mop module 40.
- the body 30 may include a module seating portion 36, and the mop module 40 may include a body seating portion 43.
- the body seating portion 43 may be detachably coupled to the module seating portion 36.
- the module seating portion 36 may be provided at a lower side of the body 30.
- the body seating portion 43 may be provided at an upper side of the mop module 40.
- the module seating portion 36 may be disposed at a lower surface of the base 32.
- the body seating portion 43 may be disposed at an upper surface of the module housing 42.
- One of the module seating portion 36 and the body seating portion 43 may protrude in an up-down direction and the other of the module seating portion 36 and the body seating portion 43 may be recessed in the up-down direction to be engaged with the one of the module seating portion 36 and the body seating portion 43.
- the body seating portion 43 may protrude to an upper side from the mop module 40.
- the module seating portion 36 in the body 30 may be recessed to an upper side to be engagement with the body seating portion 43.
- a shape of the body seating portion 43 may be asymmetrical in the front-rear direction.
- the body seating portion 43 is not engaged with the module seating portion 36. Accordingly. the mop module 40 and the body 30 may be coupled to each other in a predetermined direction.
- the mop module 40 may include a pair of body seating portions 43a and 43b spaced apart from each other.
- the pair of body seating portions 43a and 43b correspond to the pair of spin mops 41a and 41b.
- the pair of body seating portions 43a and 43b correspond to a pair of module seating portions 36a and 36b.
- the body 30 may include a pair of module seating portions 36a and 36b that are spaced apart from each other.
- the pair of module seating portions 36a and 36b correspond to the pair of body seating portions 43a and 43b.
- the pair of body seating portions 43a and 43b may protrude to an upper side of the mop module 40.
- the pair of module seating portions 36a and 36b may be recessed to an upper side to be engaged with the pair of body seating portions 43a and 43b.
- the module seating portion 36 includes a lower surface portion 361 forming a lower surface.
- the lower surface portion 361 may be in contact with an upper surface portion 431 of the body seating portion 43 in the coupled state.
- the lower surface portion 361 faces a lower side.
- the lower surface portion 361 may be formed horizontally.
- the lower surface portion 361 may be disposed at an upper side of a peripheral counterpart portion 363.
- the module seating portion 36 includes a peripheral counterpart portion 363 disposed along a circumference of the lower surface portion 361.
- the peripheral counterpart portion 363 may be in contact with a peripheral portion 433 of the body seating portion 43 in the coupled state.
- the peripheral counterpart portion 363 may form an inclined surface connecting a lower surface of the base 32 and the lower surface portion 361.
- the peripheral counterpart portion 363 may be inclined such that a height increases as it goes from the lower surface of the base 32 toward the lower surface portion 361.
- the peripheral counterpart portion 363 may be disposed to surround the lower surface portion 361.
- the pair of module seating portions 36 may include a pair of engaging surfaces 363a inserted between the pair of body seating portions 43.
- the engaging surface 363a is disposed in a region close to the other adjacent module seating portion 36 among the peripheral counterpart portion 363 of one of the module seating portions 36.
- the engaging surface 363a may be disposed at a region relatively close to the central vertical plane Po among the peripheral counterpart portion 363.
- the engaging surface 363a may constitute a part of the peripheral counterpart portion 363.
- the module seating portion 36 may form a joint hole 364 to which at least a portion of a driving joint 65 is exposed.
- the joint hole 364 may be formed at the lower surface portion 361.
- the driving joint 65 may be disposed through the joint hole 364.
- the driving joint 65 is coupled to the driven joint 415 to transmit the driving force of the mom driving unit (not shown) to the spin mop.
- a surface of one may be provided with engaging portions 915 and 365, and a surface of the other counterpart portions may be provided with engaging counterpart portions 435 and 436 that are recessed to be engaged with the engaging portions 915 and 365 in the coupled state.
- the body seating portion 43 may include an upper surface portion 431 forming an upper surface.
- the upper surface portion 431 may be in contact with the lower surface portion 361 of the module seating portion 36 in the coupled state.
- the upper surface portion 431 faces an upper side.
- the upper surface portion 431 may be formed horizontally.
- the upper surface portion 431 may be disposed at an upper side of the peripheral portion 433.
- the body seating portion 43 may include a peripheral portion 433 disposed along a circumference of the upper surface portion 431.
- the peripheral portion 433 may be in contact with the peripheral counterpart portion 363 of the module seating portion 36 in the coupled state.
- the peripheral portion 433 may form an inclined surface connecting an upper surface of the module housing 42 and the upper surface portion 431.
- the peripheral portion 433 may be inclined such that a height increases as it goes from the upper surface of the module housing 42 toward the upper surface portion 431.
- the peripheral portion 43 may be disposed to surround the upper surface portion 431.
- the body seating portion 43 may include an engaging counterpart surface 433a being in contact with the engaging surface 363a in the coupled state.
- the pair of body seating portions 43 may include a pair of engaging counterpart surfaces 433a.
- the pair of engaging counterpart surfaces 433a may be disposed to face each other at an angle in a left-right direction.
- the pair of engaging counterpart surfaces 433a may be formed between the pair of body seating portions 43.
- the engaging counterpart surface 433a may be disposed at an area close to another adjacent body seating portion 43.
- the engaging counterpart surface 433a may be disposed at a region relatively close to the central vertical plane Po among the peripheral portion 433.
- the engaging counterpart surface 433a may constitute a part of the peripheral portion 433.
- the body seating portion 43 may be provided with a driving hole 434 through which at least a portion of the driven joint 415 is exposed.
- the driving hole 434 may be 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 to the driven joint 415.
- the engaging counterpart portions 435 and 436 may be holes or grooves formed at a surface of the body seating portion 43.
- the engaging counterpart portions 435 and 436 may be disposed at the peripheral portion 433.
- a plurality of engaging counterpart portions 435 and 436 corresponding to the plurality of engaging portions 915 and 365 may be provided.
- the engaging counterpart portions 435 and 436 may include a first engaging counterpart portion 435 where a first engaging portion 915 is engaged.
- the first engaging counterpart portion 435 may be formed at the engaging counterpart surface 433a.
- the engaging counterpart portions 435 and 436 may include a second engaging counterpart portion 436 where a second engaging portion 365 is engaged.
- the second engaging counterpart portion 436 may be formed at the peripheral portion 433.
- the water supply module 80 may supply water required for the mop module 40 or the sweep module 2000. In the present embodiment, the water supply module 80 supplies water to the mop module 40. The water supply module 80 may supply water to a pair of spin mops 41a and 41b.
- the water supply module 80 may include a water tank 81 that stores water supplied to the mop module 40 or the sweep module 2000.
- the water tank 81 stores water supplied to the mop module 40.
- the mop module 40 is provided to perform wet mopping (mopping while supplying water).
- the water supply module 80 supplies water to the mop module 40.
- the water supply module 80 supplies water to the mop module 40.
- the water supply module 80 supplies water to a water distribution module 44.
- the water supply module 80 may be installed on the body 30.
- the water supply module 80 may include a water tank 81 for storing water. A part of the water tank 81 may be disposed at an inside of the body 30. The water tank 81 may be disposed at a rear side of the body 30.
- the water tank 81 may be provided to be drawn out at an outside of the body 30.
- the water tank 81 may be provided to be drawn out to a rear side of the body 30.
- a water-tank engaging portion 84 that engages the water tank 81 to the body 30 is provided.
- the water supply module 80 may include a water-tank cap 82 for opening and closing the water tank 81.
- the water-tank cap 82 may be disposed at an upper surface of the water tank 81. In a state that the water tank 81 is drawn out from the body 30, a user may open the water-tank cap 82 and fill water in the water tank 81.
- the water supply module 80 may include a water level indicator 83 where the water level of the water tank 81 is displayed.
- the water level indicator 83 may be disposed on the outer cover of the water tank 81.
- the water level indicator 83 may be arranged on the rear side of the water tank 81.
- the water level indicator 83 is formed of a transparent material, and is provided so that the user can directly see the water level inside the water tank 81.
- the water supply module 80 may include a pump 85 that pressurizes the water W in the water tank 81 to move the water W to the mop module 40.
- the pump 85 may be disposed at an inside of the body 30.
- the pump 85 may be disposed at the central vertical plane Po.
- the water supply module 80 may include a valve. In this instance, when the valve is open without a pump, water in the water tank 81 may move to the mop module 40 by gravity of the water.
- the water supply module 80 may include a water-permeable stopper.
- the water-permeable stopper may be disposed in a supply pipe. The water can move through the water-permeable stopper, but a movement speed of the water may be decreased by the water-permeable stopper.
- the water supply module 80 includes a body coupler (a water-tank connection portion) 89 that connects the water tank 81 and a supply pipe 86 when the water tank 81 is seated in the body 30. Water W in the water tank 81 may flow into an inside of the supply pipe 86 through the body coupler 89.
- a body coupler a water-tank connection portion
- the water supply module 80 may include a supply pipe 86 that guides a movement of the water W from the water tank 81 to the mop module 40.
- the supply pipe 86 connects the water tank 81 and the water-supply connection portions 87 to guide the movement of water.
- the supply pipe 86 may include a first supply pipe 861 that guides the movement of the water W from the water tank 81 to the pump 85, and a second supply pipe 862 that guides the movement of the water W from the pump 85 to the pop module 40.
- One end of the first supply pipe 861 may be connected to the body coupler 89 and the other end of the first supply pipe 86 may be connected to the pump 85.
- One end of the second supply pipe 862 may be connected to the pump 85 and the other end of the second supply pipe 862 may be connected to the water-supply connection portion 87.
- the water supply module 80 may further include a check valve 863 to prevent residual water leakage of the water-supply connection portion 87.
- the check valve 863 may be installed on the second supply pipe 862 adjacent to the water-supply connection portion 87.
- the water supply module 80 may include a water-supply connection portion 87 that guides the water in the water tank 81 to the mop module 40.
- the water W may move from the body 30 to the mop module 40 through the water supply connection 87.
- the water-supply connection portion 87 may be disposed at a lower side of the body 30.
- the water-supply connection portion 87 may be disposed at the module seating portion 36.
- the water-supply connection portions 87 may be disposed on the lower surface of the module seating portion 36.
- the water-supply connection portions 87 may be disposed at the lower surface portion 361 of the module seating portion 36.
- One water-supply connection portion 87 may be provided to facilitate coupling and facilitate sealing while supplying water to the pair of spin mops 41a and 41b.
- the water-supply connection portion 87 may be disposed between a rotational axis of the left spin mop 41a and 41b and a rotational axis of the right spin mop 41b. More preferably, the water-supply connection portions 87 may be disposed at a center between the rotational axis of the left spin mop 41a and the rotational axis of the right spin mop 41b. Further preferably, the water-supply connection portion 87 may be disposed at the central vertical plane Po.
- the water-supply connection portion 87 may be disposed at a center between the two spin mops 41a and 41b, the water-supply connection portion 87 may facilitate sealing and coupling, and may equally apply the water to the two mops.
- the water-supply connection portion 87 may protrude from an outer surface of the body 30. Specifically, the water-supply connection portions 87 may protrude from the module seating portion 36. The water-supply connection portion 87 may have a tube shape protruding in a down side from the module seating portion 36.
- the water-supply connection portion 87 is engaged with a water-supply counterpart portion 441 of the mop module 40 to be described later.
- the water-supply connection portion 87 may form a hole that communicates with the supply pipe 86 and penetrate the module seating portion 36 in an up-down direction, and the water in the body 30 may move to the mop module 40 through the hole of the water-supply connection portion 87.
- the water in the body 30 may move to the mop module 40 through the water-supply connection portion 87 and the water-supply counterpart portion 441.
- a flow direction of water is as follows.
- the pump 85 may be driven to cause movement of the water W.
- the water W in the water tank 81 may flow into the water-supply connection portion 87 through the supply pipe 86.
- the water W in the water tank 81 may move through the first supply pipe 861 and the second supply pipe 862 sequentially.
- the water W in the water tank 81 may flow into the water-supply counterpart portion 441 of the mop module 40 through the supply pipe 86 and the water-supply connection portion 87 sequentially.
- the water flowing into the water-supply counterpart portion 441 may flow into the two water containers 413 through two water distribution pipes, and the water flowing into the water container 413 may flow into a central portion of a mop portion 411 by passing through the water supply hole 412a.
- the water flowing into the central portion of the mop portion 411 may move to an edge of the mop portion 411 by centrifugal force according to a rotation of the mop portion 411.
- each component or element of the mop module 40 and a relationship between the mop module 40 and the body 30 will be described in detail as follows.
- the mop module 40 may be provided to perform wet mopping using water in the water tank 81.
- the pair of spin mops 41a and 41b may be provided to perform wet moping by rotating in a state that the pair of spin mops 41a and 41b is in contact with the floor.
- the mop module 40 may include a pair of spin mops 41a and 41b which are symmetrical to each other with respect to the central vertical plane Po.
- the description of each component or element of the spin mops 41a and 41b or spin mops 41 may be understood as a description related to each of the pair of spin mops 41a and 41b.
- the spin mops 41a and 41b may include a rotating plate 412 provided to rotate at a lower side of the body 30.
- the rotating plate 412 may be formed of a member having a shape of a circular plate.
- a mop portion 411 may be fixed to a lower surface of the rotating plate 412.
- the rotating plate 412 rotates the mop portion 411.
- the spin shaft 414 may be fixed to a center of the rotating plate 412.
- the rotating plate 412 may include a mop fixing portion (not shown) for fixing the mop portion 411.
- the mop fixing portion may detachably fix the mop portion 411.
- the mop fixing portion may be a velcro or the like disposed at a lower side of the rotating plate 412.
- the mop fixing portion may be a hook or the like disposed at an edge of the rotating plate 412.
- a water supply hole 412a penetrating the rotating plate 412 in an up-down direction may be formed.
- the water supply hole 412a may connect a water supply space Sw and a lower side of the rotating plate 412. Water in the water supply space Sw may move to a lower side of the rotating plate 412 through the water supply hole 412a. The water in the water supply space Sw may move to the mop portion 411 through the water supply hole 412a.
- the water supply hole 412a may be disposed at a center portion of the rotating plate 412. The water supply hole 412a may be disposed at a position where the spin shaft 414 is not formed.
- the rotating plate 412 may be provided with a plurality of water supply holes 412a.
- a connection portion 412b may be disposed between the plurality of water supply holes 412a.
- the connection portion 412b may connect a centrifugal-direction XO portion and an opposite centrifugal-direction XI portion based on the water supply hole 412a.
- the centrifugal-direction XO may mean a direction away from the spin shaft 414
- the opposite centrifugal-direction XI may mean a direction that approaches the spin shaft 414.
- a plurality of water supply holes 412a may be spaced apart from each other along a circumferential direction of the spin shaft 414.
- the plurality of water supply holes 412a may be arranged to be spaced apart from each other at regular intervals.
- a plurality of connection portions 412b may be spaced apart from each other along the circumferential direction of the spin shaft 414.
- the water supply hole 412a may be disposed between the plurality of connection portions 412b.
- the rotating plate 412 may include an inclined portion 412d disposed at a lower end of the spin shaft 414.
- the water in the water supply space Sw may flow down along the inclined portion 412d by gravity.
- the inclined portion 412d may be formed along a circumference of a lower end of the spin shaft 414.
- the inclined portion 412d may form a downward inclination in the opposite centrifugal-direction XI.
- the inclined portion 412d may form a lower surface of the water supply hole 412a.
- the spin mops 41a and 41b may include a mop portion 411 that is coupled to a lower side of the rotating plate 412 to be in contact with the floor, respectively.
- the mop portion 411 may be fixed to the rotating plate 412 or may be disposed to be replaceable.
- the mop portion 411 may be fixed to the rotating plate 412 to be detachable by a Velcro or hook.
- the mop portion 411 may be formed only of a mop, or may include a mop and a spacer (not shown).
- the mop is a part that mop a floor while being in direct contact with the floor.
- the spacer may be disposed between the rotating plate 412 and the mop to adjust a position of the mop.
- the spacer may be detachably fixed to the rotating plate 412, and the mop may be detachably fixed to the spacer.
- a mop may directly detachable to the rotating plate 412 without a spacer.
- the spin mop 41a and 41b may include a spin shaft 414 that rotates the rotating plate 412.
- the spin shaft 414 is fixed to the rotating plate 412 and transmits rotational force of the mop driving unit 60 to the rotating plate 412.
- the spin shaft 414 may be connected to an upper side of the rotating plate 412.
- the spin shaft 414 may be disposed at an upper center of the rotating plate 412.
- the spin shaft 414 may be fixed to the rotation center Osa or Osb of the rotating plate 412.
- the spin shaft 414 may include a joint fixing portion 414a for fixing the driven joint 415.
- the joint fixing portion 414a may be disposed at an upper end of the spin shaft 414.
- the spin shaft 414 may extend to be perpendicular to the rotating plate 412.
- a left spin shaft 414 may be disposed to be perpendicular to a lower surface of the left spin mop 41a and a right spin shaft 414 may be disposed to be perpendicular to a lower surface of the right spin mop 41b.
- the spin shaft 414 may be inclined with respect to an axis in an up-down direction.
- An upper end of the spin shaft 414 may be inclined to one side with respect to a lower end of the spin shaft 414.
- An inclination angle between the axis of the spin shaft 414 in the up-down direction may be changed according to a rotation of a tilting frame 47 around a tilting shaft 48.
- the spin shaft 414 may be rotatably coupled to the tilting frame 47 and may be provided to be able to tilt integrally with the tilting frame 47.
- the spin shaft 414, the rotating plate 412, the water container 413, the driven joint 415, and the mop portion 411 may be inclined integrally with the tilting frame 47.
- the mop module 40 may include a water container 413 for accommodating water at an upper side of the rotating plate 412.
- the water container 413 may form a water supply space Sw in which water is accommodated.
- the water container 413 may surround a circumference of the spin shaft 414 and be spaced apart from the spin shaft 414 to form a water supply space Sw.
- the water container 413 allows water supplied to an upper side of the rotating plate 412 to be collected in the water supply space Sw before passing through the water supply hole 412a.
- the water supply space Sw may be disposed at an upper center portion of the rotating plate 412.
- the water supply space Sw may have a volume having a cylindrical shape as a whole. An upper side of the water supply space Sw may be opened. Water may be introduced into the water supply space Sw through the upper side of the water supply space Sw.
- the water container 413 may protrude to an upper side of the rotating plate 412.
- the water container 413 may extend along a circumferential direction of the spin shaft 414.
- the water container 413 may have a shape of a ring-shaped rib.
- the water supply hole 412a is disposed at an inner lower surface of the water container 413.
- the water container 413 may be spaced apart from the spin shaft 414.
- a lower end of the water container 413 may be fixed to the rotating plate 412.
- An upper end of the water container 413 may have a free end.
- the mop driving unit 60 may include a driving joint 65 that rotates by the mop motor 61, and a driven joint 415 that rotate while being engaged with the driving joint 65 in the coupled state.
- the driving joint 65 may be exposed to an outside of the body 30. At least a portion of the driven joint 415 may be exposed to the outside of the mop module 40.
- the driving joint 65 and the driven joint 415 are separated from each other.
- the driving joint 65 and the driven joint 415 are engaged with each other.
- one may include a plurality of driving protrusions 65a disposed in a circumferential direction around its rotation axis, and the other may include a plurality of driving grooves 415h disposed in a circumferential direction around its rotation axis.
- the driving protrusions 65a may be spaced apart from each other at regular intervals.
- the plurality of driving grooves 415h may be spaced apart from each other at regular intervals.
- the driving protrusion 65a is inserted into the driving groove 415h.
- the driving protrusion 65a is separated from the driving groove 415h.
- a number of the plurality of driving grooves 415h may be greater than a number of the plurality of driving protrusions 65a.
- the number of the plurality of driving protrusions 65a may be n
- the number of the plurality of driving grooves 415h may be n ⁇ m (a value of a multiply n by m).
- n is a natural number of 2 or more
- m is a natural number of 2 or more.
- four drive protrusions 65a1, 65a2, 65a3, and 65a4 spaced apart from each other at regular intervals may be provided, and eight driving grooves 415h1, 415h2, 415h3, 415h4, 415h5, 415h6, 415h7, and 415h8 spaced apart from each other at regular intervals may be provided.
- one may include a plurality of driving protrusions 65a disposed in a circumferential direction around its rotation axis, and the other may include a plurality of opposing protrusions 415a disposed in a circumferential direction around its rotation axis.
- the plurality of opposing protrusions 415a may protrude in one direction.
- the plurality of opposing protrusions 415a may be spaced apart from each other at regular intervals.
- any one driving protrusion 65a is provided to be disposed between two adjacent opposing protrusions 415a.
- the driving protrusion 65a is separated from between two adjacent opposing protrusions 415a.
- at least one opposing protrusion 415a is provided to be disposed between two adjacent driving protrusions 65a.
- two opposing protrusions 415a are provided to be disposed between two adjacent driving protrusions 65a.
- a protruding end of the opposing protrusion 415a may be rounded.
- the protruding end of the opposing protrusion 415a may be rounded according to an arrangement direction of the plurality of opposing protrusions 415a.
- the protruding end of the opposing protrusion 415a may be a rounded corner portion rounded to a direction of the adjacent opposing protrusion 415a with respect to a central axis of the protruding direction.
- a number of the plurality of opposing protrusions 415a may be greater than a number of the plurality of driving protrusions 65a.
- the number of the plurality of driving protrusions 65a may be n, and the number of the plurality of opposing protrusions 415a may be n ⁇ m (a value of a multiply n by m).
- n is a natural number of 2 or more
- m is a natural number of 2 or more.
- four drive protrusions 65a1, 65a2, 65a3, and 65a4 spaced apart from each other at regular intervals may be provided, and eight opposing protrusions 415a spaced apart from each other at regular intervals may be provided.
- the driving joint 65 includes a driving protrusion 65a
- the driven joint 415 includes a driving groove 415h
- the driven joint 415 includes opposing protrusions 415a.
- the driving joint 65 may be fixed to a lower end of a main shaft 624.
- the driving joint 65 may include a driving-protrusion axis 65b fixed to the main shaft 624.
- the driving-protrusion axis 65b may have a cylindrical shape.
- the driving protrusion 65a may protrude from the driving-protrusion axis 65b.
- the driving protrusion 65a may protrude in a direction away from a rotational axis of the driving joint 65.
- a plurality of driving protrusions 65a are spaced apart from each other along a circumferential direction of the driving-protrusion axis 65b.
- the driving protrusion 65a may have a cross-section of a circular shape and protrude in a direction away from the rotation axis of the driving joint 65.
- the driven joint 415 may be fixed to an upper end of the spin shaft 414.
- the driven joint 415 may include a driven axis portion 415b fixed to the spin shaft.
- the driven axis portion 415b may have a cylindrical shape.
- the driving groove 415h may be formed at a front side of a peripheral portion of the driven axis portion 415b.
- the driving groove 415h may be recessed in an up-down direction.
- a plurality of driving grooves 415h are spaced apart from each other along a circumference of the driven axis portion 415b.
- the driven joint 415 may including an opposing protrusion 415a protruding from the driven axis portion 415b.
- the opposing protrusion 415a may protrude from the driven axis portion 415b in a direction toward the driving joint 65 among the up-down direction.
- the opposing protrusion 415a may protrude to an upper side.
- the opposing protrusion 415a may have a protruding end at an upper side.
- the opposing protrusion 415a may have a rounded protruding end.
- the opposing protrusion 415a may be disposed at a front portion of the driven axis portion 415b.
- a plurality of opposing protrusions 415a and a plurality of driving grooves 415h may be alternately arranged along a circumference of the driven axis portion 415b.
- the driving protrusions 65a and the driving grooves 415h may be movable with each other, but are engaged with each other to transmit rotational force.
- a depth of the driving groove 415h in an up-down direction may be greater than a width of the driving protrusion 65a in an up-down direction.
- the module housing 42 may connect a pair of spin mops 41a and 41b. By the module housing 42, a pair of spin mops 41a and 41b may be separated from the body 30 together and be coupled to the body 30 together.
- the body seating portion 43 may be disposed at an upper side of the module housing 42.
- the spin mops 41a and 41b may be rotatably supported by the module housing 42.
- the spin mops 41a and 41b may be disposed by penetrating through the module housing 42.
- the module housing 42 may include an upper cover 423 forming an upper portion and a lower cover 421 forming a lower portion.
- the upper cover 423 and the lower cover 421 may be coupled to each other.
- the upper cover 423 and the lower cover 421 may form an inner space accommodating a part of the spin mops 41a and 41b.
- the suspension units 47, 48, and 49 may be disposed in the module housing 42.
- the suspension units 47, 48, and 49 may be disposed in an inner space formed by the upper cover 423 and the lower cover 421.
- the suspension units 47, 48, 49 may support the spin shaft 414 to be movable up and down within a predetermined range.
- the suspension units 47, 48, 49 according to the present embodiment may include a tilting frame 47, a tilting shaft 48, and an elastic member 49.
- the module housing 42 may include a limit that limits a rotation range of the tilting frame 47.
- the limit may include a lower limit 427 that limits a rotation range of the tilting frame 47 in a down direction.
- the lower limit 427 may be disposed at the module housing 42.
- the lower limit 427 may be provided to be in contact with a lower-limit contacting portion 477 in a state in which the tilting frame 47 is rotated as far as possible to a down side. In a state in which the mobile robot 1 is normally disposed at an external horizontal surface, the lower-limit contacting portion 477 is spaced apart from the lower limit 427.
- the tilting frame 47 rotates to have a maximum angle, and the lower-limit contacting portion 477 and the lower limit 427 may become in contact with each other and an inclination angle become the largest.
- the limit may include an upper limit (not shown) that limits a rotation range of the tilting frame 47 in an upper direction.
- a rotation range of the tilting frame 47 to an upper side may be limited by a close contact between the driving joint 65 and the driven joint 415.
- the driven joint 415 In a state in which the mobile robot 1 is normally disposed at an external horizontal surface, the driven joint 415 may be in close contact with the driving joint 65 to the maximum, and an inclination angle may become the smallest.
- the module housing 42 may include a second support portion 425 that fixes an end of the elastic member 49.
- the elastic member 49 may be elastically deformed or restored by a first support portion 475 fixed to the tilting frame 47 and the second support portion 425 fixed to the module housing 42.
- the module housing 42 may include a tilting-shaft support portion 426 that supports the tilting shaft 48.
- the tilting-shaft support portion 426 may support both ends of the tilting shaft 48.
- the tilting frame 47 may be connected to the module housing 42 through the tilting shaft 48.
- the tilting frame 47 may support the spin shaft 414 to be rotatable.
- the tilting frame 47 may be rotatable within a predetermined range around a tilting rotation axis Ota or Otb.
- the tilting rotation axes Ota and Otb may extend in a direction transverse to the rotation axes Osa and Osb of the spin shaft 414.
- the tilting shaft 48 may be disposed at the tilting rotation axes Ota and Otb.
- the tilting frame 47 at a left side may be provided to be rotatable within a predetermined range around the tilting rotation axis Ota.
- the tilting frame 47 at a right side may be provided to be rotatable within a predetermined range around the tilting rotation axis Otb.
- the tilting frame 47 may be disposed to be tiltable within a predetermined angular range with respect to the mop module 40. An inclination angle of the tilting frame 47 may be changed according to a condition of a floor.
- the tilting frame 47 may function as a suspension (supporting weight and reducing vibration in an up-down direction at the same time) of the spin mops 41a and 41b.
- the tilting frame 47 may include a frame base 471 forming a lower surface.
- the spin shaft 414 may penetrates a frame base 471 in an up-down direction.
- the frame base 471 may have a plate shape having a thickness in the up-down direction.
- the tilting shaft 48 may rotatably connect the module housing 42 and the frame base 471.
- a bearing Ba may be provided between the rotation-axis support 473 and the spin shaft 414.
- the bearing Ba may include a first bearing B1 disposed at a lower side and a second bearing B2 disposed at an upper side.
- a lower end of the rotation-axis support portion 473 may be inserted into the water supply space Sw of the water container 413.
- An inner circumferential surface of the rotation-axis support portion 473 may support the spin shaft 414.
- the tilting frame 47 may include a first support portion 475 for supporting one end of the elastic member 49.
- the other end of the elastic member 49 may be supported by a second support portion 425 disposed in the module housing 42.
- the first support portion 475 may be fixed to the tilting frame 47.
- the first support portion 475 is disposed at a left side of the left tilting frame 47.
- the first support portion 475 may be disposed at a right side of the right tilting frame 47.
- the second support portion 425 may be disposed at a left region of the left spin mop 41a.
- the second support portion 425 may be disposed at a right region of the right spin mop 41b.
- the first support portion 475 may be fixed to the tilting frame 47.
- the first support portion 475 may be tilted together with the tilting frame 47 during a tilting operation of the tilting frame 47.
- a distance between the first support portion 475 and the second support portion 425 may be closest when an inclination angle is minimized, and a distance between the first support portion 475 and the second support portion 425 may be farthest away when an inclination angle is maximized.
- the elastic member 49 may elastically deformed to provide a restoring force in a state where the inclination angle is minimized.
- the tilting frame 47 may include a lower-limit contacting portion 477 provided to be in contact with the lower limit 427.
- a lower side of the lower-limit contacting portion 477 may be in contact with an upper side of the lower limit 427.
- the tilting shaft 48 may be disposed at the module housing 42.
- the tilting shaft 48 may be a rotation axis of the tilting frame 47.
- the tilting shaft 48 may extend in a direction perpendicular to an inclined direction of the spin mops 41a and 41b.
- the tilting shaft 48 may extend in a horizontal direction.
- the tilting shaft 48 may extend in an inclined direction to having an acute angle with the front-rear direction.
- the elastic member 49 may apply elastic force to the tilting frame 47.
- the elastic force is applied to the tilting frame 47 so that an inclination angle of a lower surface of the spin mops 41a and 41b with respect to a horizontal surface increases.
- the elastic member 49 may be elongated when the tilting frame 47 rotates to a lower side and be shortened when the tilting frame 47 rotates to an upper side.
- the elastic member 49 allows the tilting frame 47 to operate to absorb shock (elastically).
- the elastic member 49 may apply moment force to the tilting frame 47 in a direction in which an inclination angle is increased.
- the pair of spin mops 41a and 41b are connected to each other to form a set.
- the pair of spin mops 41a and 41b connected by the mop module 40 are integrally separated from the body 30.
- the separation state is changed to the coupled state, the pair of spin mops 41a and 41b connected by the mop module 40 are integrally coupled to the body 30.
- the mop module 40 is detachably coupled to the body 30.
- the mop module 40 is coupled to a lower side of the body 30.
- the body 30 is coupled to an upper side of the mop module 40.
- the body 30 includes the module seating portion 36, and the mop module 40 includes the body seating portion 43.
- the body seating portion 43 is detachably coupled to the module seating portion 36.
- the module seating portion 36 is provided at a lower side of the body 30.
- the body seating portion 43 is provided at an upper side of the mop module 40.
- the module seating portion 36 is disposed at a lower side of the base 32.
- the body seating portion 43 is disposed at an upper side of the module housing 42.
- one may protrude in an up-down direction and the other may be recessed in the up-down direction to be engaged with the one.
- the body seating portion 43 protrudes to an upper side from the mop module 40.
- the module seating portion 36 is recessed to an upper side to be engaged with the body seating portion 43 in the body 30.
- a shape of the body seating portion 43 may be asymmetrical in a front-rear direction.
- the body seating portion 43 is not engaged with the module seating portion 36. Accordingly. the mop module 40 and the body 30 may be coupled to each other in a predetermined direction.
- the body seating portion 43 When viewed from an upper side, the body seating portion 43 may have a shape as a whole that a length in a front-rear direction increase as it goes away from the central vertical plane Po. When viewed from the upper side, the body seating portion 43 may have generally an inclined shape such that a portion relatively away from the central vertical plane Po is closer to a front side.
- the mop module 40 includes a pair of body seating portions 43a and 43b spaced apart from each other.
- the pair of body seating portions 43a and 43b correspond to the pair of spin mops 41a and 41b.
- the pair of body seating portions 43a and 43b correspond to the pair of module seating portions 36a and 36b.
- the body 30 includes a pair of module seating portions 36a and 36b that are spaced apart from each other.
- the pair of module seating portions 36a and 36b correspond to the pair of body seating portions 43a and 43b.
- the pair of body seating portions 43a and 43b protrude to an upper side of the mop module 40.
- the pair of module seating portions 36a and 36b are recessed to an upper side to be engaged with the pair of body seating portions 43a and 43b.
- the pair of body seating portions 43a and 43b are spaced from each other in a left-right direction.
- the pair of module seating portions 36a and 36b are spaced from each other in a left-right direction.
- the pair of body seating portions 43a and 43b may be bisymmetrical with respect to the central vertical plane Po.
- the pair of module seating portions 36a and 36b may be bi symmetrical with respect to the central vertical plane Po.
- the description of the body seating portion 43 may be understood as a description of each of the pair of body seating portions 43a and 43b
- the description of the module seating portion 36 may be understood as a description of each of the pair of module seating portions 36a and 36b.
- the module seating portion 36 includes a lower surface portion 361 forming a lower surface.
- the lower surface portion 361 may be in contact with an upper surface portion 431 of the body seating portion 43 in the coupled state.
- the lower surface portion 361 faces a lower side.
- the lower surface portion 361 may be formed horizontally.
- the lower surface portion 361 may be disposed at an upper side of a peripheral counterpart portion 363.
- the module seating portion 36 includes a peripheral counterpart portion 363 disposed along a circumference of the lower surface portion 361.
- the peripheral counterpart portion 363 may be in contact with a peripheral portion 433 of the body seating portion 43 in the coupled state.
- the peripheral counterpart portion 363 may form an inclined surface connecting a lower surface of the base 32 and the lower surface portion 361.
- the peripheral counterpart portion 363 may be inclined such that a height increases as it goes from the lower surface of the base 32 toward the lower surface portion 361.
- the peripheral counterpart portion 363 may be disposed to surround the lower surface portion 361.
- the pair of module seating portions 36 may include a pair of engaging surfaces 363a inserted between the pair of body seating portions 43.
- the engaging surface 363a may be disposed at an area close to another adjacent module seating portion 36.
- the engaging surface 363a may be disposed at a region relatively close to the central vertical plane Po among the peripheral counterpart portion 363.
- the engaging surface 363a may constitute a part of the peripheral counterpart portion 363.
- the module seating portion 36 may form a joint hole 364 to which at least a portion of a driving joint 65 is exposed.
- the joint hole 364 may be formed at the lower surface portion 361.
- the driving joint 65 may be disposed to penetrate through the joint hole 364.
- a surface of one may be provided with engaging portions 911, and a surface of the other may be provided with engaging counterpart portions 435 and 436 that are recessed to be engaged with the engaging portions 911 in the coupled state.
- the engaging portion 911 may be provided at a surface of the module seating portion 36
- the engaging counterpart portions 435 and 436 may be provided at a surface of the body seating portion 43.
- the engaging portion 911 may have a hook shape.
- the engaging portion 911 may be disposed at the peripheral counterpart portion 363.
- a lower surface of a protruding end portion of the engaging portion 911 may have an inclination that approaches an upper side toward a distal end.
- a plurality of engaging portions 911 may be provided in one module seating portion 36.
- the body seating portion 43 may include an upper surface portion 431 forming an upper surface.
- the upper surface portion 431 may be in contact with the lower surface portion 361 of the module seating portion 36 in the coupled state.
- the upper surface portion 431 faces an upper side.
- the upper surface portion 431 may be formed horizontally.
- the upper surface portion 431 may be disposed at an upper side of the peripheral portion 433.
- the body seating portion 43 may include a peripheral portion 433 disposed along a circumference of an upper surface portion 431.
- the peripheral portion 433 may be in contact with the peripheral counterpart portion 363 of the module seating portion 36 in the coupled state.
- the peripheral portion 433 may form an inclined surface connecting an upper surface of the module housing 42 and the upper surface portion 431.
- the peripheral counterpart portion 363 may be inclined such that a height increases as it goes from the upper surface of the module housing 42 toward the upper surface portion 431.
- the peripheral portion 43 may be disposed to surround the upper surface portion 431.
- the body seating portion 43 may include an engaging counterpart surface 433a being in contact with the engaging surface 363a in the coupled state.
- the pair of body seating portions 43 may include a pair of engaging counterpart surfaces 433a.
- the pair of engaging counterpart surfaces 433a may be disposed to face each other at an angle in a left-right direction.
- the pair of engaging counterpart surfaces 433a may be positioned between the pair of body seating portions 43.
- the engaging counterpart surface 433a may be disposed at an area close to another adjacent body seating portion 43.
- the engaging counterpart surface 433a may be disposed at a region relatively close to a central vertical plane Po among the peripheral portion 433.
- the engaging counterpart surface 433a may constitute a part of the peripheral portion 433.
- the body seating portion 43 may be provided with a driving hole 434 through which at least a portion of the driven joint 415 is exposed.
- the driving hole 434 may be 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 to the driven joint 415.
- the engaging counterpart portions 435 and 436 may be holes or grooves formed at a surface of the body seating portion 43.
- the engaging counterpart portions 435 and 436 may be disposed at the peripheral portion 433.
- a plurality of engaging counterpart portions 435 and 436 corresponding to the plurality of engaging portions 911 may be provided.
- the body seating portion may include a left body seating portion 43a, a right body seating portion 43b, and a central seating portion 43c.
- a left driving hole 434 is formed at the left body seating portion 43a
- a right driving hole 434 is formed at the right body seating portion 43b.
- the left body seating portion 43a may be spaced apart from the right body seating portion 43b.
- the central seating portion 43c is positioned between the left body seating portion 43a and the right body seating portion 43b.
- An upper surface portion 431 of the left body seating portion 43a, the right body seating portion 43b, and the central seating portion 43c may be positioned at the same height.
- an upper surface portion 431 of the central seating portion 43c may be positioned at a lower side than upper surface portions 432 of the left body seating portion 43a and the right body seating portion 43b so that engaging counterpart portions 435 and 436 are arranged to be disposed at a center portion not visible.
- a water-supply counterpart 441 which will be described later, may be disposed.
- the mop module 40 may include a water distribution module 44 that guides the water introduced from the water-supply connection portion 87 to two spin mops 41a and 41b in a coupled state.
- the water distribution module 44 guides water from an upper side to a lower side.
- the water W in the water tank 81 is supplied to the spin mops 41a and 41b via the water distribution module 44.
- the water W in the water tank 81 flows into the water distribution module 44 through the water-supply connection portion 87. At least a part of the water distribution module may be accommodated inside the module housing 42.
- the water distribution module 44 may include one water-supply counterpart portion 441 that receives water from the water supply module 80, a left water distribution pipe 443a, and a right water distribution pipe 443b.
- the water-supply counterpart portion 441 may be connected to the water-supply connection portion 87.
- the water-supply counterpart 441 may have a structure coupled to the water-supply connection portion 87 by fit or tight fit (interference fit).
- the water-supply counterpart 441 may be provided with a press-in hole 441a into which one end of the water-supply connection portion 87 is inserted.
- the water-supply connection portion 87 may be tight-fitted (interference-fitted) or press-fitted into the press-in hole 441a.
- a release preventing groove 441b for preventing the water supply connection portion 87 from being separated may be formed.
- the press-in hole 441a may extend in an up-down direction. Then, the press-in hole 441a extends in the up-down direction and is coupled when the body 30 and the mop module 40 are coupled to each other.
- An upper end of the press-in hole 441a may have an expansion portion 441c having an expanded width than the press-in hole 441a and communicating with the press-in hole 441a.
- the expansion portion 441c may be a hole whose width is increased in a direction away from the press-in hole 441a.
- the expansion portion 441c may guide the water-supply connection portion 87 to be easily inserted into the press-in hole 441a.
- the water-supply counterpart portion 441 is formed at a position corresponding to the water-supply connection portion 87.
- the water-supply connection portion 87 and the water-supply counterpart portion 441 are engaged with and connected to each other.
- the water-supply connection portion 87 is inserted to the water-supply counterpart portion 441 to a down side.
- the separation state the water-supply connection portion 87 and the water-supply counterpart portion 441 are separated from each other.
- the water-supply counterpart portion 441 may be disposed at a position corresponding to the water-supply connection portion 87.
- the water-supply counterpart portion 441 may be disposed at an imaginary central vertical plane.
- the water-supply counterpart portion 441 may be disposed at the body seating portion 43. Specifically, the water-supply counterpart portion 441 may be disposed at a center of the upper surface portion 431 of the central seating portion 43c.
- An upper surface of the water-supply counterpart portion 441 may penetrate an upper surface of the module seating portion and be exposed to an outside of the module seating portion.
- An upper end of the water-supply counterpart portion 441 (an upper end of the expansion portion 441c) may be exposed at the upper surface portion 431 of the body seating portion 43.
- An upper end of the water-supply counterpart portion 441 (an upper end of the expansion portion 441c) may have a height same as or lower than a height of an upper surface portion 431 of the body seating portion 43.
- the water-supply counterpart portion 441 may be a material having elasticity.
- the water-supply counterpart portion 441 may include a rubber material or a resin material.
- the upper end of the water-supply counterpart portion 441 may formed by a recessed portion of a surface of the body seating portion 43 to a lower side.
- a left water distribution pipe 443a is connected to the water-supply counterpart portion 441 to supply water from the water-supply counterpart portion 441 to a water supply space Sw of a left rotating plate.
- One end of the left water distribution pipe 443a is connected to the press-in hole 441a of the water-supply counterpart portion 441, and the other end (an outlet or an exhaust nozzle) 444a of the left water distribution pipe 443a is positioned on or at the water supply space Sw. Water jetted or spouted from the outlet 444a of the left water distribution pipe 443a falls into the water supply space Sw.
- the outlet 444a of the left water distribution pipe 443a may be positioned to be vertically overlapped with the water supply space Sw of the left rotating plate 412.
- a right water distribution pipe 443b is connected to the water-supply counterpart portion 441 to supply water from the water-supply counterpart portion 441 to a water supply space Sw of a right rotating plate.
- One end of the right water distribution pipe 443b is connected to the press-in hole 441a of the water-supply counterpart portion 441, and the other end (an outlet or an exhaust nozzle) 444b of the right water distribution pipe 443b is positioned on or at the water supply space Sw. Water jetted or spouted from the outlet 444b of the right water distribution pipe 443b falls into the water supply space Sw.
- the outlet 444b of the right water distribution pipe 443b may be positioned to be vertically overlapped with the water supply space Sw of the right rotating plate 412.
- the outlet 444a of the left water distribution pipe 443a and the outlet 444b of the right water distribution pipe 443b are respectively coupled to fixing holes 426a and 426b formed at the tilting-shaft support portion 426.
- the outlet 444a of the left water distribution pipe 443a and the outlet 444b of the right water distribution pipe 443b communicate with a lower portion of the tilting-shaft support portion 426 through fixing holes 426a and 426b, respectively.
- the left water distribution pipe 443a and the right water distribution pipe 443b may be directly connected to the water-supply counterpart portion 441, or may be connected to the water-supply counterpart portion 441 through a branch pipe 442.
- the branch pipe 442 may be a T-shaped pipe connected to the press-in hole 441a, the left water distribution pipe 443a, and the right water distribution pipe 443b.
- the left water distribution pipe 443a and the right water distribution pipe 443b may be accommodated in the module housing 42.
- a length of the left water distribution pipe 443a may be the same as a length of the right water distribution pipe 443b.
- the same does not only mean the exact same in a mathematical sense, but also means similarity in a range including an error to some extent.
- the range of the error may be preferably 0% to 2%.
- an inner diameter of the left water distribution pipe 443a may be the same as an inner diameter of the right water distribution pipe 443b.
- the length of the left water distribution pipe 443a may be the same as the length of the right water distribution pipe 443b, 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 443b.
- the left water distribution pipe 443a and the right water distribution pipe 443b may have a symmetrical arrangement.
- the left water distribution pipe 443a and the right water distribution pipe 443b may be symmetrical to each other with respect to an imaginary central vertical plane.
- an inner diameter of the left water distribution pipe 443a may be the same as an inner diameter of the right water distribution pipe 443b, and the left water distribution pipe 443a and the right water distribution pipe 443b may be symmetrical to each other with respect to the imaginary central vertical plane.
- a power device (not shown) that provides power required for cleaning may be installed in the base 32.
- the power device may include at least one of a sweep motor 2330 providing power to the agitator 2200 and a mop motor 61 providing power to the rotating plate 412.
- the case 31 may be disposed to surround at least a portion of the upper and side surfaces of the base 32.
- the case 31 has a space in which the base 32 is accommodated, and is opened downward.
- the case 31 is completely overlapped with the base 32 when viewed in the horizontal direction, and may have a height greater than that of the base 32. Further, the case 31 may be completely overlapped with the base 32 when viewed in the vertical direction. With the above-described structure, since the case 31 completely covers the base 32, the case 31 can detect the carpet, etc. having a low height, and in the case of the wet module, it is easy to avoid the carpet without climbing the carpet.
- the case 31 may be formed by combining a plurality of parts or a single part.
- the case 31 may include an upper casing 311 and a lower casing 312, 312.
- the case 31 must be able to move by an external force applied from the outside to the base 32 and be able to return to the origin again.
- the present disclosure includes a plurality of push supporters 600.
- the push supporter 600 transmits the load of the case 31 to the base 32 and provides the origin return force when the case 31 deviates from the origin.
- the case 31 is designed to have a relatively heavy load compared to the base 32 to increase the sensitivity of impact detection.
- the push supporter 600 supports the case 31 away from the base 32.
- the push supporter 600 provides an elastic restoring force to the case 31 in at least the upper direction of the base 32 and the outer direction of the base 32.
- the outer direction of the base 32 means a direction extending from the center of the base 32 around the plane of the base 32.
- the push supporter 600 may have various shapes, materials, and structures.
- the push supporter 600 may be a leaf spring made of metal.
- each push supporter 600 may be connected to the base 32, and the other end of each push supporter 600 may be connected to the case 31. If both ends of the push supporter 600 are connected, it is not easy to assemble and remove, so one end of each push supporter 600 is connected to the base 32, and some areas of the case 31 may be supported on the other end of each the supporter 600. It is that some areas of the case 31 are supported at the other end of the push supporter 600, that the case 31 is placed at the other end of the push supporter 600.
- One end of the push supporter 600 may be coupled to the base 32 by a coupling member and may be bonded by an adhesive member.
- a supporter groove 322 into which one end of the push supporter 600 is inserted may be formed in the base 32.
- the supporter groove 322 may be a groove opened upward. If the supporter groove 322 is an upwardly open groove, the engagement of the push supporter 600 is easy, the detachment of the push supporter 600 is prevented by the weight of the case 31, and the resistance to deformation of the push supporter 600 is excellent.
- the case 31 may include a corresponding support portion 31e formed on the side 31a of the case 31 (detailed on the side of the lower casing 312) and which on the other end of the push supporter 600 is located.
- the corresponding support portion 31e has a constant area when viewed from below.
- the corresponding support portion 31e may be formed to protrude in the inner direction from the side 31a of the case 31, or may be formed by a part of the side 31a of the case 31 is recessed to the outside.
- the lower surface of the corresponding support portion 31e is supported by the other end of the push supporter 600.
- the corresponding support portion 31e may be formed with a difference in thickness between a part of the side 31a of the case 31 and another part.
- the corresponding support portion 31e may be formed as a portion of the side 31a of the case 31 having a greater thickness than the other portion of the side 31a of the case 31.
- the push supporter 600 may have a structure having elastic force to move the case 31 away from the horizontal direction and move the case 31 away from the upper direction.
- the push supporter 600 may include a connection plate 610, a support plate 650, and an elastic plate 630.
- the connecting plate 610 has one end connected to the base 32 and the other end connected to the elastic plate 630.
- the width of the connecting plate 610 may be wider than the elastic plate 630 and the support plate 650.
- the connecting plate 610 is interpolated into the supporter groove 322.
- the connecting plate 610 has a plate shape.
- the width of the connecting plate 610 may be larger than that of the elastic plate 630. Therefore, the connecting plate 610 is stably supported on the base 32.
- the support plate 650 supports the case 31 and is connected to the other end of the elastic plate 630.
- the support plate 650 forms an angle intersecting the other end of the elastic plate 630.
- the support plate 650 forms a surface parallel to the horizontal direction in the absence of external force.
- forming the surface parallel to the horizontal direction means that it is arranged parallel to the horizontal surface of the widest surface.
- the support plate 650 has a plate shape.
- the elastic plate 630 has one end connected to the connecting plate 610 and the other end connected to the support plate 650 to add elastic force.
- the elastic plate 630 may have at least one bending portion to provide elastic force for restoring the support plate 650 and the connecting plate 610 to the origin.
- the elastic plate 630 may have an upward convex mountain shape.
- the elastic plate 630 has a plate shape.
- the elastic plate 630 has a first portion 631, one end of which is connected to the connecting plate 610, a second portion 632, one end of which is connected to the support plate 650, and a third portion 635 connecting the other end of the first portion 631 to the other end of the second portion 632.
- the other end of the first portion 631 may be positioned higher than one end of the first portion 631, and the other end of the second portion 632 may be positioned higher than one end of the second portion 632. That is, the elastic plate 630 may be a bending structure based on the third portion 635. The elastic plate 630 may be an inverted "U” or "V" shape.
- the slope of the first portion 631 may be constant or may increase in one direction.
- the first portion 631 has a constant slope, and is formed to be inclined upward in the other end direction of the first portion 631.
- the first portion 631 has a curvature, and the slope of the first portion 631 may increase or decrease in the other end direction of the first portion 631.
- the first portion 631 may be arranged parallel to the vertical direction.
- the second portion 632 may be disposed parallel to the side 31a of the case 31 or may have an angle within 5°of the side 31a of the case 31.
- the first portion 631 may form a surface parallel to the connecting plate 610.
- the slope of the second portion 632 may be constant or may increase in one direction.
- the second portion 632 has a constant slope, and is formed to be inclined upward in the other end direction of the second portion 632.
- the second portion 632 has a curvature, and the slope of the second portion 632 may increase or decrease in the other end direction of the second portion 632.
- the second portion 632 may have the slope with the side 31a of the case 31.
- the side 31a of the case 31 may have an angle within 10 to 20°.
- the angle formed by the first portion 631 and the second portion 632 may be 0 to 30°.
- the second portion 632 forms a surface intersecting the support plate 650.
- the third portion 635 connects the first portion 631 and the second portion 632.
- the third portion 635 may have an inflection point.
- the third portion 635 may have a curvature whose center of curvature radius is located between the first portion 631 and the second portion 632.
- the third portion 635 may be a bending portion.
- a plurality of push supporters 600 are arranged, and even if an external force is applied in any direction of the case 31, the case 31 may have an arrangement for returning the case 31 back to the origin.
- the plurality of push supporters 600 may be disposed along the circumference of the base 32.
- the plurality of push supporters 600 may be disposed along a virtual circumference (circle) centered on the center of the base 32.
- the separation distance between each push supporter 600 may be the same.
- the case 31 can be stably supported, and strong origin returning force can be provided regardless of the external force coming from any direction.
- the longitudinal direction of the push supporter 600 may be arranged toward the central direction of the base 32.
- the virtual line C1 connecting the connecting plate 610 and the support plate 650 may meet the center CE of the base 32.
- the case 31 and the base 32 may further include a structure for limiting the movement path of the case 31 or preventing the case 31 from being separated.
- path limiting means for limiting the movement path of the case 31 may be formed in the case 31 and the base 32.
- the path limiting means defines the path projection 31d formed in one of the base 32 and the case 31 and a space in which the path projection 31d are interpolated and moves, and may include a path limiting portion 324 formed in the other of the base 32 and the case 31.
- the path projection 31d is a projection protruding downward from the case 31.
- the path limiting portion 324 may be a hole or a groove having a certain space when viewed from the upper direction.
- the path limiting portion 324 is located on the base 32. Since the path projection 31d moves within the path limiting portion 324, the movement of the case 31 is limited.
- the case 31 may further include a release preventing portion 31c that is locked by the base 32 and prevents the case 31 from releasing.
- the release preventing portion 31c is locked by a part of the base 32 to limit movement in the upper direction of the case 31.
- the release preventing portion 31c may be formed to protrude inward from the lower end of the side 31a of the case 31.
- the case 31 when there is no external force, the case 31 is supported spaced apart from the base 32 by the push supporter 600.
- the push supporter 600 When an external force is applied to the case 31 from the outside, the push supporter 600 is deformed, and the case 31 is moved.
- a mop motor 61 and a battery Bt that are relatively heavy may be disposed on an upper portion of a spin mop 41.
- a left-mop motor 61a may be disposed on a left spin mop 41a (at an upper side of the left spin mop 41a), and a right-mop motor 61b may be disposed on a right spin mop 41b (at an upper side of the right spin mop 41b). That is, at least a part of the left-mop motor 61a may be vertically overlapped with the left spin mop 41a. Preferably, an entire portion of the left-mop motor 61a may be vertically overlapped with the left spin mop 41a. At least a part of the right-mop motor 61b may be vertically overlapped with the right spin mop 41b. Preferably, an entire portion of the right-mop motor 61b may be vertically overlapped with the right spin mop 41b.
- the left-mop motor 61a and the right-mop motor 61b may be vertically overlapped with an imaginary central horizontal line HL connecting a spin rotation axis Osa of the left spin mop 41a and a spin rotation axis Osb of the right spin mop 41b.
- a weight center (a center of gravity) MCa of the left-mop motor 61a and a weight center (a center of gravity) MCb of the right-mop motor 61b may be vertically overlapped with the imaginary central horizontal line HL connecting the spin rotation axis Osa of the left spin mop 41a and the spin rotation axis Osb of the right spin mop 41b.
- a geometric center of the left-mop motor 61a and a geometric center of the right-mop motor 61b may be vertically overlapped with the imaginary central horizontal line HL connecting the spin rotation axis Osa of the left spin mop 41a and the spin rotation axis Osb of the right spin mop 41b.
- the left-mop motor 61a and the right-mop motor 61b may be symmetrical with respect to a central vertical plane Po.
- the weight center MCa of the left-mop motor 61a and the weight center MCb of the right-mop motor 61b do not deviate from the spin mop 41, and the left-mop motor 61a and the right-mop motor 61b are symmetrical to each other. Accordingly, the friction force of the spin mop 41 can be enhanced and running performance and a left-right balance can be maintained.
- the spin rotation axis Osa of the left spin mop 41a is referred to as a left spin rotation axis Osa
- the spin rotation axis Osb of the right spin mop 41b is referred to as a right spin rotation axis Osb..
- the water tank 81 is disposed at a rear side than the central horizontal line HL, and an amount of water in the water tank 81 is variable.
- the left-mop motor 61a may be deviated to a left side from the left spin rotation axis Osa.
- the left-mop motor 61a may be deviated to a left front side from the left spin rotation axis Osa.
- the geometric center of the left-mop motor 61a or the weight center MCa of the left-mop motor 61a may be deviated to the left side from the left spin rotation axis Osa, or the geometric center of the left-mop motor 61a or the weight center MCa of the left-mop motor 61a may be deviated to the left front side from the left spin rotation axis Osa.
- the right-mop motor 61b may be deviated to a right direction from the right spin rotation axis Osb.
- the right-mop motor 61b may be deviated to a right front side from the right spin rotation axis Osb.
- the geometric center of the right-mop motor 61b or the weight center MCb of the right-mop motor 61b may be deviated to the right side from the right spin rotation axis Osb, or the geometric center of the right-mop motor 61b or the weight center MCb of the right-mop motor 61b may be deviated to the right front side from the right spin rotation axis Osb.
- the left spin rotation axis Osa and the right spin rotation axis Osb are disposed at a rear side than the center of the body 30.
- the central horizontal line HL may be disposed at a rear side of the geometric center Tc of the body 30 and a weight center (a center of gravity) WC of the mobile robot.
- the left spin rotation axis Osa and the right spin rotation axis Osb are spaced apart at the same distance from the central vertical plane Po.
- a left driving joint 65a may be disposed on the left spin mop 41a (at an upper side of the left spin mop 41a), and a right driving joint 65a may be disposed on the right spin mop 41b (at an upper side of the right spin mop 41b).
- one battery Bt may be installed. At least a part of the battery Bt may be disposed on the left spin mop 41a and the right spin mop 41b (at upper sides of the left spin mop 41a and the right spin mop 41b).
- the battery Bt that is relative heavy is disposed on the spin mop 41 (at the supper side of the spin mop 41) to improve friction force by the spin mop 41 and reduce eccentricity caused by the rotation of the mobile robot.
- a part of a left portion of the battery Bt may be vertically overlapped with the left spin mop 41a, and a part of a right portion of the battery Bt may be vertically overlapped with the right spin mop 41b.
- the battery Bt may be vertically overlapped with the central horizontal line HL and may be vertically overlapped with the central vertical plane Po.
- a weight center (a center of gravity) BC of the battery Bt or a geometric center of the battery Bt may be disposed at the central vertical plane Po and may be disposed at the central horizontal line HL.
- the weight center BC of the battery Bt or the geometric center of the battery Bt may be disposed at the central vertical plane Po, may be disposed at a front side of the central horizontal line HL, and may be disposed at a rear side of the geometric center Tc of the body 30.
- the weight center of the battery Bt or the geometric center of the battery Bt may be disposed at a front side than the water tank 81 or a weight center PC of the water tank 81.
- the weight center BC of the battery Bt or the geometric center Tc of the battery Bt may be disposed at a rear side than a weight center (a center of gravity) SC of the sweep module 2000.
- One battery Bt is disposed at a middle portion between the left spin mop 41a and the right spin mop 41b and is disposed at the central horizontal line HL and the central vertical plane Po.
- the battery Bt that is heavy holds centers during rotation of the spin mops 41 and provides weight on the spin mop 41, thereby improving friction force by the spin mop 41.
- a height of the battery Bt (a height of a lower end of the battery Bt) may be the same as heights of the left-mop motor 61a and the right-mop motor 61b (heights of lower ends of the left-mop motor 61a and the right-mop motor 61b).
- the battery Bt may be disposed on the same plane as the left-mop motor 61a and the right-mop motor 61b.
- the battery Bt may be disposed between the left-mop motor 61a and the right-mop motor 61b.
- the battery Bt may be disposed at an empty space between the left-mop motor 61a and the right-mop motor 61b.
- At least a part of the water tank 81 may be disposed on the left spin mop 41a and the right spin mop 41b (at upper sides of the left spin mob 41a and the right spin mop 41b).
- the water tank 81 may be disposed at a rear side than the central horizontal line HL and may be vertically overlapped with the central vertical plane Po.
- a weight center (a center of gravity) PC of the water tank 81 or a geometric center of the water tank 81 may be disposed at the central vertical plane Po and may be positioned at a front side than the central horizontal line HL.
- the weight center PC of the water tank 81 or the geometric center of the water tank 81 may be disposed at the central vertical plane Po and may be positioned at a rear side than the central horizontal line HL.
- the phrase that the weight center PC of the water tank 81 or the geometric center of the water tank 81 is disposed at the rear side than the central horizontal line HL may mean that weight center PC of the water tank 81 or the geometric center of the water tank 81 is vertically overlapped with a region deviated rearward from the central horizontal line HL.
- the weight center PC of the water tank 81 or the geometric center of the water tank 81 may be vertically overlapped with the body 30 without going beyond the body 30.
- the weight center PC of the water tank 81 or the geometric center of the water tank 81 may be disposed at a rear side than the weight center BC of the battery Bt.
- the weight center of the water tank 81 PC or the geometric center of the water tank 81 may be disposed at a rear side than the weight center SC of the sweep module 2000.
- a height of the water tank 81 may be the same as heights of the left-mop motor 61a and the right-mop motor 61b (heights of lower ends of the left-mop motor 61a and the right-mop motor 61b).
- the water tank 81 may be disposed on the same plane as the left-mop motor 61a and the right-mop motor 61b.
- the water tank 81 may be disposed at an empty space between the left-mop motor 61a and the right-mop motor 61b.
- the sweep module 2000 may be disposed at a front side than the spin mops 41, the battery Bt, the water tank 81, the mop driving unit 60, the right-mop motor 61b, and the left-mop motor 61a at the body.
- the weight center SC of the sweep module 2000 or a geometric center of the sweep module 2000 may be disposed at the central vertical plane Po and may be disposed at a front side than the geometric center Tc of the body 30.
- the body 30 When viewed from an upper side, the body 30 may have a circular shape and the base 32 may have a circular shape.
- the geometrical center Tc of the body 30 may means a center of the body 30 when the body 30 has the circular shape. Specifically, when viewed from an upper side, the body 30 may have a circular shape with a half-diameter error of less than 3%.
- the weight center SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be disposed at the central vertical plane Po, and may be disposed at a front side than the weight center BC of the battery Bt, the weight center PC of the water tank 81, the weight center MCa of the left-mop motor 61a, the weight center MCb of the right-mop motor 61b, and the weight center WC of the mobile robot.
- the weight center SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be disposed at a front side than the central horizontal line HL and a front end of the spin mops 41.
- the sweep module 2000 may include a dust housing 2100 having a storage space 2104, an agitator 2200, and a sweep motor 2330 as described above.
- the agitator 2200 may be rotatably installed on the dust housing 2100 and may be disposed at a rear side than the storage space 2104. Therefore, the agitator 2200 may have an appropriate length to cover the left and right spin mops 41a and 41b and not to protrude to an outside of the body.
- a rotation axis of the agitator 2200 may be parallel to the central horizontal line HL, and a center of the agitator 2200 may be positioned at the imaginary central vertical plane Po. Therefore, a large foreign material flowing into the spin mops 41 can be effectively removed by the agitator 2200.
- the rotation axis of the agitator 2200 may be disposed at a front side of the geometric center Tc of the body 30.
- a length of the agitator 2200 may be preferably longer than a distance between the left spin rotation axis Osa and the right spin rotation axis Osb.
- the rotation axis of the agitator 2200 may be disposed to be adjacent to a front end of the spin mop 41.
- a left caster 58a and a right caster 58b being in contact with the floor may be further provided at both ends of the dust housing 2100.
- the left caster 58a and the right caster 58b are rolled while being in contact with the floor and may move up and down by elastic force.
- the left caster 58a and the right caster 58b may support the sweep module 2000 and a part of the body.
- the left caster 58a and the right caster 58b may protrude from a lower end of the dust housing 2100 to a lower side.
- the left caster 58a and the right caster 58b are disposed at a line parallel to the central horizontal line HL, and may be disposed at a front side than the central horizontal line HL and the agitator 2200.
- An imaginary line connecting the left caster 58a and the right caster 58b may be disposed at a front side than the central horizontal line HL, the agitator 2200, and the geometric center Tc of the body 30.
- the left caster 58a and the right caster 58b may be bisymmetrical to each other with respect to the central vertical plane Po.
- the left caster 58a and the right caster 58b may be spaced apart at the same distance from the central vertical plane Po.
- the geometric center Tc of the body 30, the weight center WC of the mobile robot, the weight center SC of the sweep module 2000, and the weight center BC of the battery Bt may be disposed in an imaginary quadrangle formed by sequentially connecting the left caster 58a, the right caster 58b, the right spin rotation axis Osb, and the left spin rotation axis Osa.
- the battery Bt, which is relatively heavy, the left spin rotation axis Osa, and the right spin rotation axis Osb may be disposed to be adjacent to the central horizontal line HL. Then, a main load of the mobile robot may be applied to the spin mops 41 and a remaining sub-load may be the left caster 58a and the right caster 58b.
- the sweep motor 2330 may disposed at the central vertical plane Po.
- the pump 85 is disposed at the other side based on the central vertical plane Po (refer to FIG. 19 ) so that a sum weight center of the sweep motor 2330 and the pump 85 may be disposed on the central vertical plane Po.
- the weight center of the mobile robot at a relatively front side is maintained regardless of the water level of the water tank 81 disposed at a rear side, thereby increasing friction force by the spin mop 41.
- the weight center WC of the mobile robot is disposed to be adjacent to the geometric center Tc of the body 30 and thus stable driving can be achieved.
- a weight center (a center of gravity) COC of a controller Co or a geometric center of the controller Co may be disposed at a front side than the geometric center Tc of the body 30 and the central horizontal line HL. At least a 50% or more portion of the controller Co may be vertically overlapped with the sweep module 2000.
- the weight center WC of the mobile robot may be disposed at the central vertical plane Po, may be disposed at a front side than the central horizontal line HL, may be disposed at a front side than the weight center BC of the battery Bt, and may be disposed at a front side than the weight center PC of the water tank 81, may be disposed at a rear side than the weight center SC of the sweep module 2000, and may be disposed at a rear side than the left caster 58a and the right caster 58b.
- the weight center WC of the mobile robot is disposed at the central vertical plane Po. Accordingly, stability in a left-right direction can be improved.
- a ratio of an area where the left spin mop 41a or the right spin mop 41b is vertically overlapped with the body 30 may be preferably 85% to 95% of each spin mop.
- an angle A11 between a line L11 connecting a right end of the right spin mop 41b and a vertical line VL parallel to the central vertical plane Po at the right end of the body may be 0 to 5 degrees.
- a length of a portion of each spin mop 41 exposed to an outside of the body may be preferably 1/7 to 1/2 of a radius of each spin mop 41.
- the length of the portion of each spin mop 41 exposed to the outside of the body may mean a distance from one end of each spin mop 41 exposed to the outside of the body to an end of the body in a radial axis.
- a distance between a geometric center TC and one end of the portion of each spin mop 41 exposed to the outside of the body may be greater than an average radius of the body.
- a portion of each spin mop exposed to the outside may be located between a lateral side of the body 30 and a rear side of the body 30. That is, quadrants are sequentially positioned in a clockwise direction when viewed from a lower side of the body, the portion of each spin mop exposed to the outside may be a 2/4 quadrant or a 3/4 quadrant of the body 30.
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- Electric Vacuum Cleaner (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
Description
- The present disclosure relates to a mobile robot mopping a floor.
- A mobile robot is a device that cleans a floor by inhaling a foreign material such as a dust on the floor or wiping a foreign material on the floor. Recently, a mobile robot capable of mopping a floor has been developed. In addition, a mobile robot is a device that cleans while driving or traveling on its own.
- As a
prior art 1, a mobile robot capable of moving by a mop surface is known. In the above-mentioned convention art, the mobile robot is provided with a first rotating member and a second rotating member of fixing a pair of mop surfaces arranged in a left-right direction and rotating on axes in an up-down direction or a vertical direction. The mobile robot according to the conventional art moves as the first rotating member and the second rotating member rotate in a state that only the mop surfaces fixed to the first rotating member and the second rotating member are in contact with the floor. - In the case of the
prior art 1, when the mobile robot for cleaning moves, it may be shocked by structures in the house or other obstacles, and may include a bumper structure to alleviate the impact. Inside the structure of the bumper, an impact detection sensor for detecting an impact is included to detect the impact in each direction. - In addition, in the case of the prior art 2, a bumper structure is disclosed in which a separate bumper is disposed on each side in the moving direction to absorb an impact and prevent an error in obstacle rotation.
- In the prior bumper structure, the body is separated into a case and a bumper, the movement of the bumper is guided to the guide of the case, and the bumper is returned to its original position by an elastic member such as a spring.
- However, in the prior bumper structure, there is a problem in that it is difficult to implement high sensitivity of the impact detection sensor since the bumper is not elastically supported on the body, and the height of the bumper is fixed.
- In addition, since the prior bumper structure requires the use of the spring and the guide, etc., it has a complicated structure, and even with this structure, the bumper is not elastically supported on the body, and there is also a problem that the ability to return to the original position is reduced.
- Further, in the conventional art, since the robot cleaner proceeds only by friction force of spin mops and a water level of stored water in a water tank is variable, it may be difficult to effectively mop a floor and driving power may be not sufficient.
- Particularly, it may be very difficult for the conventional wet-type robot to adjust a traveling direction by friction force with rotating mops. According, cleaning is performed only by a random driving, and cleaning by a pattern driving being able to meticulously clean is not possible.
- Further, in the conventional art, since the cleaning is possible only by the random driving, meticulous cleaning at a corner of a floor or an area adjacent to a wall may be difficult.
- The first object of the present disclosure is to provide a mobile robot having excellent origin return ability of the case regardless of the direction of the force applied from the outside while the base elastically supports the weight of the case in the bumper structure having the entire outer surface structure as a detecting range.
- The second object of the present disclosure is to provide the mobile robot capable of improving detection sensitivity and maintaining rigidity of the structure in the bumper structure having the entire outer surface structure as a detecting range.
- The third object of the present disclosure is to provide the mobile robot that can easily manufacture the bumper structure having the entire outer surface structure as the detecting range and is inexpensive to manufacture.
- In the mobile robot of the prior art, there is a problem in that stability in the front-rear direction is reduced as the structure is supported by two points by a pair of left and right mops. The fourth object of the present disclosure is to solve this problem, and to improve the stability of the mobile robot in the left-right direction and the front-rear direction.
- In the mobile robot of the prior art, as the frictional forces generated by the pair of rotating mop surfaces are frequently changed, there is a problem that straight running is difficult without bending as the mobile robot moved by a pair of left and right rotating mop surface. The fifth object of the present disclosure is to solve this problem.
- The sixth object of the present disclosure is to provide a device capable of performing dry cleaning and wet cleaning in a complex manner, to perform clean and efficient cleaning.
- Another object of the present disclosure is to increase the friction between the mop and the bottom surface regardless of the water level change in the water tank for effective mopping and travelling of the robot cleaner, and to enable pattern driving capable of thorough cleaning through accurate travelling.
- In order to solve the above objects, the present disclosure features a push supporter that provides elastic restoring force to the case at least in the upper direction of the base and the outer direction of the base.
- Specifically, the robot cleaner comprises a mop module including a left rotating plate to which a mop is attached to the bottom surface and a right rotating plate to which the mop is attached to the bottom surface; a base on which the mop module is installed; a case disposed to cover at least an upper portion and a part of a side of the base; and a plurality of push supporters supporting the case spaced apart from the base, wherein each push supporter provides the case with the elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- One end of each push supporter is connected to the base and the other end of each push supporter is connected to the case.
- One end of each push supporter is connected to the base, and some areas of the case are supported at the other end of each push supporter.
- The base includes a supporter groove into which one end of the push supporter is inserted.
- The supporter groove is opened upward.
- A corresponding support portion is formed on a side of the case, has a thickness greater than that of other portions of the side of the case, and provides a space where the other end of the push supporter is located.
- The plurality of push supporters are disposed on a virtual circle centered on a center of the base, and the separation distances between the push supporters are the same.
- The push supporter includes a leaf spring.
- The push supporter includes, a connecting plate connected to the base; a support plate supporting the case; and an elastic plate having one end connected to the connecting plate and the other end connected to the support plate to provide elastic force.
- The elastic plate is convex upward.
- The elastic plate includes a first portion of which one end is connected to the connecting plate; a second portion of which one end is connected to the support plate; and a third portion connecting the other end of the first portion and the other end of the second portion, and wherein the other end of the first portion is positioned higher than one end of the first portion, and the other end of the second portion is positioned higher than one end of the second portion.
- The slope of the first portion is constant or increases in one direction.
- The slope of the second portion is constant or increases in one direction.
- The third portion has an inflection point.
- The second portion is inclined with a side of the case.
- The virtual line connecting the connecting plate and the support plate meets the center of the base.
- The mobile robot further comprises a collection module having a collection part disposed at a position spaced forward from the mop module and forming a collection space for storing foreign matter, a sweeping part rotating to introduce the foreign matter into the collection space, and a sweeping motor providing a driving force to the sweeping part.
- The collection module may be installed on the base.
- The lower surface of the left rotating plate may form a downward slope in the left front direction, and the lower surface of the right rotating plate may form a downward slope in the right front direction.
- In addition, the mobile robot according to the present disclosure comprises a base on which a moving means is installed; a case disposed to cover at least an upper portion and a part of side of the base; and a plurality of push supporters supporting the case spaced apart from the base, wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- In addition, the mobile robot according to the present disclosure comprises a power device providing power required for cleaning; a base on which the power device is installed; a case disposed to cover at least an upper portion and a part of side of the base; and a plurality of push supporters supporting the case spaced apart from the base, wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- The power device includes a motor that provides power to a agitator; and at least one of a mop motor that provides power to a rotating plate.
- According to the present disclosure, there is an advantage that the origin return ability is excellent regardless of the direction of the force applied from the outside, and the case can be supported on the base while maintaining the rigidity of the body since the case is spaced apart from the base with a V-shaped leaf spring, the case has the excellent origin return ability in the horizontal direction and the upper direction.
- In addition, the present disclosure has the advantage of being able to effectively transmit the load of a relatively heavy case to the base by a plurality of radially arranged push supports to achieve high sensitivity.
- In addition, according to the present disclosure, a plurality of leaf spring structures are radially arranged to easily fabricate the bumper structure having an entire outer surface as a detecting range (a structure in which the case surrounds the entire outer surface), there is an advantage that the cost is reduced by a simple structure, and due to the characteristics of the wet cleaner performing mopping, the bumper covers the entire side of the base, thereby easily detecting a carpet, etc. having a low height, thereby there is an advantage that can limit the carpet travelling of the wet cleaner.
- In addition, the present disclosure can implement the mobile robot that performs mopping while simultaneously collecting relatively large foreign substances.
- In addition, the present disclosure has an effect of increasing the efficiency of mopping by supporting the mobile robot with the mop module.
- In addition, by providing the frictional force of the collecting module against the shaking of the mop module in the left and right directions, there is an effect that the mobile robot can move straight while the mobile robot moves due to the frictional force of the mop surface.
- In addition, based on the virtual central vertical plane, which is a reference plane in which a pair of spin-mops are symmetrically symmetrical, a pair of collection parts containing foreign substances are provided to be symmetrically left and right, thereby driving control by a pair of left and right spin-mops can be accurately implemented, and the unexpected eccentric movement can be prevented.
-
-
FIG. 1 is a perspective view of a mobile robot according to a first embodiment of the present disclosure. -
FIG. 2 is a left side view of the mobile robot shown inFIG. 1 . -
FIG. 3 is a bottom perspective view of the mobile robot shown inFIG. 1 . -
FIG. 4 is a front cross-sectional view of the mobile robot shown inFIG. 1 . -
FIG. 5 is a perspective view of a sweep module shown inFIG. 3 . -
FIG. 6 is a bottom perspective view of the sweep module shownFIG. 5 . -
FIG. 7 is a right cross-sectional view of the sweep module shown inFIG. 5 . -
FIG. 8 is an exploded perspective view of the sweep module shown inFIG. 3 . -
FIG. 9 is an exploded perspective view of the sweep module viewed from a right side ofFIG. 8 . -
FIG. 10 is a partially exploded perspective view of the sweep module shown inFIG. 5 . -
FIG. 11 is an enlarged perspective view of a first lever shown inFIG. 8 . -
FIG. 12 is an enlarged perspective view of a second lever shown inFIG. 9 . -
FIG. 13 is an enlarged perspective view of the second lever viewed from a left side ofFIG. 12 . -
FIG. 14 is a partially exploded perspective view of the sweep module showing a coupled structure of an agitator shown inFIG. 5 . -
FIG. 15 is an exploded perspective view showing an assembled structure of a driven coupling shown inFIG. 14 . -
FIG. 16 is a perspective view viewed from a left side ofFIG. 15 . -
FIG. 17 is a right cross-sectional view showing the agitator ofFIG. 14 . -
FIG. 18 is an exploded perspective view of a driving unit viewed from a left side ofFIG. 14 . -
FIG. 19 is a plan view of the mobile robot ofFIG. 1 in a state that a case is removed. -
FIG. 20 is a bottom view of the mobile robot shown inFIG. 19 . -
FIG. 21 is a right cross-sectional view of the mobile robot shown inFIG. 19 . -
FIG. 22 is a cross-sectional view of the mobile robot taken along a line passing through rotation axes of left and right spin mops. -
FIG. 23 is a perspective view showing a body of the mobile robot in a state that a mop module is separated. -
FIG. 24 is a perspective view of a water supply module and a mop module. -
FIG. 25 is an exploded perspective view of the mop module shown inFIG. 24 . -
FIG. 26 is an exploded perspective view of the mop module shown inFIG. 24 . -
FIG. 27 is a partial cross-sectional view showing a state that a water-supply counterpart portion and a water-supply connection portion are coupled. -
FIG. 28 is an exploded perspective view of the body of the mobile robot. -
FIG. 29 is a plan view of the base. -
FIG. 30 is a schematic vertical cross-sectional view of a mobile robot for showing the push supporter of the present disclosure. -
FIG. 31 is a perspective view of a push supporter of the present disclosure. -
FIGS. 32 and33 are views showing the operation of the push supporter of the present disclosure. -
FIG. 34 is a bottom view ofFIG. 1 for explaining the center of gravity and the bottom of the spin-mop of the present disclosure. -
FIG. 35 is a plan view of the center of gravity of the present disclosure, with the case removed from the body inFIG. 1 and viewed from the top. - Expressions referring to directions such as a front direction (a frontward direction or a forward direction) (F), a rear direction (a rearward direction) (R), a left direction (a leftward direction) (Le), a right direction (a rightward direction) (Ri), an upper direction (an up direction or an upward direction) (U), and a down direction (an downward direction) (D), or so on may be defined as indicated in the drawings. This is just for explaining the present disclosure to be clearly understood. Therefore, directions may be defined differently depending on where a reference is placed.
- For example, a direction parallel to an imaginary line connecting a central axis of a left spin mop and a central axis of a right spin mop may be defined as a left-right direction. A direction perpendicular to the left-right direction and parallel to the central axes of the spin mops or has an error angle within 5 degrees with the central axes of the spin mops may be defined as an up-down direction or a vertical direction. A direction perpendicular to each of the left-right direction and the up-down direction may be defined as a front-back direction or a longitudinal direction.
- A term of 'first', 'second', 'third', or so on in front of a component mentioned below is only to avoid confusion between the component being referred to and other component, and does not relate to an order, an importance, or a master-servant relationship between components. For example, an embodiment only having a second component without a first component may be possible.
- A term of 'a mop' mentioned hereinafter may have any of materials such as fabric or paper, and may be a multi-use product being able to be used repeatedly through washing or a disposable product.
- The present disclosure may be applied to a mobile robot manually moved by a user or a robot cleaner traveling or driving on its own. Hereinafter, an embodiment will be described based on a robot cleaner.
- A
cleaner 1 according to an embodiment of the present disclosure may include abody 30 having a controller. Thecleaner 1 may include amop module 40 to mop a floor (a surface to be cleaned) while being in contact with the floor. Thecleaner 1 may include asweep module 2000 provided to collect a foreign material on the floor. - The
mop module 40 may be disposed at a lower side of thebody 30 and may support thebody 30. Thesweep module 2000 may be disposed at the lower side of thebody 30 and may support thebody 30. In the present embodiment, thebody 30 may be supported by themop module 40 and thesweep module 2000. Thebody 30 may form an appearance or an exterior. Thebody 30 may be arranged to connect themop module 40 and thesweep module 2000. - The
mop module 40 may form an appearance or an exterior. Themop module 40 is disposed at the lower side of thebody 30. Themop module 40 is disposed at a rear side of thesweep module 2000. Themop module 40 provides driving force for a movement of thecleaner 1. In order to move thecleaner 1, themop module 40 may be preferably disposed at the rear side of thecleaner 1. - The
mop module 40 may be provided with at least onemop portion 411 to mop the floor while rotating. Themop module 40 may include at least onespin mop 41, and thespin mop 41 may rotate in a clockwise direction or a counterclockwise direction when viewed from an upper side. Thespin mop 41 may be in contact with the floor. - In the present embodiment, the
mop module 40 may include a pair ofspin mops spin mops spin mops left spin mop 41a, and a spin mop disposed at a right side may be defined as aright spin mop 41b. - Each of the
left spin mop 41a and theright spin mop 41b may be rotated with respect to its rotation axis. The rotation axis may be arranged in an up-down direction. Theleft spin mop 41a and theright spin mop 41b may be rotated independently of each other. - Each of the
left spin mop 41a and theright spin mop 41b may include arotating plate 412, themop portion 411, and aspin shaft 414. Each of theleft spin mop 41a and theright spin mop 41b may include a water container (a water receiving portion) 413. - The
sweep module 2000 may form an appearance or an exterior. Thesweep module 2000 may be disposed at a front side of themop module 40. In order to prevent a foreign material on the floor from first contacting themop module 40, thesweep module 2000 may preferably disposed at the front side of thecleaner 1 in a traveling direction. - The
sweep module 2000 may be spaced apart from themop module 40. Thesweep module 2000 may disposed at the front side of themop module 40 and be in contact with the floor. Thesweep module 2000 collects the foreign material on the floor. - The
sweep module 2000 may be in contact with the floor and may collect the foreign material at the front side of thesweep module 2000 to an inside when thecleaner 1 moves. Thesweep module 2000 may be disposed at a lower side of thebody 30. A width of thesweep module 2000 in a left-right direction may be smaller than a width of themop module 40 in the left-right direction. - The
body 30 may include acase 31 forming an appearance or an exterior and a base 32 disposed at a lower side of thecase 31. - The
case 31 may form a side surface and an upper surface of thebody 30. The base 32 may form a bottom surface of thebody 30. - In the present embodiment, the
case 31 may have a cylindrical shape with an open bottom surface. When viewed in a top view, an overall shape of thecase 31 may be a circular shape. Since thecase 31 has a plane shape of a circular shape, a rotation radius when rotating can be minimized. - The
case 31 may include anupper wall 311 having an overall shape in a circular shape, and aside wall 312 formed integrally with theupper wall 311 and extending downward from an edge of theupper wall 311. - A part of the
sidewall 312 may be open. An opened portion of theside wall 312 may be defined as a water-tank insertion opening (a water-tank insertion hole or a water-tank insertion portion) 313, and awater tank 81 may be detachably installed through the water-tank insertion opening 313. The water-tank insertion opening 313 may be disposed at a rear side based on the traveling direction of the cleaner. Since thewater tank 81 is inserted through the water-tank insertion opening 313, the water-tank insertion opening 313 may be preferably disposed close to themop module 40. - The
mop module 40 may be coupled to thebase 32. Thesweep module 2000 may be coupled to thebase 32. A controller Co and a battery Bt may be disposed in an inner space formed by thecase 31 and thebase 32. In addition, a mop driving unit (a mop driver) 60 may be disposed on thebody 30. A water supply module may be disposed at thebody 30. - The base 32 may include a
base body 321, abase guard 322, and aninsertion hole 323. Thebase body 321 may cover the opened bottom surface of thecase 31. Thebase guard 322 may be formed along an outer edge of thebase body 321 and protrude downward from the edge of thebase body 321. Theinsertion hole 323 may penetrate through thebase body 321 in an up-down direction, and thesweep module 2000 may be detachably inserted into theinsertion hole 323. - In particular, referring to
FIGS. 1 ,2 and12 , the front portion of thebody 30 may protrude below the rear portion of thebody 30 to which eachspin mop 41 is mounted. The height of the bottom of the front portion of thebody 30 is positioned higher than the height of the bottom of each spin mop 41 (the bottom of the mop portion 411), and is preferably positioned lower than the top of therotating plate 412. That is, the rear portion of thebody 30 on which thespin mop 41 is disposed has a shape recessed toward the upper side of the lower surface compared to other portions. - As another example, a bumper (not shown) for detecting an external impact may be disposed on the front portion of the
body 30. Specifically, when the bumper is disposed, the bumper formed at the same height as the lower surface of thebody 30 and disposed at the lower end of the front portion of thecase 31 may be included. The bumper has a semicircular band shape and is disposed along the outside of the front portion of thecase 31. Both ends of the bumper are not perpendicular to the lower end of the rear portion of thebody 30 and have a slope. - When viewed from the front, the bumper covers at least a portion of each
spin mop 41 and exposes at least a portion of eachspin mop 41. Specifically, when viewed from the front, the bumper exposes at least a portion of both ends of eachspin mop 41. Preferably, when viewed from the front, at least a portion of both ends of eachspin mop 41 is exposed to the side of both ends of the bumper. Here, it is preferable that the ratio of the area where eachspin mop 41 is exposed is 85% to 95% of eachspin mop 41. - In the present disclosure, since at least a portion of each
spin mop 41 is exposed to the outside of the body, even when the spin mop is exposed to the outside of the body, the spin mop is circular thereby when the body rotates, friction between the obstacles and the spin mops is reduced, and the body can be easily rotated, and although the cleaning area can be enlarged, there is an area that the bumper cannot cover, so that the mop can be restricted to the area that cannot be cleaned. Therefore, in the present disclosure, the bumper is arranged in the form of the semicircular band, only on the outer periphery of the front lower portion of the body, and the bumper covers most of eachspin mop 41 as viewed from the front, thereby while maintaining a compact cleaner size, it is possible to secure the size of the mop, and it is possible to quickly detect obstacles and carpets in the front lower part, and there is an advantage of preventing the restriction of the mop. - The
sweep module 2000 may be detachably mounted or installed on thebody 30 through theinsertion hole 323. Thesweep module 2000 may be positioned at a front side than themop module 40 and collect a foreign material at the front side of themop module 40. Thesweep module 2000 may be detachably assembled with thebase 32. Thesweep module 2000 in an assembled state with the base 32 may be separated from the base 32 through a lever 2500. - An
installation space 325 in which thesweep module 2000 is mounted is formed at thebase 32. In the present embodiment, astorage housing 326 forming theinstallation space 325 may be further provided. Thestorage housing 326 may be assembled with thebase 32 and may be disposed at an upper side of theinsertion hole 323. - The
storage housing 326 may protrude to an upper side from thebase body 321. - A lower side of the
storage housing 326 may be opened to communicate with theinsertion hole 323. An interior space of thestorage housing 326 provides theinstallation space 325. Theinstallation space 325 of thestorage housing 326 corresponds to a shape of thesweep module 2000. - The
sweep module 2000 may include adust housing 2100, anagitator 2200, adriving unit 2300, a drivingcoupling 2320, a drivencoupling 2220, and a lever 2500. Thedust housing 2100 may be detachably assembled with thebody 30, and a foreign material may be stored in thedust housing 2100. Theagitator 2200 may be rotatably assembled with thedust housing 2100. Thedriving unit 2300 may be installed on thebody 30 and provide rotational force to theagitator 2200. The drivingcoupling 2320 may be disposed at thedriving unit 2300 and transmit the rotational force of thedriving unit 2300 to theagitator 2200. The drivencoupling 2220 may transmit the rotational force of the drivingcoupling 2320 to theagitator 2200. The lever 2500 may be disposed at thedust housing 2100. The lever 2500 may couple or separate thedriving coupling 2320 and the drivencoupling 2220 by receiving operation force. - The
dust housing 2100 accommodates theagitator 2200. A foreign material collected through the rotation of theagitator 2200 may be stored in thedust housing 2100. That is, thedust housing 2100 provides an installation and operation structure of theagitator 2200, and also provides a storage space for a foreign material. - The
dust housing 2100 may include acollection space 2102 for a rotation of theagitator 2200 and astorage space 2104 for storing a foreign material. Thedust housing 2100 may longitudinally extend in a left-right direction. A width of thedust housing 2100 may be narrower than a width of themop module 40. - The dust housing may be formed by separately fabricating a structure for the
collection space 2102 and a structure for thestorage space 2104 and assembling them each other. In the present embodiment, thecollection space 2102 and thestorage space 2104 are disposed in thedust housing 2100, and apartition 2145 for partitioning thecollection space 2102 and thestorage space 2104 may be disposed. - In the present embodiment, the
dust housing 2100 may include anupper housing 2110, alower housing 2140, adust cover 2150. Theupper housing 2110 may provide an upper outer shape. Thelower housing 2140 may be disposed at a lower side of theupper housing 2110 and be coupled to theupper housing 2110. Thedust cover 2150 may detachably assembled with at least one of theupper housing 2110 and thelower housing 2140. - The
collection space 2102 and thestorage space 2104 are formed by assembling theupper housing 2110 and thelower housing 2140. That is, theupper housing 2110 may provide an upper partial space of thecollection space 2102 and an upper partial space of thestorage space 2104, and thelower housing 2140 may provide the remaining lower space of thecollection space 2102 and the remaining lower space of the storage space 2014. - In the present embodiment, the
collection space 2102 may be positioned at a rear side of thestorage space 2104. - That is, the
storage space 2104 is positioned at a front side of thecollection space 2102, and thedust cover 2150 is positioned at a front side than theupper housing 2110. - The
upper housing 2110 and thelower housing 2140 may be integrally assembled. Theupper housing 2110 and thelower housing 2140 that are integrally assembled may be defined as ahousing assembly 2001. - The
dust cover 2150 is detachably assembled with the housing assembly. When thedust cover 2150 is separated from the housing assembly, thestorage space 2104 is exposed to an outside. The foreign material stored in thestorage space 2104 may be discarded when thedust cover 2150 is separated. - The
upper housing 2110 provides an upper surface, a left upper surface, a right upper surface, and a rear surface of thedust housing 2100. Theupper housing 2110 forms an upper side of thecollection space 2102 and thestorage space 2104. Theupper housing 2110 provides upper partial portions of thecollection space 2102 and thestorage space 2104. - The
upper housing 2110 may include a firstupper housing portion 2112, a secondupper housing portion 2114, a thirdupper housing portion 2116, and afourth housing portion 2118. The firstupper housing portion 2112 may form an upper wall of thestorage space 2104. The secondupper housing portion 2114 may be integrally connected with the firstupper housing portion 2112 and forms an upper wall and a rear wall of thecollection space 2102. The thirdupper housing portion 2116 may provide a part of a left wall of thecollection space 2102 and thestorage space 2104, and the fourthupper housing portion 2118 may provide a part of a right wall of thecollection space 2102 and thestorage space 2104. - A shape of the first
upper housing 2112 is not limited. However, since the secondupper housing portion 2114 accommodates theagitator 2200, the secondupper housing portion 2114 may have a shape corresponding to a shape of theagitator 2200. - At least a part of the second
upper housing portion 2114 may have a center of curvature at a rotation axis of theagitator 2200. At least a part of the secondupper housing portion 2114 may have an arc shape. - In the present embodiment, the second
upper housing portion 2114 may have a radius of curvature R1 greater than a diameter of theagitator 2200. An outer edge of theagitator 2200 may be preferably in contact with an inner surface of the secondupper housing portion 2114. - A foreign material collected through a contact of the
agitator 2200 and the secondupper housing portion 2114 may be moved to thestorage space 2104 along the inner surface of the secondupper housing portion 2114. When theagitator 2200 and the secondupper housing 2114 are spaced apart from each other, the foreign material collected by theagitator 2200 may fall back to the floor. - A
collection opening surface 2101 may be formed at thelower housing 2140. Thecollection opening surface 2101 may be exposed to the floor. Theagitator 2200 may penetrate thecollection opening surface 2101 and protrude to a down side than thecollection opening surface 2101. - The
collection opening surface 2101 may be disposed at a rear side than thestorage space 2102. - The
lower housing 2140 may be disposed at a lower side of theupper housing 2110 and may be spaced apart from theupper housing 2110 to form astorage opening surface 2103. In the present embodiment, thelower housing 2140 and theupper housing 2110 may be spaced apart from each other in the up-down direction. - The
lower housing 2140 may include a firstlower housing portion 2142, a third lower housing portion 2146, a fourthlower housing portion 2148, and apartition 2145. The firstlower housing portion 2142 may form a lower wall of thestorage space 2104 and has thecollection opening surface 2101 where the foreign material is collected. The third lower housing portion 2146 may provide a rest of the left wall of thecollection space 2102 and thestorage space 2104, and the fourthlower housing portion 2148 may provide a rest of the right wall of thecollection space 2102 and thestorage space 2104, Thepartition 2145 may be integral with the firstlower housing portion 2142, and may partition thecollection space 2102 and thestorage space 2104. - In the present embodiment, the first
lower housing portion 2142, the third lower housing portion 2146, the fourthlower housing portion 2148, and thepartition 2145 may be formed to have an integral structure. Unlike the present embodiment, any one of the firstlower housing portion 2142, the third lower housing portion 2146, the fourthlower housing portion 2148, or thepartition 2145 may be separately manufactured and then be assembled. - A
left wall 2011 of thehousing assembly 2001 may be provided through assembling the third lower housing portion 2146 and the thirdupper housing portion 2116. Aright wall 2012 of thehousing assembly 2001 may be provided through assembling the fourthlower housing portion 2148 and the fourthupper housing portion 2118. - A left rotation axis of the
agitator 2200 may penetrate theleft wall 2011 of the housing assembly, and a right rotation axis of theagitator 2200 may penetrate theright wall 2012 of the housing assembly. - The
partition 2145 may protrude to an upper side from the firstlower housing portion 2142. A length of thepartition 2145 in the left-right direction may correspond to or relate to a length of theagitator 2200 in the left-right direction. The length of thepartition 2145 in the left-right direction may be greater than the length of theagitator 2200 in the left-right direction. - The
partition 2145 may include afirst partition portion 2145a and asecond partition portion 2145b. Thefirst partition portion 2145a may protrude to an upper side from the firstlower housing portion 2142, form thecollection opening surface 2101, and partition thecollection space 2102 and thestorage space 2104. Thefirst partition portion 2145a may be not in contact with theagitator 2200. Thesecond partition portion 2145b may extend to an upper side from thefirst partition portion 2145a, partition thecollection space 2102 and thestorage space 2104, and be in contact with theagitator 2200. - The
first partition portion 2145a may protrude to the upper side from the firstlower housing portion 2142. Thecollection opening surface 2101 may be formed between thefirst partition portion 2145a and arear end 2140b of the firstlower housing portion 2142. - A length L1 of the
collection opening surface 2101 in a front-rear direction may be smaller than a diameter of theagitator 2200. Since the length L1 of thecollection opening surface 2101 in the front-rear direction is smaller than the diameter of theagitator 2200, theagitator 2200 cannot be drawn out to an outside through thecollection opening surface 2101. - The
agitator 2200 may be mounted on an upper side of thelower housing portion 2140, and a lower end of theagitator 2200 may protrude to an outside of thecollection opening surface 2101 and thus may be in contact with the floor. - The
first partition portion 2145a may be not in contact with theagitator 2200. - However, the
second partition portion 2145b may be in contact with theagitator 2200. - The
second partition portion 2145b may have an arc shape. A curvature center of thesecond partition 2145b may be positioned at a rotation axis Ax of theagitator 2200. A radius of curvature R2 of thesecond partition 2145b may be equal to or smaller than a diameter of theagitator 2200. - The
second partition portion 2145b may have a curved surface facing theagitator 2200. Anupper end 2147a of thesecond partition portion 2145b may be positioned higher than the rotation axis Ax of theagitator 2200. - The
upper end 2147a of thesecond partition portion 2145b may protrude to a rear side of thefirst partition portion 2145a. - The
upper end 2147a of thesecond partition portion 2145b may be sharply formed. Aninclined surface 2147b may be formed at theupper end 2147a of thesecond partition portion 2145b. Theinclined surface 2147b may separate a foreign material attached to a surface of theagitator 2200 and guide the foreign material to thestorage space 2104. - When assembling the
upper housing 2110 and thelower housing 2140, adischarge surface 2105 that is opened to a front side may be formed. Thedischarge surface 2105 may be formed at a front surface of thehousing assembly 2001, and adust cover 2150 may open and close thedischarge surface 2105. - The
dust cover 2150 may be disposed at a front side of thehousing assembly 2001 and may cover thedischarge surface 2105. The foreign material in thestorage space 2104 may be discharged to an outside of thesweep module 2000 through thedischarge surface 2105. - The
dust cover 2150 may be detachably assembled with thehousing assembly 2001. In the present embodiment, thedust cover 2150 and thehousing assembly 2001 may be assembled through a mutually-engaged structure (a mutually-fastened structure, a mutually-locked structure, or a mutually-hooked structure). The mutually-engaged structure may be released by operation force of a user. - For the mutually-engaged structure of the
dust cover 2150 and thehousing assembly 2001, aprotrusion 2151 may be formed at one of thedust cover 2150 and thehousing assembly 2001, and an engaged groove 2152 may be formed at the other of thedust cover 2150 and thehousing assembly 2001. - In the present embodiment, the engaged groove 2152 is formed at the
dust cover 2150, and theprotrusion 2151 is formed at thehousing assembly 2001. - A number of engaged grooves 2152 corresponds to a number of
protrusions 2151. A plurality ofprotrusions 2151 may be disposed. Theprotrusions 2151 may be disposed at theupper housing 2110 and thelower housing 2140, respectively. - In the present embodiment, two
protrusions 2151 are disposed at theupper housing 2110, and twoprotrusions 2151 are also disposed at thelower housing 2140. - If it is necessary to distinguish, protrusions disposed at the
upper housing 2110 are referred to asupper protrusions lower housing 2140 are referred to as lower protrusions 2151c and 2151d. - The
upper protrusions upper housing 2110. The lower protrusion 2151c and 2151d protrude to a lower side at a bottom surface of thelower housing 2140. - At the
dust cover 2150, upper engagedgrooves upper protrusions - The
dust cover 2150 may include afront cover portion 2153, atop cover portion 2154, aleft cover portion 2155, and aright cover portion 2156, and abottom cover portion 2157. Thefront cover portion 2153 may be disposed to face thedischarge surface 2105. Thetop cover portion 2154 may protrude from an upper edge of thefront cover portion 2153 toward the housing assembly. Theleft cover portion 2155 may protrude from a left edge of thefront cover portion 2153 toward the housing assembly, and theright cover portion 2156 may protrude from a right edge of thefront cover portion 2153 toward the housing assembly. Thebottom cover portion 2157 may protrude from a lower edge of thefront cover portion 2153 toward the housing assembly side. - The
dust cover 2150 may have a concave insertion space from a rear side to a front side. - The upper engaged
groove top cover portion 2154. The lower engaged groove 2152c and 2152d are formed at thebottom cover portion 2157. The upper engagedgroove - The upper engaged
groove - The
housing assembly 2001 may have an insertion portion 2160 being inserted into the insertion space and being in close contact with an inner surface of thedust cover 2150. The insertion portion 2160 may be located at a front side of theupper housing 2110 and thelower housing 2140. - The insertion portion 2160 may include a
top insertion portion 2164, aleft insertion portion 2165, aright insertion portion 2166, and abottom insertion portion 2167. Thetop insertion portion 2164 may form an upper side of thedischarge surface 2105 and protrude to a front side. Theleft insertion portion 2165 may form a left side of thedischarge surface 2105 and protrude to a front side. Theright insertion portion 2166 may form a right side of thedischarge surface 2105 and protrude to a front side. Thebottom insertion portion 2167 may form a lower side of thedischarge surface 2105 and protrude to a front side. - In the present embodiment, the
top insertion portion 2164, theleft insertion portion 2165, theright insertion portion 2166, and thebottom insertion portion 2167 are connected. Unlike the present embodiment, thetop insertion portion 2164, theleft insertion portion 2165, theright insertion portion 2166, and thebottom insertion portion 2167 may be separated. An area of the insertion portion 2160 may become narrower as it goes from a rear side to a front side. - The
top insertion portion 2164 may be in close contact with thetop cover portion 2154, theleft insertion portion 2165 may be in close contact with theleft cover portion 2155, theright insertion portion 2166 may be in close contact with theright cover portion 2156, and thebottom insertion portion 2167 may be in close contact with thebottom cover portion 2157. - In the present embodiment, the
upper protrusions 2151a and 2111b are formed at thetop insertion portion 2164, and the lower protrusions 2151c and 2151d are formed at thebottom insertion portion 2167. - The
upper protrusions groove groove - By operation force of a user to pull the
dust cover 2150, thedust cover 2150 or the insertion portion 2160 is elastically deformed and thus the mutually-engaged structure is released. - The
agitator 2200 may be disposed to be rotated in thehousing assembly 2001. - The
agitator 2200 may be disposed between theupper housing 2110 and thelower housing 2140. Theagitator 2200 may be disposed at theupper housing 2110. In the present embodiment, theagitator 2200 is disposed at thelower housing 2140 and rotates while being supported by thelower housing 2140. - A rotation axis of the
agitator 2200 is disposed in the left-right direction and theagitator 2200 may rotate forward or backward. - The
housing assembly 2001 may further include afirst journal 2010 and asecond journal 2020 supporting theagitator 2200. Thefirst journal 2010 is disposed at a left side of thehousing assembly 2001, and thesecond journal 2020 is disposed at a right side of thehousing assembly 2001. - The
first journal 2010 and thesecond journal 2020 penetrate thehousing assembly 2001 in the left-right direction and communicate with thecollection space 2102. - In the present embodiment, the
first journal 2010 and thesecond journal 2020 may have a cylindrical shape. Unlike the present embodiment, at least one of the first journal and the second journal may have a semi-cylindrical shape. When the first journal and the second journal have a semi-cylindrical shape, the first journal and the second journal are arranged to support the rotation axis of theagitator 2200 at a lower side. - The
dust housing 2100 may be mounted on theinstallation space 325 of thebase 32, and a lever 2500 may be disposed to couple or separate the base 32 and thedust housing 2100. - The lever 2500 may be disposed between the base 32 and the
dust housing 2100 and may form a mutually-engaged structure with respect to thebase 32 and thedust housing 2100. The lever 2500 may form a mutually-engaged structure with thedust housing 2100 in a direction of gravity and suppress thedust housing 2100 from being separated from a lower side of thebase 32. - A plurality of levers 2500 may be disposed, and form a mutually-engaged structure at a plurality of places of the
dust housing 2100. In the present embodiment, the lever 2500 includes afirst lever 2510 and asecond lever 2520, and thefirst lever 2510 and thesecond lever 2520 are arranged in the left-right direction. - The
first lever 2510 is disposed at a left side of thedust housing 2100, and thesecond lever 2520 is disposed at a right side of thedust housing 2100. - Operation mechanisms of the
first lever 2510 and thesecond lever 2520 are the same, and only operation directions of thefirst lever 2510 and thesecond lever 2520 are opposite to each other. - The
first lever 2510 disposed at the left side is moved to the right side to release the mutually-engaged structure with thebase 32, and thesecond lever 2520 disposed at the right side is moved to a left side to release the mutually-engaged structure with thebase 32. - The
sweep module 2000 may include afirst lever 2510, asecond lever 2520, a first-leverelastic member 2541, and a second-leverelastic member 2542. Thefirst lever 2510 may be disposed at one side of the housing assembly to be relatively movable in the left-right direction. Thesecond lever 2520 may be disposed at the other side of the housing assembly to be relatively movable in the left-right direction. The first-leverelastic member 2541 may be disposed between thefirst lever 2510 and thedust housing 2100 and provide elastic force to thefirst lever 2510. The second-lever elastic member 2252 may be disposed between thesecond lever 2520 and thedust housing 2100 and provide elastic force to thesecond lever 2520. - Since the
first lever 2510 and thesecond lever 2520 may have the same or similar structures, a structure of the first lever will be described as an example. - In the present embodiment, the
dust housing 2100 may be provided with afirst side cover 2170 covering or shielding thefirst lever 2510 and asecond side cover 2180 covering or shielding thesecond lever 2520. - Unlike the present embodiment, the
first lever 2510 and thesecond lever 2520 may be exposed to an outside of thedust housing 2100 without thefirst side cover 2170 and thesecond side cover 2180. Also, unlike the present embodiment, thefirst side cover 2170 may be disposed at a right side and thesecond side cover 2180 may be disposed at a left side. - The
first side cover 2170 may be coupled to a left side of thehousing assembly 2001. Thefirst side cover 2170 may have a shape corresponding to a left shape of thehousing assembly 2001. Thefirst side cover 2170 may shield ashaft member 2201 of theagitator 2200 from being exposed to an outside. Thefirst side cover 2170 may cover or shield most of thefirst lever 2510 and exposes only a portion for the mutually-engaged structure with thebase 32. - The
first side cover 2170 may include a firstside cover body 2173, a throughhole hook portion 2174, a journal-coupledportion 2175, and afastening portion 2176. The firstside cover body 2173 may be in close contact with one side of thehousing assembly 2001. The throughhole side cover body 2173. Thehook portion 2174 may protrude from the firstside cover body 2173 toward thehousing assembly 2001 and may be hooked-coupled with thehousing assembly 2001. The journal-coupledportion 2175 may protrude from the firstside cover body 2173 toward thehousing assembly 2001 and be mutually coupled to the journal 2010 (thefirst journal 2010 in the present embodiment). Thefastening portion 2176 may couple the firstside cover body 2173 and thehousing assembly 2001 by a fastening member (not shown). - The
fastening portion 2176 and thehook portion 2174 are disposed at opposite sides based on the journal-coupledportion 2175. A plurality ofhook portions 2174 may be arranged in an up-down direction. - The journal-coupled
portion 2175 may be inserted into an inner diameter of thefirst journal 2010. - The
first lever 2510 may include an upper lever body 2512, alower lever body 2514, and alever engaging portion 2516. The upper lever body 2512 may be disposed between thehousing assembly 2001 and thefirst side cover 2170 and be elastically supported by the first-leverelastic member 2541. Thelower lever body 2514 may be disposed between thehousing assembly 2001 and thefirst side cover 2170, be integral with the upper lever body 2512, be exposed to an outside of thehousing assembly 2001, and receive operation force of a user. Thelever engaging portion 2516 may protrude from the upper lever body 2512 and be disposed to penetrate the throughholes first side cover 2170. - The upper lever body 2512 may be disposed in an up-down direction, and the
lower lever body 2514 may be disposed in a horizontal direction. - The
lower lever body 2514 may be disposed to be exposed to an outside of thedust housing 2100. Thelower lever body 2514 may be positioned at a lower side of the upper lever body 2512. Thelower lever body 2514 may be exposed to an outside of a lower surface of thelower housing 2140. - In the present embodiment, an
operation portion 2519 protruding to a lower side from thelower lever body 2514 may further provided. Since theoperation portion 2519 longitudinally extends in the front-rear direction, theoperation portion 2519 may easily receive operation force of a user in the left-right direction. - A user may move the
first lever 2510 by pushing theoperation unit 2519 in the left-right direction. - The
lever engaging portion 2516 may protrude from the upper lever body 2512 to an outside (a side opposite to the agitator). Since a number of thelever engaging portions 2516 corresponds to a number of through holes, a firstlever engaging portion 2516a and a secondlever engaging portion 2516b are disposed in the present embodiment. - The
lever engaging portion 2516 has a structure that forms a mutually-engaged structure in a direction of gravity and minimizes forming a mutually-engaged structure in an opposite direction of gravity. Therefore, an upper surface of thelever engaging portion 2516 may have a round shape or an inclined surface to a lower side, and a lower surface of thelever engaging portion 2516 may have a flat surface. - If the
levers levers sweep module 2000 may be separated from a fixed position because the mutually engaged structure is not formed. To prevent this, thesweep module 2000 may further include a structure for guiding a horizontal movement of thefirst lever 2510. - The
sweep module 2000 may include afirst guide 2545, afirst guide hole 2518, asecond guide 2547, and asecond guide hole 2528. Thefirst guide 2545 may protrude to thefirst lever 2510 at one side (a left side in the present embodiment) of thedust housing 2100 and mutually interfere with thefirst lever 2510 to guide a movement direction of thefirst lever 2510. Thefirst guide hole 2518 may be formed at thefirst lever 2510, and thefirst guide 2545 may be inserted into thefirst guide hole 2518 so that the movement of thefirst guide 2545 is guided. Thesecond guide 2547 may protrude to thesecond lever 2520 at the other side (a right side in the present embodiment) of thedust housing 2100 and mutually interfere with thesecond lever 2520 to guide a movement direction of thesecond lever 2520. Thesecond guide hole 2528 may be formed at thesecond lever 2520, and thesecond guide 2547 may be inserted to thesecond guide hole 2528 so that the movement of thesecond guide 2547 is guided. - The
first guide 2545 may be formed in the movement direction of thefirst lever 2510, and thesecond guide 2547 may be formed in the moving direction of thesecond lever 2520. Thus, thefirst guide 2545 and thesecond guide 2547 may be formed in a horizontal direction. Thefirst guide hole 2518 and thesecond guide hole 2528 may be formed in the horizontal direction to correspond to thefirst guide 2545 and thesecond guide 2547. - The guide holes 2518 and 2528 may be disposed at either the upper lever body 2512 or the
lower lever body 2514. In the present embodiment, the guide holes 2518 and 2528 are formed to penetrate the upper lever body 2512 in the horizontal direction. - One end of the first-lever
elastic member 2541 is supported by thedust housing 2100, and the other end of the first-leverelastic member 2541 is supported by thefirst lever 2510. The first-leverelastic member 2541 elastically supports thefirst lever 2510 toward an outside of thedust housing 2100. - The
sweep module 2000 may further include a structure for preventing displacement of the leverelastic members - In order to maintain an operation position of the first-lever
elastic member 2541, thesweep module 2000 may include a firstposition fixing portion 2517 and a second position fixing portion 2544. The firstposition fixing portion 2517 may be disposed at thefirst lever 2510 and may be inserted into the other end of the first-leverelastic member 2541. The second position fixing portion 2544 may be disposed at thedust housing 2100 and one end of the first-leverelastic member 2541 may be inserted into the second position fixing portion 2544. - In the present embodiment, the first-lever
elastic member 2541 and the second-leverelastic member 2542 may be formed of a coil spring. In the present embodiment, the firstposition fixing portion 2517 may have a boss shape, and the second position fixing portion 2544 may have a groove shape. - The first
position fixing portion 2517 may be inserted into the first-leverelastic member 2541, and the firstposition fixing portion 2517 may allow the first-leverelastic member 2541 to move in the left-right direction. Thus, a movement of the first-leverelastic member 2541 in the front-rear direction or in the up-down direction may be suppressed. - The second position fixing portion 2544 may have a groove shape, and the first-lever
elastic member 2541 may be inserted into the second position fixing portion 2544. The second position fixing portion 2544 may allow the first-leverelastic member 2541 to move in the left-right direction. Thus, a movement of the first-leverelastic member 2541 in the front-rear direction or in the up-down direction may be suppressed. - In the present embodiment, the second position fixing portion 2544 may be disposed between the
first journal 2010 and thefirst guide 2545. The second position fixing portion 2544 may include a firstposition fixing part 2544a and a second position fixing part 2544b. The firstposition fixing part 2544a may have a concave shape at a portion of a lower side of thefirst journal 2010, and the second position fixing part 2544b may have a concave shape at a portion of an upper side of thefirst guide 2545. - When viewed from a later side, each of the first
position fixing part 2544a and the second position fixing part 2544b may have a curved surface, and a curvature center of each of the firstposition fixing part 2544a and the second position fixing part 2544b may be positioned at an inside of the first-leverelastic member 2541. - A radius of curvature of each of the first
position fixing part 2544a and the second position fixing part 2544b may be larger than a diameter of the first-leverelastic member 2541. - When the
first lever 2510 is moved toward thehousing assembly 2001 by operation force of a user, thelever engaging portion 2516 releases the mutually-engaged structure with thebase 32. In this instance, since the first-leverelastic member 2541 elastically supports thefirst lever 2510, when the operation force of the user is removed, thefirst lever 2510 is moved back to thefirst side cover 2170 and thelever engaging portions 2516 are exposed to an outside of the throughholes - The
sweep module 2000 may be maintained in a state mounted on the base 32 through the mutually-engaged structure of thelever engaging portion 2516 protruding to an outside of the throughholes base 32. - When the mutually-engaged structure between the
lever engaging portion 2516 and thebase 32 is released, thesweep module 2000 can be separated from thebase 32. - In the present embodiment, since the
first lever 2510 and thesecond lever 2520 are disposed at the left and right sides of thesweep module 2000, respectively, thesweep module 2000 can be separated from thebody 30 only when all the mutual engagement of thefirst lever 2510 and thesecond lever 2520 is released. - The
first lever 2510 provides the mutually-engaged structure with thebase 32 and releases the mutually-engaged structure with thebase 32. Thesecond lever 2520 provides not only an act of thefirst lever 2510 but also a connection structure with thedriving unit 2300. - The
second lever 2520 may include anupper lever body 2522, alower lever body 2524, alever engaging portion 2526, and anoperation portion 2529. Theupper lever body 2522 may be disposed between thehousing assembly 2001 and thesecond side cover 2180 and be elastically supported by the second-leverelastic member 2542. Thelower lever body 2524 may be disposed between thehousing assembly 2001 and thesecond side cover 2180, be integral with theupper lever body 2522, be exposed to an outside of thehousing assembly 2001, and receive operation force of a user. Thelever engaging portion 2526 may protrude from theupper lever body 2522 and be disposed to penetrate throughholes second side cover 2180. Theoperation portion 2529 may protrude to a lower side from thelower lever body 2524. - The
lever engaging portion 2526 may protrude from thelower lever body 2522 to an outside (a side opposite to the agitator). Thelever engaging portion 2526 may include a firstlever engaging portion 2526a and a secondlever engaging portion 2526b. - The
lever engaging portion 2526 may form a mutually-engaged structure with an engaged groove 3266 formed at thestorage housing 326 of thebase 32. - Since the
lever engaging portion 2526 includes the firstlever engaging portion 2526a and the secondlever engaging portion 2526b, the engaged groove 3266 may include a firstengaged groove 3266a and a second engaged groove 3266b to correspond to them. With respect to thelever engaging portion 2516 of thefirst lever 2510, an engaged groove (not shown) having the same structure may be formed. The firstengaged groove 3266a and the second engaged groove 3266b may be formed at asidewall 3262 of thestorage housing 326. - The first
engaged groove 3266a and the second engaged groove 3266b may be at a lower side than a drivencoupling 2220 and a drivingcoupling 2320. - The
second side cover 2180 may include a secondside cover body 2183, a throughhole hook portion 2184, afastening portion 2186, and anopening surface 2185. The secondside cover body 2183 may be in close contact with the other side (a right side in the present embodiment) of thehousing assembly 2001. The throughhole side cover body 2183. Thehook portion 2184 may protrude from the secondside cover body 2183 toward thehousing assembly 2001 and may be hooked-coupled with thehousing assembly 2001. Thefastening portion 2186 may couple the secondside cover body 2183 and thehousing assembly 2001 by a fastening member (not shown). In order to transmit driving force of thedriving unit 2300 to theagitator 2200, thedriving unit 2300 may penetrate theopening surface 2185. - The
opening surface 2185 may be disposed in the left-right direction. Afirst coupler 2310 of thedriving unit 2300, which will be described later, may be inserted through theopening surface 2185. - The
sweep module 2000 may include asecond guide 2547, asecond guide hole 2528, a thirdposition fixing portion 2527, and a fourthposition fixing portion 2546. Thesecond guide 2547 may protrude to thesecond lever 2520 at the other side (a right side in the present embodiment) of thedust housing 2100 and mutually interfere with thesecond lever 2520 to guide a movement direction of thesecond lever 2520. Thesecond guide hole 2528 may be formed at thesecond lever 2520, and thesecond guide 2547 may be inserted to thesecond guide hole 2528 so that the movement of thesecond guide 2547 is guided. The secondposition fixing portion 2527 may be disposed at thesecond lever 2520 and may be inserted into the other end of the second-leverelastic member 2542. The fourth position fixing portion 2544 may be disposed at thedust housing 2100 and one end of the second-leverelastic member 2542 may be inserted into the fourthposition fixing portion 2546. - The
agitator 2200 may include anagitator assembly 2210, a drivencoupling 2220, a couplingelastic member 2230, acoupling stopper 2270. Theagitator assembly 2210 may sweep a foreign material on a floor into thecollection space 2102 through rotation. The drivencoupling 2220 may receive rotational force from thedriving unit 2300 and may be relatively movably disposed between the drivingunit 2300 and theagitator assembly 2210. The couplingelastic member 2230 may be disposed between theagitator assembly 2210 and the drivencoupling 2220, provide elastic force to the drivencoupling 2220, and press the drivencoupling 2220 toward thedriving unit 2300. Thecoupling stopper 2270 may penetrate the drivencoupling 2220 and be coupled to theagitator assembly 2210, and form a mutually-engaged structure with the drivencoupling 2220 in a left-right direction to prevent the drivencoupling 2220 from being separated. - The
agitator assembly 2210 may include anagitator body 2240, ashaft member 2201, acollection member 2250, and a baring 2600. Theagitator body 2240 may be disposed at thecollection space 2102, and be rotated by receiving the rotational force of thedriving unit 2300. Theshaft members 2201 may be disposed at one side and the other side of theagitator body 2240, respectively, provide a rotation center of theagitator body 2240, and be rotatably supported by thedust housing 2100. Thecollection member 2250 may be installed on an outer circumferential surface of theagitator body 2240 and sweep a foreign material into thecollection space 2102. The baring 2600 may provide rolling friction to theshaft member 2201. - In the present embodiment, the driven
coupling 2220 may be assembled detachably with a lever (thesecond lever 2520 in the present embodiment) and theshaft member 2201 and may move together with the lever. In the present embodiment, the coupling of the drivencoupling 2220 with thedriving unit 2300 may be released by operation force of a user applied to thesecond lever 2520. - The driven
coupling 2220 may move toward theshaft member 2201, and the coupling with thedriving unit 2300 may be released. The drivencoupling 2220 may relatively move in a horizontal direction between theagitator assembly 2210 and thedriving unit 2300. - The
agitator body 2240 may be disposed in the left-right direction. Theagitator body 2240 may be disposed at an inside of thecollection space 2102. - The
collection member 2250 may be formed along an outer circumferential surface of theagitator body 2240. Thecollection member 2250 may protrude radially outward from the outer circumferential surface of theagitator body 2240. Thecollection member 2250 may rotate together with theagitator body 2240 when theagitator body 2240 rotates. Thecollection member 2250 may penetrate thecollection opening surface 2101 and be in contact with the floor. Thecollection member 2250 may be composed of a plurality of brushes. - When the
agitator assembly 2210 rotates, thecollection member 2250 may be contact with the foreign material on the floor and move the foreign material into thecollection space 2102. - The
shaft members 2201 may be disposed at one side and the other side of theagitator body 2240, respectively. Theshaft member 2201 may form a center of rotation of theagitator assembly 2210. - The
shaft member 2201 may be disposed in the left-right direction. Theshaft member 2201 may penetrate left and right sides of thecollection space 2102. - In the present embodiment, the
shaft member 2201 may penetrates theleft wall 2011 and theright wall 2012 of thedust housing 2100. Theshaft member 2201 may be integral with theagitator body 2240. - In the present embodiment, the
shaft member 2201 may be separably or detachably assembled with theagitator body 2240. Theshaft member 2201 and theagitator body 2240 may form a mutually-engaged structure in a rotation direction of theagitator 2200, but may be separated in a rotation-axis direction (a left-right direction in the present embodiment) of theagitator 2200. - The
agitator assembly 2210 and theshaft member 2201 may be detachably assembled, Therefore, only theagitator assembly 2210 can be replaced. That is, theagitator assembly 2210 may be separated from thedust housing 2100 in a state that eachshaft member 2201 is assembled to thedust housing 2100. - Since the
agitator 2200 is a consumable element, theagitator 2200 may be periodically replaced. Through a coupling structure of theshaft member 2201 and theagitator body 2240, only theagitator body 2240 may be separated from thedust housing 2100 without an entire separation of theagitator 2200. Theshaft member 2201 and theagitator body 2240 maintain a state of a mutually-engaged structure. - The
shaft member 2201 may include arotating shaft body 2202, ashaft portion 2203, and acoupling guide 2204. Therotating shaft body 2202 may be mutually coupled to theagitator body 2240. Theshaft portion 2203 may protrudes from therotating shaft body 2202 toward thedriving unit 2300, provide a rotation center of theagitator 2200, and be coupled with thebearing 2260. Thecoupling guide 2204 may protrude from theshaft portion 2203 toward the drivingportion 2300 more and penetrate the drivencoupling 2220. Thecoupling stopper 2270 may be coupled to thecoupling guide 2204. - The
rotating shaft body 2202 may have a disk shape. Theshaft portion 2203 may protrude from therotating shaft body 2202 toward the drivingportion 2300. - A diameter or a size of the
shaft portion 2203 may be smaller than a diameter of therotating shaft body 2202. - The
shaft portion 2203 may have a cylindrical shape. An outer surface of theshaft portion 2203 may be inserted into thebearing 2260. Theshaft portion 2203 may be inserted into and supported by thebearing 2260. - The
coupling guide 2204 may further protrude from theshaft portion 2203 toward the drivingportion 2300 more. Curvature centers of thecoupling guide 2204 and theshaft portion 2203 may be located on the same rotation center. - A diameter of the
coupling guide 2204 may be smaller than a diameter of theshaft portion 2203, and afirst step 2205 may be formed between thecoupling guide 2204 and theshaft portion 2203 due to a diameter difference. - One end of the coupling
elastic member 2230 may be supported by thefirst step 2205. - The
coupling guide 2204 may further include a throughportion 2206 penetrating the drivencoupling 2220. Acoupling stopper 2270 may be fixed to the throughportion 2206. - The driven
coupling 2220 may move in the left-right direction along thecoupling guide 2204. Since the drivencoupling 2220 is elastically supported by the couplingelastic member 2230, the drivencoupling 2220 may be kept in close contact with thedriving unit 2300 when external force is not applied. - In the present embodiment, the
coupling guide 2204 may have a circular columnar shape, and the throughportion 2206 may have a polygonal column shape (a hexagonal column shape in the present embodiment). - The through
portion 2206 may be inserted into the drivencoupling 2220 and form a mutually-engaged structure in a rotation direction of theagitator 2200. - On the other hand, the
shaft member 2201 is provided with akey groove 2207 for a mutually-engaged structure with theagitator body 2240. Thekey groove 2207 may be disposed on an opposite side of theshaft portion 2203 based on or with respect to therotating shaft body 2202. Thekey groove 2207 may be disposed at a side facing theagitator body 2240. Thekey groove 2207 may have a shape of an atypical polygon. Thekey groove 2207 may be open in a radial direction of the rotation axis. - A key 2247, which is inserted into the
key groove 2207, may be formed at theagitator body 2240. The key 2247 may protrude toward theshaft member 2201 or the drivencoupling 2220. - The driven
coupling 2220 may include acoupling body 2222, a first guide groove 2224, asecond guide groove 2226, asecond step 2225, and apower transmission groove 2228. Thecoupling body 2222 may be coupled with a lever (thesecond lever 2520 in the present embodiment). The first guide groove 2224 may be formed at one side (a left side in the present embodiment) of thecoupling body 2222 to have a concave shape, Thecoupling guide 2204 may be inserted and the couplingelastic member 2230 may be inserted into the first guide groove 2224. Thesecond guide groove 2226 may communicate with the first guide groove 2224, and penetrate thecoupling body 2222. The throughportion 2206 may be inserted to thesecond guide groove 2226. Thesecond step 2225 may be disposed between the first guide groove 2224 and thesecond guide groove 2226, and thefirst step 2205 may be supported by thesecond step 2225. Thepower transmission groove 2228 may be formed at the other side (the right side in the present embodiment) of thecoupling body 2222 to have a concave shape. The drivingcoupling 2320 coupled to thedriving unit 2300 may be detachably inserted into thepower transmission groove 2228. - A diameter of the first guide groove 2224 may be larger than a diameter of the coupling
elastic member 2230. A diameter of the couplingelastic member 2230 may be larger than a diameter of thecoupling guide 2204 and smaller than a diameter of the first guide groove 2224. - The first guide groove 2224 may have a circular hollow shape.
- The
second guide groove 2226 may have a shape corresponding to a shape of the throughportion 2206. In the present embodiment, thesecond guide groove 2226 has a hollow shape which side surface has a hexagonal shape. - The
coupling body 2222 may be provided with agroove 2223, which has a concave shape to an inside in a radial direction at an outer side surface. A diameter of thegroove 2223 may be smaller than an outer surface diameter of thecoupling body 2222. - A
coupling groove 2523 may be formed at theupper lever body 2522 of thesecond lever 2520. Thecoupling groove 2523 may be inserted into thegroove 2223 and thus may be engaged with the drivencoupling 2220. - The
groove 2223 may be perpendicular to a rotation center of theagitator 2200. - The
second lever 2520 may be coupled to or separated from the drivencoupling 2220 in the up-down direction and form a mutually-engaged structure with the drivencoupling 2220 in the left-right direction. - The
second lever 2520 may further include afirst extension portion 2522a and asecond extension portion 2522b extending from an upper side of theupper lever body 2522. Thecoupling groove 2523 may be formed between thefirst extension portion 2522a and thesecond extension portions 2522b. - The
first extension portion 2522a and thesecond extension portion 2522b are structures for more robust assembly with the drivencoupling 2220. Thefirst extension portion 2522a and thesecond extension portion 2522b may be contact with oneside surface 2223a and theother side surface 2223b of thegroove 2223. - The
coupling stopper 2270 may penetrate the drivencoupling 2220 and may be fastened to the throughportion 2206. The drivencoupling 2220 may move in the left-right direction between thecoupling stopper 2270 and theshaft member 2201. - A
head 2272 of thecoupling stopper 2270 may interfere with thepower transmission groove 2228 of the drivencoupling 2220 and prevent the drivencoupling 2220 from being separated to a right side. Acoupling portion 2274 of thecoupling stopper 2270 may be inserted into and fastened to afastening groove 2207 of the throughportion 2206. - The driving
coupling 2320 may be inserted into thepower transmission groove 2228 and may be coupled to thepower transmission groove 2228 to transmit rotational force. Thepower transmission groove 2228 may have any of various shapes or forms. In the present embodiment, thepower transmission groove 2228 may have a hexagonal groove when viewed from a lateral side. - A diameter of the
power transmission groove 2228 may be larger than a diameter of thesecond guide groove 2226. Thepower transmission groove 2228 and thesecond guide groove 2226 may communicate with each other. The first guide groove 2224 may be disposed at one side of thesecond guide groove 2226 to be communicated with thesecond guide groove 2226 and thepower transmission groove 2228 may be disposed at the other side of thesecond guide groove 2226 to be communicated with thesecond guide groove 2226. - The
power transmission groove 2228 may be open toward the other side, and the first guide groove 2224 may be open toward one side. - When the driven
coupling 2220 is coupled to theupper lever body 2522, thepower transmission groove 2228 may be positioned at the other side of theupper lever body 2522 and the first guide groove 2224 may be positioned at one side of theupper lever body 2522. - The
second lever 2520 may form a mutually-engaged structure with the drivencoupling 2220 with respect to a direction perpendicular to theshaft member 2201. In addition, thelever engaging portion 2526 of thesecond lever 2520 may form a mutually-engaged structure with thebase 32. - When the
second lever 2520 is pressed toward theagitator 2200, thesecond lever 2520 moves toward theagitator 2200. Thus, the mutually-engaged structure of thelever engaging portion 2526 and thebase 32 is released and thedust housing 2100 is in a state being able to be separated from thebase 32. - In addition, when the
second lever 2520 is pressed toward theagitator 2200, the couplingelastic member 2230 may be compressed and the drivencoupling 2220 may move toward theagitator 2200. - When the driven
coupling 2220 moves toward theagitator 2200 by thesecond lever 2520, the drivencoupling 2220 and thedriving unit 2300 are physically separated and thedust housing 2100 is in a state being able to be separated from thebase 32. - Since the
sweep module 2000 according to the present embodiment has a structure in which theagitator 2200 is installed on the inside of thesweep module 2000, thedust housing 2100 should be physically separated from thedriving unit 2300 when thedust housing 2100 is separated from thebase 32. - The movement of the
second lever 2520 not only releases the coupling of thedust housing 2100 and the base 32 but also releases the coupling of the drivencoupling 2220 and thedriving unit 2300 at the same time. - In this instance, since the
second lever 2520 is hidden or shield inside thedust housing 2100 and only theoperation unit 2529 is exposed to the outside, a coupling structure of the drivencoupling 2220 is not exposed to the outside. In particular, since thesecond side cover 2180 shields or blocks most of thesecond lever 2520, damage to thesecond lever 2520 due to external impact can be minimized. - Even if the
second lever 2520 is repeatedly used, thesecond lever 2520 moves only at an inside of thedust housing 2100 and thus separation or damage of thesecond lever 2520 can be minimized. - In addition, since the side covers 2170 and 2180 shield or cover the
levers dust housing 2100, an intrusion of an external foreign material or the like to portions where thelevers - Then, when the operation force applied to the
second lever 2520 is removed, the drivencoupling 2220 moves toward the other side by elastic force of the couplingelastic member 2230. - In this instance, since the
shaft member 2201 penetrates through the drivencoupling 2220 and thecoupling stopper 2270 is coupled to theshaft member 2201, the drivencoupling 2220 can be prevented from being separated from theshaft member 2201. That is, the drivencoupling 2220 may move along an axis direction of theshaft member 2201, but may be prevented from being separated from theshaft member 2201 by thecoupling stopper 2270. - The
driving unit 2300 may include adrive housing 2310, asweep motor 2330, a power transmission assembly 2340, and a drivingcoupling 2320. Thedrive housing 2310 may be assembled with thebody 30. Thesweep motor 2330 may be assembled with adrive housing 2310. The power transmission assembly 2340 may be disposed at an inside of thedrive housing 2310 and be assembled with thesweep motor 2330 to receive rotational force. The drivingcoupling 2320 may be coupled to the power transmission assembly 2340 and be selectively engaged with the drivencoupling 2220. - Since the
agitator 2200 is disposed inside thesweep module 2000 and thesweep motor 2330 is disposed inside thebody 30, the drivingcoupling 2320 and the drivencoupling 2220 transmitting the rotational force to theagitator 2200 may have selectively-detachable structure. If the drivingcoupling 2320 and the drivencoupling 2220 are not detachable, thedust housing 2100 cannot be separated from thebody 30. - The
drive housing 2310 may be fixed to thebody 30. Thedrive housing 2310 is fixed to the base 32 in the present embodiment. Thedrive housing 2310 is a structure for installing the power transmission assembly 2340 and thesweep motor 2330. - The
drive housing 2310 may have any of various shapes of forms. In the present embodiment, thedrive housing 2310 shields or covers the power transmission assembly 2340 therein, and exposes only thesweep motor 2330 and the drivingcoupling 2320 to the outside. - The
drive housing 2310 may include afirst drive housing 2312 and a second drive housing 2314, a coupling-installedportion 2315, and ahole 2316. Thefirst drive housing 2312 and the second drive housing 2314 may form an outer shape. The coupling-installedportion 2315 may be disposed at one of thefirst drive housing 2312 and the second drive housing 2314, and the drivingcoupling 2320 may be disposed at the coupling-installedportion 2315. Thehole 2316 may be disposed at one of thefirst drive housing 2312 and the second drive housing 2314, and a motor shaft of thesweep motor 2330 may penetrate thehole 2316. - The power transmission assembly 2340 may be disposed between the
first drive housing 2312 and the second drive housing 2314. - In the present embodiment, the
first drive housing 2312 is disposed at one side (toward the agitator 2200), and the second drive housing 2314 is disposed at the other side (at an outside). - In the present embodiment, the coupling-installed
portion 2315 is disposed at thefirst drive housing 2312. The drivingcoupling 2320 is disposed at the coupling-installedportion 2315 and is connected to the power transmission assembly 2340. The drivingcoupling 2320 may rotate in a state that the driving coupling is installed on thecoupling installation unit 2315. - The driving
coupling 2320 has a shape corresponding to a shape of thepower transmission groove 2228 of the drivencoupling 2220. In the present embodiment, the drivingcoupling 2320 has a hexagonal shape when viewed from a lateral side. The drivingcoupling 2320 may be selectively engaged with the drivencoupling 2220 through theopening surface 2185 of thesecond side cover 2180. - The driving
coupling 2320 may protrude toward thesecond side cover 2180 than one side (a left side) of thefirst drive housing 2312 in a state that the drivingcoupling 2320 is assembled to thedrive housing 2310. - A rotation center of the driving
coupling 2320 is disposed at the left-right direction and may match the rotation center of theagitator 2200. - In the present embodiment, the
first drive housing 2312 may have a space formed therein, and the power transmission assembly 2340 may be rotatably installed in the space. The second drive housing 2314 may have a shape or a form of a cover covering thefirst drive housing 2312. - The
drive housing 2310 may further include afirst fastening portion 2317 and asecond fastening portion 2318. Thefirst fastening portion 2317 and thesecond fastening portion 2318 may be disposed at thefirst drive housing 2312. Thefirst fastening portion 2317 and thesecond fastening portion 2318 may be formed so that a fastening member is installed on thefirst fastening portion 2317 or thesecond fastening portion 2318 in an up-down direction. - A motor axis of the
sweep motor 2330 may be disposed in the left-right direction. Thesweep motor 2330 may be disposed at one side or the other side of thedrive housing 2310. - The
sweep motor 2330 may be disposed toward an inside of thebody 30 based on or with respect to thedrive housing 2310. A volume of thebody 30 may be minimized by arranging thesweep motor 2330 at a side of theagitator 2200. - In the present embodiment, a motor axis direction Mx of the
sweep motor 2330 and a rotation axis Ax of theagitator 2200 may be parallel. In the present embodiment, a rotation center of theagitator 2200, a rotation center of theshaft member 2201, a center of the drivencoupling 2220, and a center of the drivingcoupling 2320 are located on a line of the rotation axis Ax of theagitator 2200. - In the present embodiment, the
sweep motor 2330 is positioned at an upper side than thedust housing 2100. Thesweep motor 2330 is positioned at a rear side than thedust housing 2100. Thesweep motor 2330 is positioned at an upper side than theinstallation space 325 and thestorage housing 326 of thebase 32. - The power transmission assembly 2340 may include a plurality of gears. A number and a shape of gears included in the power transmission assembly 2340 may be various depending on a number of revolutions and transmitted torque.
- Meanwhile, the
sweep module 2000 may further include a housingelastic member 327 that provides elastic force to thedust housing 2100. The housingelastic member 327 may be disposed at theinstallation space 325. - The housing
elastic member 327 may be disposed at thebase 32, and more particularly, may be installed on thestorage housing 326. In the present embodiment, the housingelastic member 327 may be a plate spring. In order to install the housingelastic member 327 of the plate spring, an installation structure for fitted-fixing is disposed at thestorage housing 326. - The
storage housing 326 is provided with an elastic-member storage portion 328 that protrudes to an upper side to have a convex shape at theinstallation space 325. An elastic-member storage space 328b in which the housingelastic member 327 is accommodated is formed at a lower side of the elastic-member storage portion 328. - The elastic
member storage portion 328 may further include an elastic-member opening surface 328a opened in an up-down direction. The elastic-member opening surface 328a may communicate with the elastic-member storage space 328b and theinstallation space 325. - In addition, an elastic-
member support portion 329, which is disposed at a lower side of the elastic-member storage space 328b and is connected to thestorage housing 326, may be further disposed. - The elastic-
member support portion 329 may be positioned at a lower side than the elastic-member storage portion 328. - The housing
elastic member 327 may be inserted between the elastic-member storage portion 328 and the elastic-member support portion 329. The housingelastic member 327 may be exposed to an upper side of thestorage housing 326 through the elastic-member opening surface 328a. - The housing
elastic members 327 may be positioned at both sides of the elastic-member support portion 329, respectively. - The elastic
member storage portion 328 may longitudinally extend in the left-right direction, and the elastic-member support portion 329 may be disposed in the left-right direction. - The housing
elastic member 327 may include a first elastic portion 327a, a secondelastic portion 327b, and a thirdelastic portion 327c. The first elastic portion 327a may be positioned at an upper side of the elastic-member support portion 329. The secondelastic portion 327b may extend to one side (a left side in the present embodiment) from the first elastic portion 327a and be disposed in the elastic-member storage space 328b. The thirdelastic portion 327c may extend to the other side (a right side in the present embodiment) from the first elastic portion 327a and be disposed in the elastic-member storage space 328b. - Each of the second
elastic portion 327b and the thirdelastic portion 327c may be bent from the first elastic portion 327a. - The second
elastic portion 327b and the thirdelastic portion 327c may be positioned at a lower side of the elastic-member storage portion 328. The secondelastic portion 327b may be disposed to be inclined toward a left down side, and the thirdelastic portion 327c may be disposed to be inclined toward a right down side. - When the
dust housing 2100 is inserted into theinstallation space 325, the secondelastic portion 327b and the thirdelastic portion 327c may elastically support an upper surface of thedust housing 2100. - When the mutually-engaged structure of the
dust housing 2100 and thebase 32 is released by thefirst lever 2510 and thesecond lever 2520, the secondelastic portion 327b and the thirdelastic portion 327c push thedust housing 2100 to a lower side and moves thedust housing 2100 to an outside of thestorage housing 326. - By the elastic force of the housing
elastic member 327, a user can easily separate thedust housing 2100 from theinstallation space 325. - Since the elastic-
member support portion 329 supports the housingelastic member 327, the housingelastic member 327 can be prevented from being separated to theinstallation space 325. Even if thedust housing 2100 is repeatedly mounted and separated, the housingelastic member 327 is firmly supported by the elastic-member support portion 329. - The
mobile robot 1 may have a structure in which thebody 30 moves by rotational motion of at least one of themop module 40 and thesweep module 2000 without additional driving wheels. Thebody 30 may move only by the rotational motion of themop module 40. Themobile robot 1 may have a structure in which thebody 30 moves by rotational motion of a pair ofspin mops - The
mobile robot 1 may include a mop driving unit (not shown) that provides driving force to themop module 40. The rotational force provided by the mop driving unit is transmitted to thespin mop 41 of themop module 40. - The
mobile robot 1 may include awater supply module 80 that supplies water required for mopping a floor. Thewater supply module 80 may supply water required for themop module 40 or thesweep module 2000. In the present embodiment, the water supply module supplies water to themop module 40. The water supply module supplies water to a pair ofspin mops - The
water supply module 80 may include awater supply tank 81 for storing water supplied to themop module 40 or thesweep module 2000 and a supply member for supplying water from thewater tank 81 to themop module 40. - Referring to
FIG. 23 , the water supply module may include a water-supply connection portion 87 for guiding water in thewater tank 81 to themop module 40. Water moves from thebody 30 to themop module 40 through the water-supply connection portion 87. The water-supply connection portion 87 may be disposed at a lower side of thebody 30. The water-supply connection portion 87 may be disposed at amodule seating portion 36. The water-supply connection portion 87 may be disposed on a lower surface of themodule seating portion 36. The water-supply connection portion 87 may be disposed at alower surface portion 361 of themodule seating portion 36. - A pair of water-
supply connection portion 87 corresponding to the pair ofspin mops supply connection portions 87 may be bisymmetrical or bilaterally symmetrical to each other. That is, the pair of water-supply connection portions 87 may be symmetrical to each other in a left-right direction or may be symmetrical to each other with respect to a vertical axis. - The water-
supply connection portion 87 may protrude from themodule seating portion 36. The water-supply connection portion 87 may protrude to a lower side from themodule seating portion 36. The water-supply connection portion 87 may be engaged with a water-supply counterpart portion 441 of themop module 40 to be described later. The water-supply connection portion 87 may include a hole penetrating themodule seating portion 36 in an up-down direction, and water in thebody 30 may move to themop module 40 through the hole of the water-supply connection portion 87. The water in thebody 30 may move to themop module 40 through the water-supply connection portion 87 and the water-supply counterpart portion 441. - Referring to
FIG. 25 andFIG. 26 , themop module 40 may include at least onemop portion 411 provided to mop a floor while rotating. Themop module 40 may include at least onespin mop 41 provided to be in contact with the floor while rotating in a clockwise direction or a counterclockwise direction when viewed from an upper side. Themop module 40 may include a pair ofspin mops spin mops spin mops left spin mop 41a and aright spin mop 41b. In the present embodiment, thespin mop 41 may rotate around rotational axes Osa and Osb extending substantially in an up-down direction. - The
mop module 40 may be disposed at a lower side of thebody 30. Themop module 40 may be disposed at a rear side of thesweep module 2000. - The
left spin mop 41a and theright spin mop 41b may include amop portion 411, arotating plate 412, and aspin shaft 414, respectively. Theleft spin mop 41a and theright spin mop 41b each includes awater container 413. Theleft spin mop 41a and theright spin mop 41b each includes a driven joint 415. The descriptions of themop portion 411, therotating plate 412, thespin shaft 414, thewater container 413, and the driven joint 415, which will be described later, may be understood as components or elements included in each of theleft spin mop 41a and theright spin mop 41b. - The
body 30 and themop module 40 may be detachably coupled to each other. A state in which thebody 30 and themop module 40 are coupled to each other may be referred to as a 'coupled state'. In addition, a state in which thebody 30 and themop module 40 are separated from each other may be referred to as a 'separation state'. Themobile robot 1 may include a detachable module 90 that detachably hooks the mop module to the body. The detachable module 90 may release the coupling of themop module 40 and thebody 30 in the coupled state. The detachable module 90 operates such that themop module 40 and thebody 30 are detachably coupled to each other so that themop module 40 is coupled to thebody 30 and themop module 40 is separated from thebody 30 as necessary. The detachable module 90 may cause themop module 40 to hang on or hooked to thebody 30 in the separation state. The detachable module 90 may be disposed across the gap between thewater tank 81 and the battery Bt. - The
mobile robot 1 may include a base 32 forming a lower surface of thebody 30. The base 32 may form a lower surface, a front surface, a rear surface, a left surface, and a right surface of thebody 30. Themop module 40 may be coupled to thebase 32. Thesweep module 2000 may be coupled to thebase 32. A controller Co and a battery Bt are disposed at an inner space formed by thecase 31 and thebase 32. - In addition, the
mop driving unit 60 may be disposed at thebody 30. A water supply module (not shown) may be disposed at thebody 30. The detachable module 90 may be disposed at thebody 30. The water supply module delivers the water in thewater tank 81 to themop module 40. - The
mobile robot 1 may include amodule housing 42 that forms an external appearance of themop module 40. Themodule housing 42 may be disposed at a lower side of thebody 30. Themobile robot 1 may include a module cabinet 52 that forms an external appearance of thesweep module 2000. The module cabinet 52 may be disposed at a lower side of thebody 30. Themodule housing 42 and the module cabinet 52 may be spaced apart in a front-rear direction. - The
mop module 40 may be detachably coupled to thebody 30. Themop module 40 may be coupled to a lower side of thebody 30. Thebody 30 may be coupled to an upper side of themop module 40. Thebody 30 may include amodule seating portion 36, and themop module 40 may include abody seating portion 43. Thebody seating portion 43 may be detachably coupled to themodule seating portion 36. - Referring to
FIG. 22 , themodule seating portion 36 may be provided at a lower side of thebody 30. Thebody seating portion 43 may be provided at an upper side of themop module 40. Themodule seating portion 36 may be disposed at a lower surface of thebase 32. Thebody seating portion 43 may be disposed at an upper surface of themodule housing 42. - One of the
module seating portion 36 and thebody seating portion 43 may protrude in an up-down direction and the other of themodule seating portion 36 and thebody seating portion 43 may be recessed in the up-down direction to be engaged with the one of themodule seating portion 36 and thebody seating portion 43. - In the present embodiment, the
body seating portion 43 may protrude to an upper side from themop module 40. Themodule seating portion 36 in thebody 30 may be recessed to an upper side to be engagement with thebody seating portion 43. - When viewed from an upper side, a shape of the
body seating portion 43 may be asymmetrical in the front-rear direction. Through this, when themop module 40 is coupled to thebody 30 in an inverted direction in the front-rear direction, thebody seating portion 43 is not engaged with themodule seating portion 36. Accordingly. themop module 40 and thebody 30 may be coupled to each other in a predetermined direction. - Referring to
FIG. 23 , themop module 40 may include a pair ofbody seating portions body seating portions spin mops body seating portions module seating portions - The
body 30 may include a pair ofmodule seating portions module seating portions body seating portions - The pair of
body seating portions mop module 40. The pair ofmodule seating portions body seating portions - The
module seating portion 36 includes alower surface portion 361 forming a lower surface. Thelower surface portion 361 may be in contact with anupper surface portion 431 of thebody seating portion 43 in the coupled state. Thelower surface portion 361 faces a lower side. Thelower surface portion 361 may be formed horizontally. Thelower surface portion 361 may be disposed at an upper side of a peripheral counterpart portion 363. - The
module seating portion 36 includes a peripheral counterpart portion 363 disposed along a circumference of thelower surface portion 361. The peripheral counterpart portion 363 may be in contact with aperipheral portion 433 of thebody seating portion 43 in the coupled state. The peripheral counterpart portion 363 may form an inclined surface connecting a lower surface of thebase 32 and thelower surface portion 361. The peripheral counterpart portion 363 may be inclined such that a height increases as it goes from the lower surface of the base 32 toward thelower surface portion 361. The peripheral counterpart portion 363 may be disposed to surround thelower surface portion 361. - The pair of
module seating portions 36 may include a pair of engaging surfaces 363a inserted between the pair ofbody seating portions 43. The engaging surface 363a is disposed in a region close to the other adjacentmodule seating portion 36 among the peripheral counterpart portion 363 of one of the module seating portions 36.The engaging surface 363a may be disposed at a region relatively close to the central vertical plane Po among the peripheral counterpart portion 363. The engaging surface 363a may constitute a part of the peripheral counterpart portion 363. - The
module seating portion 36 may form a joint hole 364 to which at least a portion of a driving joint 65 is exposed. The joint hole 364 may be formed at thelower surface portion 361. The driving joint 65 may be disposed through the joint hole 364. The driving joint 65 is coupled to the driven joint 415 to transmit the driving force of the mom driving unit (not shown) to the spin mop. - Among the
module seating portion 36 and thebody seating portion 43, a surface of one may be provided with engaging portions 915 and 365, and a surface of the other counterpart portions may be provided with engagingcounterpart portions - The
body seating portion 43 may include anupper surface portion 431 forming an upper surface. Theupper surface portion 431 may be in contact with thelower surface portion 361 of themodule seating portion 36 in the coupled state. Theupper surface portion 431 faces an upper side. Theupper surface portion 431 may be formed horizontally. Theupper surface portion 431 may be disposed at an upper side of theperipheral portion 433. - The
body seating portion 43 may include aperipheral portion 433 disposed along a circumference of theupper surface portion 431. Theperipheral portion 433 may be in contact with the peripheral counterpart portion 363 of themodule seating portion 36 in the coupled state. Theperipheral portion 433 may form an inclined surface connecting an upper surface of themodule housing 42 and theupper surface portion 431. Theperipheral portion 433 may be inclined such that a height increases as it goes from the upper surface of themodule housing 42 toward theupper surface portion 431. Theperipheral portion 43 may be disposed to surround theupper surface portion 431. - The
body seating portion 43 may include an engaging counterpart surface 433a being in contact with the engaging surface 363a in the coupled state. The pair ofbody seating portions 43 may include a pair of engaging counterpart surfaces 433a. The pair of engaging counterpart surfaces 433a may be disposed to face each other at an angle in a left-right direction. The pair of engaging counterpart surfaces 433a may be formed between the pair ofbody seating portions 43. At theperipheral portions 433 of one of thebody seating portions 43, the engaging counterpart surface 433a may be disposed at an area close to another adjacentbody seating portion 43. The engaging counterpart surface 433a may be disposed at a region relatively close to the central vertical plane Po among theperipheral portion 433. The engaging counterpart surface 433a may constitute a part of theperipheral portion 433. - The
body seating portion 43 may be provided with a drivinghole 434 through which at least a portion of the driven joint 415 is exposed. The drivinghole 434 may be formed at theupper surface portion 431. In the coupled state, the driving joint 65 may be inserted into the drivinghole 434 and connected to the driven joint 415. - The engaging
counterpart portions body seating portion 43. The engagingcounterpart portions peripheral portion 433. A plurality of engagingcounterpart portions - The engaging
counterpart portions counterpart portion 435 where a first engaging portion 915 is engaged. The first engagingcounterpart portion 435 may be formed at the engaging counterpart surface 433a. - The engaging
counterpart portions counterpart portion 436 where a second engaging portion 365 is engaged. The second engagingcounterpart portion 436 may be formed at theperipheral portion 433. - Referring to
FIG. 22 andFIG. 24 , thewater supply module 80 may supply water required for themop module 40 or thesweep module 2000. In the present embodiment, thewater supply module 80 supplies water to themop module 40. Thewater supply module 80 may supply water to a pair ofspin mops - The
water supply module 80 may include awater tank 81 that stores water supplied to themop module 40 or thesweep module 2000. In the present embodiment, thewater tank 81 stores water supplied to themop module 40. Themop module 40 is provided to perform wet mopping (mopping while supplying water). - The
water supply module 80 supplies water to themop module 40. Thewater supply module 80 supplies water to themop module 40. Thewater supply module 80 supplies water to a water distribution module 44. Thewater supply module 80 may be installed on thebody 30. - The
water supply module 80 may include awater tank 81 for storing water. A part of thewater tank 81 may be disposed at an inside of thebody 30. Thewater tank 81 may be disposed at a rear side of thebody 30. - The
water tank 81 may be provided to be drawn out at an outside of thebody 30. Thewater tank 81 may be provided to be drawn out to a rear side of thebody 30. In the state in which thewater tank 81 is seated or settled inside thebody 30, a water-tank engaging portion 84 that engages thewater tank 81 to thebody 30 is provided. - The
water supply module 80 may include a water-tank cap 82 for opening and closing thewater tank 81. The water-tank cap 82 may be disposed at an upper surface of thewater tank 81. In a state that thewater tank 81 is drawn out from thebody 30, a user may open the water-tank cap 82 and fill water in thewater tank 81. - The
water supply module 80 may include a water level indicator 83 where the water level of thewater tank 81 is displayed. The water level indicator 83 may be disposed on the outer cover of thewater tank 81. The water level indicator 83 may be arranged on the rear side of thewater tank 81. The water level indicator 83 is formed of a transparent material, and is provided so that the user can directly see the water level inside thewater tank 81. - The
water supply module 80 may include apump 85 that pressurizes the water W in thewater tank 81 to move the water W to themop module 40. Thepump 85 may be disposed at an inside of thebody 30. Thepump 85 may be disposed at the central vertical plane Po. - Although it is not shown, in another embodiment, the
water supply module 80 may include a valve. In this instance, when the valve is open without a pump, water in thewater tank 81 may move to themop module 40 by gravity of the water. - Although it is not shown, in yet another embodiment, the
water supply module 80 may include a water-permeable stopper. The water-permeable stopper may be disposed in a supply pipe. The water can move through the water-permeable stopper, but a movement speed of the water may be decreased by the water-permeable stopper. - Hereinafter, an embodiment including a
pump 85 will be described as an example, but the present disclosure is not necessarily limited thereto. - The
water supply module 80 includes a body coupler (a water-tank connection portion) 89 that connects thewater tank 81 and asupply pipe 86 when thewater tank 81 is seated in thebody 30. Water W in thewater tank 81 may flow into an inside of thesupply pipe 86 through the body coupler 89. - The
water supply module 80 may include asupply pipe 86 that guides a movement of the water W from thewater tank 81 to themop module 40. Thesupply pipe 86 connects thewater tank 81 and the water-supply connection portions 87 to guide the movement of water. - The
supply pipe 86 may include afirst supply pipe 861 that guides the movement of the water W from thewater tank 81 to thepump 85, and asecond supply pipe 862 that guides the movement of the water W from thepump 85 to thepop module 40. One end of thefirst supply pipe 861 may be connected to the body coupler 89 and the other end of thefirst supply pipe 86 may be connected to thepump 85. One end of thesecond supply pipe 862 may be connected to thepump 85 and the other end of thesecond supply pipe 862 may be connected to the water-supply connection portion 87. - In addition, the
water supply module 80 may further include acheck valve 863 to prevent residual water leakage of the water-supply connection portion 87. Thecheck valve 863 may be installed on thesecond supply pipe 862 adjacent to the water-supply connection portion 87. - The
water supply module 80 may include a water-supply connection portion 87 that guides the water in thewater tank 81 to themop module 40. The water W may move from thebody 30 to themop module 40 through thewater supply connection 87. The water-supply connection portion 87 may be disposed at a lower side of thebody 30. The water-supply connection portion 87 may be disposed at themodule seating portion 36. The water-supply connection portions 87 may be disposed on the lower surface of themodule seating portion 36. The water-supply connection portions 87 may be disposed at thelower surface portion 361 of themodule seating portion 36. - One water-
supply connection portion 87 may be provided to facilitate coupling and facilitate sealing while supplying water to the pair ofspin mops supply connection portion 87 may be disposed between a rotational axis of theleft spin mop right spin mop 41b. More preferably, the water-supply connection portions 87 may be disposed at a center between the rotational axis of theleft spin mop 41a and the rotational axis of theright spin mop 41b. Further preferably, the water-supply connection portion 87 may be disposed at the central vertical plane Po. - When the water-
supply connection portion 87 may be disposed at a center between the twospin mops supply connection portion 87 may facilitate sealing and coupling, and may equally apply the water to the two mops. - The water-
supply connection portion 87 may protrude from an outer surface of thebody 30. Specifically, the water-supply connection portions 87 may protrude from themodule seating portion 36. The water-supply connection portion 87 may have a tube shape protruding in a down side from themodule seating portion 36. - The water-
supply connection portion 87 is engaged with a water-supply counterpart portion 441 of themop module 40 to be described later. The water-supply connection portion 87 may form a hole that communicates with thesupply pipe 86 and penetrate themodule seating portion 36 in an up-down direction, and the water in thebody 30 may move to themop module 40 through the hole of the water-supply connection portion 87. The water in thebody 30 may move to themop module 40 through the water-supply connection portion 87 and the water-supply counterpart portion 441. - A flow direction of water is as follows. The
pump 85 may be driven to cause movement of the water W. The water W in thewater tank 81 may flow into the water-supply connection portion 87 through thesupply pipe 86. The water W in thewater tank 81 may move through thefirst supply pipe 861 and thesecond supply pipe 862 sequentially. The water W in thewater tank 81 may flow into the water-supply counterpart portion 441 of themop module 40 through thesupply pipe 86 and the water-supply connection portion 87 sequentially. The water flowing into the water-supply counterpart portion 441 may flow into the twowater containers 413 through two water distribution pipes, and the water flowing into thewater container 413 may flow into a central portion of amop portion 411 by passing through thewater supply hole 412a. The water flowing into the central portion of themop portion 411 may move to an edge of themop portion 411 by centrifugal force according to a rotation of themop portion 411. - Referring to
FIG. 22 to FIG. 26 , each component or element of themop module 40 and a relationship between themop module 40 and thebody 30 will be described in detail as follows. - The
mop module 40 may be provided to perform wet mopping using water in thewater tank 81. The pair ofspin mops spin mops - Referring to
FIG. 22 to FIG. 24 , themop module 40 may include a pair ofspin mops mops 41 may be understood as a description related to each of the pair ofspin mops - The spin mops 41a and 41b may include a
rotating plate 412 provided to rotate at a lower side of thebody 30. Therotating plate 412 may be formed of a member having a shape of a circular plate. Amop portion 411 may be fixed to a lower surface of therotating plate 412. Therotating plate 412 rotates themop portion 411. Thespin shaft 414 may be fixed to a center of therotating plate 412. - The
rotating plate 412 may include a mop fixing portion (not shown) for fixing themop portion 411. The mop fixing portion may detachably fix themop portion 411. The mop fixing portion may be a velcro or the like disposed at a lower side of therotating plate 412. The mop fixing portion may be a hook or the like disposed at an edge of therotating plate 412. - A
water supply hole 412a penetrating therotating plate 412 in an up-down direction may be formed. Thewater supply hole 412a may connect a water supply space Sw and a lower side of therotating plate 412. Water in the water supply space Sw may move to a lower side of therotating plate 412 through thewater supply hole 412a. The water in the water supply space Sw may move to themop portion 411 through thewater supply hole 412a. Thewater supply hole 412a may be disposed at a center portion of therotating plate 412. Thewater supply hole 412a may be disposed at a position where thespin shaft 414 is not formed. - The
rotating plate 412 may be provided with a plurality ofwater supply holes 412a. Aconnection portion 412b may be disposed between the plurality ofwater supply holes 412a. Theconnection portion 412b may connect a centrifugal-direction XO portion and an opposite centrifugal-direction XI portion based on thewater supply hole 412a. Here, the centrifugal-direction XO may mean a direction away from thespin shaft 414, and the opposite centrifugal-direction XI may mean a direction that approaches thespin shaft 414. - A plurality of
water supply holes 412a may be spaced apart from each other along a circumferential direction of thespin shaft 414. The plurality ofwater supply holes 412a may be arranged to be spaced apart from each other at regular intervals. A plurality ofconnection portions 412b may be spaced apart from each other along the circumferential direction of thespin shaft 414. Thewater supply hole 412a may be disposed between the plurality ofconnection portions 412b. - The
rotating plate 412 may include aninclined portion 412d disposed at a lower end of thespin shaft 414. The water in the water supply space Sw may flow down along theinclined portion 412d by gravity. Theinclined portion 412d may be formed along a circumference of a lower end of thespin shaft 414. Theinclined portion 412d may form a downward inclination in the opposite centrifugal-direction XI. Theinclined portion 412d may form a lower surface of thewater supply hole 412a. - The spin mops 41a and 41b may include a
mop portion 411 that is coupled to a lower side of therotating plate 412 to be in contact with the floor, respectively. Themop portion 411 may be fixed to therotating plate 412 or may be disposed to be replaceable. Themop portion 411 may be fixed to therotating plate 412 to be detachable by a Velcro or hook. Themop portion 411 may be formed only of a mop, or may include a mop and a spacer (not shown). The mop is a part that mop a floor while being in direct contact with the floor. The spacer may be disposed between therotating plate 412 and the mop to adjust a position of the mop. The spacer may be detachably fixed to therotating plate 412, and the mop may be detachably fixed to the spacer. As another example, a mop may directly detachable to therotating plate 412 without a spacer. - The
spin mop spin shaft 414 that rotates therotating plate 412. Thespin shaft 414 is fixed to therotating plate 412 and transmits rotational force of themop driving unit 60 to therotating plate 412. Thespin shaft 414 may be connected to an upper side of therotating plate 412. Thespin shaft 414 may be disposed at an upper center of therotating plate 412. Thespin shaft 414 may be fixed to the rotation center Osa or Osb of therotating plate 412. Thespin shaft 414 may include ajoint fixing portion 414a for fixing the driven joint 415. Thejoint fixing portion 414a may be disposed at an upper end of thespin shaft 414. - The
spin shaft 414 may extend to be perpendicular to therotating plate 412. Aleft spin shaft 414 may be disposed to be perpendicular to a lower surface of theleft spin mop 41a and aright spin shaft 414 may be disposed to be perpendicular to a lower surface of theright spin mop 41b. In an embodiment in which a lower surface of thespin mop spin shaft 414 may be inclined with respect to an axis in an up-down direction. An upper end of thespin shaft 414 may be inclined to one side with respect to a lower end of thespin shaft 414. - An inclination angle between the axis of the
spin shaft 414 in the up-down direction may be changed according to a rotation of a tiltingframe 47 around a tiltingshaft 48. Thespin shaft 414 may be rotatably coupled to the tiltingframe 47 and may be provided to be able to tilt integrally with the tiltingframe 47. When the tiltingframe 47 is tilted, thespin shaft 414, therotating plate 412, thewater container 413, the driven joint 415, and themop portion 411 may be inclined integrally with the tiltingframe 47. - The
mop module 40 may include awater container 413 for accommodating water at an upper side of therotating plate 412. Thewater container 413 may form a water supply space Sw in which water is accommodated. Thewater container 413 may surround a circumference of thespin shaft 414 and be spaced apart from thespin shaft 414 to form a water supply space Sw. Thewater container 413 allows water supplied to an upper side of therotating plate 412 to be collected in the water supply space Sw before passing through thewater supply hole 412a. The water supply space Sw may be disposed at an upper center portion of therotating plate 412. The water supply space Sw may have a volume having a cylindrical shape as a whole. An upper side of the water supply space Sw may be opened. Water may be introduced into the water supply space Sw through the upper side of the water supply space Sw. - The
water container 413 may protrude to an upper side of therotating plate 412. Thewater container 413 may extend along a circumferential direction of thespin shaft 414. Thewater container 413 may have a shape of a ring-shaped rib. Thewater supply hole 412a is disposed at an inner lower surface of thewater container 413. Thewater container 413 may be spaced apart from thespin shaft 414. - A lower end of the
water container 413 may be fixed to therotating plate 412. An upper end of thewater container 413 may have a free end. - Referring to
FIG. 23 , a driving joint 65 and a driven joint 415 will be described in detail as follows. Themop driving unit 60 may include a driving joint 65 that rotates by themop motor 61, and a driven joint 415 that rotate while being engaged with the driving joint 65 in the coupled state. The driving joint 65 may be exposed to an outside of thebody 30. At least a portion of the driven joint 415 may be exposed to the outside of themop module 40. - In the separation 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 with each other.
- Among the driving joint 65 and the driven joint 415, one may include a plurality of driving
protrusions 65a disposed in a circumferential direction around its rotation axis, and the other may include a plurality of driving grooves 415h disposed in a circumferential direction around its rotation axis. - The driving
protrusions 65a may be spaced apart from each other at regular intervals. The plurality of driving grooves 415h may be spaced apart from each other at regular intervals. In the coupled state, the drivingprotrusion 65a is inserted into the driving groove 415h. In the separation state, the drivingprotrusion 65a is separated from the driving groove 415h. - A number of the plurality of driving grooves 415h may be greater than a number of the plurality of driving
protrusions 65a. The number of the plurality of drivingprotrusions 65a may be n, and the number of the plurality of driving grooves 415h may be n ∗ m (a value of a multiply n by m). In this instance, n is a natural number of 2 or more, and m is a natural number of 2 or more. In the present embodiment, four drive protrusions 65a1, 65a2, 65a3, and 65a4 spaced apart from each other at regular intervals may be provided, and eight driving grooves 415h1, 415h2, 415h3, 415h4, 415h5, 415h6, 415h7, and 415h8 spaced apart from each other at regular intervals may be provided. - Among the driving joint 65 and the driven joint 415, one may include a plurality of driving
protrusions 65a disposed in a circumferential direction around its rotation axis, and the other may include a plurality of opposing protrusions 415a disposed in a circumferential direction around its rotation axis. The plurality of opposing protrusions 415a may protrude in one direction. - The plurality of opposing protrusions 415a may be spaced apart from each other at regular intervals. In the coupled state, any one
driving protrusion 65a is provided to be disposed between two adjacent opposing protrusions 415a. In the separation state, the drivingprotrusion 65a is separated from between two adjacent opposing protrusions 415a. In the coupled state, at least one opposing protrusion 415a is provided to be disposed between twoadjacent driving protrusions 65a. In the present embodiment, in the coupled state, two opposing protrusions 415a are provided to be disposed between twoadjacent driving protrusions 65a. - A protruding end of the opposing protrusion 415a may be rounded. The protruding end of the opposing protrusion 415a may be rounded according to an arrangement direction of the plurality of opposing protrusions 415a. The protruding end of the opposing protrusion 415a may be a rounded corner portion rounded to a direction of the adjacent opposing protrusion 415a with respect to a central axis of the protruding direction. Through this, when the separation state is changed to the coupled state, the driving
protrusion 65a may move smoothly and be inserted into the driving groove 415h along the rounded protruding end of the opposing protrusion 415a. - A number of the plurality of opposing protrusions 415a may be greater than a number of the plurality of driving
protrusions 65a. The number of the plurality of drivingprotrusions 65a may be n, and the number of the plurality of opposing protrusions 415a may be n ∗ m (a value of a multiply n by m). In this instance, n is a natural number of 2 or more, and m is a natural number of 2 or more. In the present embodiment, four drive protrusions 65a1, 65a2, 65a3, and 65a4 spaced apart from each other at regular intervals may be provided, and eight opposing protrusions 415a spaced apart from each other at regular intervals may be provided. - In the present embodiment, the driving joint 65 includes a driving
protrusion 65a, and the driven joint 415 includes a driving groove 415h. In the present embodiment, the driven joint 415 includes opposing protrusions 415a. Hereinafter, the present embodiment will be described. - The driving joint 65 may be fixed to a lower end of a main shaft 624. The driving joint 65 may include a driving-
protrusion axis 65b fixed to the main shaft 624. The driving-protrusion axis 65b may have a cylindrical shape. The drivingprotrusion 65a may protrude from the driving-protrusion axis 65b. The drivingprotrusion 65a may protrude in a direction away from a rotational axis of the driving joint 65. A plurality of drivingprotrusions 65a are spaced apart from each other along a circumferential direction of the driving-protrusion axis 65b. The drivingprotrusion 65a may have a cross-section of a circular shape and protrude in a direction away from the rotation axis of the driving joint 65. - The driven joint 415 may be fixed to an upper end of the
spin shaft 414. The driven joint 415 may include a driven axis portion 415b fixed to the spin shaft. The driven axis portion 415b may have a cylindrical shape. The driving groove 415h may be formed at a front side of a peripheral portion of the driven axis portion 415b. The driving groove 415h may be recessed in an up-down direction. A plurality of driving grooves 415h are spaced apart from each other along a circumference of the driven axis portion 415b. The driven joint 415 may including an opposing protrusion 415a protruding from the driven axis portion 415b. The opposing protrusion 415a may protrude from the driven axis portion 415b in a direction toward the driving joint 65 among the up-down direction. In the present embodiment, the opposing protrusion 415a may protrude to an upper side. The opposing protrusion 415a may have a protruding end at an upper side. The opposing protrusion 415a may have a rounded protruding end. When a surface of the drivingprotrusion 65a is in contact with the rounded protruding end of the opposing protrusion 415a, in a process of changing the separation state to the coupled state, the drivingprotrusion 65a may naturally or smoothly slid and be inserted into the driving groove 415h. The opposing protrusion 415a may be disposed at a front portion of the driven axis portion 415b. A plurality of opposing protrusions 415a and a plurality of driving grooves 415h may be alternately arranged along a circumference of the driven axis portion 415b. - In the coupled state, when
suspension units protrusions 65a and the driving grooves 415h may be movable with each other, but are engaged with each other to transmit rotational force. Specifically, a depth of the driving groove 415h in an up-down direction may be greater than a width of the drivingprotrusion 65a in an up-down direction. Then, even if there is a movement of the drivingprotrusion 65a with respect to the driving groove 415h in the up-down direction in a predetermined range, the rotational force of the driving joint 65 may be transmitted to the driven joint 415. - The
module housing 42 may connect a pair ofspin mops module housing 42, a pair ofspin mops body 30 together and be coupled to thebody 30 together. Thebody seating portion 43 may be disposed at an upper side of themodule housing 42. The spin mops 41a and 41b may be rotatably supported by themodule housing 42. The spin mops 41a and 41b may be disposed by penetrating through themodule housing 42. - The
module housing 42 may include anupper cover 423 forming an upper portion and alower cover 421 forming a lower portion. Theupper cover 423 and thelower cover 421 may be coupled to each other. Theupper cover 423 and thelower cover 421 may form an inner space accommodating a part of the spin mops 41a and 41b. - The
suspension units module housing 42. Thesuspension units upper cover 423 and thelower cover 421. Thesuspension units spin shaft 414 to be movable up and down within a predetermined range. Thesuspension units frame 47, a tiltingshaft 48, and anelastic member 49. - The
module housing 42 may include a limit that limits a rotation range of the tiltingframe 47. - The limit may include a
lower limit 427 that limits a rotation range of the tiltingframe 47 in a down direction. Thelower limit 427 may be disposed at themodule housing 42. Thelower limit 427 may be provided to be in contact with a lower-limit contacting portion 477 in a state in which thetilting frame 47 is rotated as far as possible to a down side. In a state in which themobile robot 1 is normally disposed at an external horizontal surface, the lower-limit contacting portion 477 is spaced apart from thelower limit 427. In a state in which there is no force pushing from a lower side to an upper side of the spin mops 41a and 41b, the tiltingframe 47 rotates to have a maximum angle, and the lower-limit contacting portion 477 and thelower limit 427 may become in contact with each other and an inclination angle become the largest. - The limit may include an upper limit (not shown) that limits a rotation range of the tilting
frame 47 in an upper direction. In the present embodiment, a rotation range of the tiltingframe 47 to an upper side may be limited by a close contact between the driving joint 65 and the driven joint 415. In a state in which themobile robot 1 is normally disposed at an external horizontal surface, the driven joint 415 may be in close contact with the driving joint 65 to the maximum, and an inclination angle may become the smallest. - The
module housing 42 may include asecond support portion 425 that fixes an end of theelastic member 49. When the tiltingframe 47 rotates, theelastic member 49 may be elastically deformed or restored by afirst support portion 475 fixed to the tiltingframe 47 and thesecond support portion 425 fixed to themodule housing 42. - The
module housing 42 may include a tilting-shaft support portion 426 that supports the tiltingshaft 48. The tilting-shaft support portion 426 may support both ends of the tiltingshaft 48. - The tilting
frame 47 may be connected to themodule housing 42 through the tiltingshaft 48. The tiltingframe 47 may support thespin shaft 414 to be rotatable. - The tilting
frame 47 may be rotatable within a predetermined range around a tilting rotation axis Ota or Otb. The tilting rotation axes Ota and Otb may extend in a direction transverse to the rotation axes Osa and Osb of thespin shaft 414. The tiltingshaft 48 may be disposed at the tilting rotation axes Ota and Otb. The tiltingframe 47 at a left side may be provided to be rotatable within a predetermined range around the tilting rotation axis Ota. The tiltingframe 47 at a right side may be provided to be rotatable within a predetermined range around the tilting rotation axis Otb. - The tilting
frame 47 may be disposed to be tiltable within a predetermined angular range with respect to themop module 40. An inclination angle of the tiltingframe 47 may be changed according to a condition of a floor. The tiltingframe 47 may function as a suspension (supporting weight and reducing vibration in an up-down direction at the same time) of the spin mops 41a and 41b. - The tilting
frame 47 may include aframe base 471 forming a lower surface. Thespin shaft 414 may penetrates aframe base 471 in an up-down direction. Theframe base 471 may have a plate shape having a thickness in the up-down direction. The tiltingshaft 48 may rotatably connect themodule housing 42 and theframe base 471. - A bearing Ba may be provided between the rotation-
axis support 473 and thespin shaft 414. The bearing Ba may include a first bearing B1 disposed at a lower side and a second bearing B2 disposed at an upper side. - A lower end of the rotation-
axis support portion 473 may be inserted into the water supply space Sw of thewater container 413. An inner circumferential surface of the rotation-axis support portion 473 may support thespin shaft 414. - The tilting
frame 47 may include afirst support portion 475 for supporting one end of theelastic member 49. The other end of theelastic member 49 may be supported by asecond support portion 425 disposed in themodule housing 42. When the tiltingframe 47 is tilted around the tiltingshaft 48, a position of thefirst support portion 475 is changed and a length of theelastic member 49 is changed. - The
first support portion 475 may be fixed to the tiltingframe 47. Thefirst support portion 475 is disposed at a left side of theleft tilting frame 47. Thefirst support portion 475 may be disposed at a right side of theright tilting frame 47. Thesecond support portion 425 may be disposed at a left region of theleft spin mop 41a. Thesecond support portion 425 may be disposed at a right region of theright spin mop 41b. - The
first support portion 475 may be fixed to the tiltingframe 47. Thefirst support portion 475 may be tilted together with the tiltingframe 47 during a tilting operation of the tiltingframe 47. A distance between thefirst support portion 475 and thesecond support portion 425 may be closest when an inclination angle is minimized, and a distance between thefirst support portion 475 and thesecond support portion 425 may be farthest away when an inclination angle is maximized. Theelastic member 49 may elastically deformed to provide a restoring force in a state where the inclination angle is minimized. - The tilting
frame 47 may include a lower-limit contacting portion 477 provided to be in contact with thelower limit 427. A lower side of the lower-limit contacting portion 477 may be in contact with an upper side of thelower limit 427. - The tilting
shaft 48 may be disposed at themodule housing 42. The tiltingshaft 48 may be a rotation axis of the tiltingframe 47. The tiltingshaft 48 may extend in a direction perpendicular to an inclined direction of the spin mops 41a and 41b. The tiltingshaft 48 may extend in a horizontal direction. In the present embodiment, the tiltingshaft 48 may extend in an inclined direction to having an acute angle with the front-rear direction. - The
elastic member 49 may apply elastic force to the tiltingframe 47. The elastic force is applied to the tiltingframe 47 so that an inclination angle of a lower surface of the spin mops 41a and 41b with respect to a horizontal surface increases. - The
elastic member 49 may be elongated when the tiltingframe 47 rotates to a lower side and be shortened when the tiltingframe 47 rotates to an upper side. Theelastic member 49 allows the tiltingframe 47 to operate to absorb shock (elastically). Theelastic member 49 may apply moment force to the tiltingframe 47 in a direction in which an inclination angle is increased. - The pair of
spin mops spin mops mop module 40 are integrally separated from thebody 30. In addition, when the separation state is changed to the coupled state, the pair ofspin mops mop module 40 are integrally coupled to thebody 30. - The
mop module 40 is detachably coupled to thebody 30. Themop module 40 is coupled to a lower side of thebody 30. Thebody 30 is coupled to an upper side of themop module 40. Thebody 30 includes themodule seating portion 36, and themop module 40 includes thebody seating portion 43. Thebody seating portion 43 is detachably coupled to themodule seating portion 36. - The
module seating portion 36 is provided at a lower side of thebody 30. Thebody seating portion 43 is provided at an upper side of themop module 40. Themodule seating portion 36 is disposed at a lower side of thebase 32. Thebody seating portion 43 is disposed at an upper side of themodule housing 42. - Among the
module seating portion 36 and thebody seating portion 43, one may protrude in an up-down direction and the other may be recessed in the up-down direction to be engaged with the one. - In the present embodiment, the
body seating portion 43 protrudes to an upper side from themop module 40. Themodule seating portion 36 is recessed to an upper side to be engaged with thebody seating portion 43 in thebody 30. - When viewed from an upper side, a shape of the
body seating portion 43 may be asymmetrical in a front-rear direction. Through this, when themop module 40 is coupled to thebody 30 in an inverted direction in the front-rear direction, thebody seating portion 43 is not engaged with themodule seating portion 36. Accordingly. themop module 40 and thebody 30 may be coupled to each other in a predetermined direction. - When viewed from an upper side, the
body seating portion 43 may have a shape as a whole that a length in a front-rear direction increase as it goes away from the central vertical plane Po. When viewed from the upper side, thebody seating portion 43 may have generally an inclined shape such that a portion relatively away from the central vertical plane Po is closer to a front side. - The
mop module 40 includes a pair ofbody seating portions body seating portions spin mops body seating portions module seating portions - The
body 30 includes a pair ofmodule seating portions module seating portions body seating portions - The pair of
body seating portions mop module 40. The pair ofmodule seating portions body seating portions - The pair of
body seating portions module seating portions body seating portions module seating portions body seating portion 43 may be understood as a description of each of the pair ofbody seating portions module seating portion 36 may be understood as a description of each of the pair ofmodule seating portions - The
module seating portion 36 includes alower surface portion 361 forming a lower surface. Thelower surface portion 361 may be in contact with anupper surface portion 431 of thebody seating portion 43 in the coupled state. Thelower surface portion 361 faces a lower side. Thelower surface portion 361 may be formed horizontally. Thelower surface portion 361 may be disposed at an upper side of a peripheral counterpart portion 363. - The
module seating portion 36 includes a peripheral counterpart portion 363 disposed along a circumference of thelower surface portion 361. The peripheral counterpart portion 363 may be in contact with aperipheral portion 433 of thebody seating portion 43 in the coupled state. The peripheral counterpart portion 363 may form an inclined surface connecting a lower surface of thebase 32 and thelower surface portion 361. The peripheral counterpart portion 363 may be inclined such that a height increases as it goes from the lower surface of the base 32 toward thelower surface portion 361. The peripheral counterpart portion 363 may be disposed to surround thelower surface portion 361. - The pair of
module seating portions 36 may include a pair of engaging surfaces 363a inserted between the pair ofbody seating portions 43. At the peripheral counterpart portion 363 of one of themodule seating portions 36, the engaging surface 363a may be disposed at an area close to another adjacentmodule seating portion 36. The engaging surface 363a may be disposed at a region relatively close to the central vertical plane Po among the peripheral counterpart portion 363. The engaging surface 363a may constitute a part of the peripheral counterpart portion 363. - The
module seating portion 36 may form a joint hole 364 to which at least a portion of a driving joint 65 is exposed. The joint hole 364 may be formed at thelower surface portion 361. The driving joint 65 may be disposed to penetrate through the joint hole 364. - Among the
module seating portion 36 and thebody seating portion 43, a surface of one may be provided with engagingportions 911, and a surface of the other may be provided with engagingcounterpart portions portions 911 in the coupled state. In the present embodiment, the engagingportion 911 may be provided at a surface of themodule seating portion 36, and the engagingcounterpart portions body seating portion 43. - The engaging
portion 911 may have a hook shape. The engagingportion 911 may be disposed at the peripheral counterpart portion 363. A lower surface of a protruding end portion of the engagingportion 911 may have an inclination that approaches an upper side toward a distal end. A plurality of engagingportions 911 may be provided in onemodule seating portion 36. - The
body seating portion 43 may include anupper surface portion 431 forming an upper surface. Theupper surface portion 431 may be in contact with thelower surface portion 361 of themodule seating portion 36 in the coupled state. Theupper surface portion 431 faces an upper side. Theupper surface portion 431 may be formed horizontally. Theupper surface portion 431 may be disposed at an upper side of theperipheral portion 433. - The
body seating portion 43 may include aperipheral portion 433 disposed along a circumference of anupper surface portion 431. Theperipheral portion 433 may be in contact with the peripheral counterpart portion 363 of themodule seating portion 36 in the coupled state. Theperipheral portion 433 may form an inclined surface connecting an upper surface of themodule housing 42 and theupper surface portion 431. The peripheral counterpart portion 363 may be inclined such that a height increases as it goes from the upper surface of themodule housing 42 toward theupper surface portion 431. Theperipheral portion 43 may be disposed to surround theupper surface portion 431. - The
body seating portion 43 may include an engaging counterpart surface 433a being in contact with the engaging surface 363a in the coupled state. The pair ofbody seating portions 43 may include a pair of engaging counterpart surfaces 433a. The pair of engaging counterpart surfaces 433a may be disposed to face each other at an angle in a left-right direction. The pair of engaging counterpart surfaces 433a may be positioned between the pair ofbody seating portions 43. At theperipheral portions 433 of one of thebody seating portions 43, the engaging counterpart surface 433a may be disposed at an area close to another adjacentbody seating portion 43. The engaging counterpart surface 433a may be disposed at a region relatively close to a central vertical plane Po among theperipheral portion 433. The engaging counterpart surface 433a may constitute a part of theperipheral portion 433. - The
body seating portion 43 may be provided with a drivinghole 434 through which at least a portion of the driven joint 415 is exposed. The drivinghole 434 may be formed at theupper surface portion 431. In the coupled state, the driving joint 65 may be inserted into the drivinghole 434 and connected to the driven joint 415. - The engaging
counterpart portions body seating portion 43. The engagingcounterpart portions peripheral portion 433. A plurality of engagingcounterpart portions portions 911 may be provided. - The body seating portion may include a left
body seating portion 43a, a rightbody seating portion 43b, and acentral seating portion 43c. Aleft driving hole 434 is formed at the leftbody seating portion 43a, and aright driving hole 434 is formed at the rightbody seating portion 43b. The leftbody seating portion 43a may be spaced apart from the rightbody seating portion 43b. Thecentral seating portion 43c is positioned between the leftbody seating portion 43a and the rightbody seating portion 43b. - An
upper surface portion 431 of the leftbody seating portion 43a, the rightbody seating portion 43b, and thecentral seating portion 43c may be positioned at the same height. As another example, anupper surface portion 431 of thecentral seating portion 43c may be positioned at a lower side than upper surface portions 432 of the leftbody seating portion 43a and the rightbody seating portion 43b so that engagingcounterpart portions upper surface portion 431 of thecentral seating portion 43c, a water-supply counterpart 441, which will be described later, may be disposed. - The
mop module 40 may include a water distribution module 44 that guides the water introduced from the water-supply connection portion 87 to twospin mops water tank 81 is supplied to the spin mops 41a and 41b via the water distribution module 44. The water W in thewater tank 81 flows into the water distribution module 44 through the water-supply connection portion 87. At least a part of the water distribution module may be accommodated inside themodule housing 42. - In particular, referring to
FIG. 27 , the water distribution module 44 may include one water-supply counterpart portion 441 that receives water from thewater supply module 80, a leftwater distribution pipe 443a, and a rightwater distribution pipe 443b. The water-supply counterpart portion 441 may be connected to the water-supply connection portion 87. The water-supply counterpart 441 may have a structure coupled to the water-supply connection portion 87 by fit or tight fit (interference fit). - The water-
supply counterpart 441 may be provided with a press-inhole 441a into which one end of the water-supply connection portion 87 is inserted. The water-supply connection portion 87 may be tight-fitted (interference-fitted) or press-fitted into the press-inhole 441a. At an inner surface of the press-inhole 441a, arelease preventing groove 441b for preventing the watersupply connection portion 87 from being separated may be formed. The press-inhole 441a may extend in an up-down direction. Then, the press-inhole 441a extends in the up-down direction and is coupled when thebody 30 and themop module 40 are coupled to each other. - An upper end of the press-in
hole 441a may have anexpansion portion 441c having an expanded width than the press-inhole 441a and communicating with the press-inhole 441a. Theexpansion portion 441c may be a hole whose width is increased in a direction away from the press-inhole 441a. Theexpansion portion 441c may guide the water-supply connection portion 87 to be easily inserted into the press-inhole 441a. - In the coupled state, the water-
supply counterpart portion 441 is formed at a position corresponding to the water-supply connection portion 87. In the coupled state, the water-supply connection portion 87 and the water-supply counterpart portion 441 are engaged with and connected to each other. In the coupled state, the water-supply connection portion 87 is inserted to the water-supply counterpart portion 441 to a down side. In the separation state, the water-supply connection portion 87 and the water-supply counterpart portion 441 are separated from each other. - The water-
supply counterpart portion 441 may be disposed at a position corresponding to the water-supply connection portion 87. The water-supply counterpart portion 441 may be disposed at an imaginary central vertical plane. The water-supply counterpart portion 441 may be disposed at thebody seating portion 43. Specifically, the water-supply counterpart portion 441 may be disposed at a center of theupper surface portion 431 of thecentral seating portion 43c. - An upper surface of the water-
supply counterpart portion 441 may penetrate an upper surface of the module seating portion and be exposed to an outside of the module seating portion. An upper end of the water-supply counterpart portion 441 (an upper end of theexpansion portion 441c) may be exposed at theupper surface portion 431 of thebody seating portion 43. An upper end of the water-supply counterpart portion 441 (an upper end of theexpansion portion 441c) may have a height same as or lower than a height of anupper surface portion 431 of thebody seating portion 43. - The water-
supply counterpart portion 441 may be a material having elasticity. For example, the water-supply counterpart portion 441 may include a rubber material or a resin material. - As another example, the upper end of the water-supply counterpart portion 441 (the
expansion portion 441c) may formed by a recessed portion of a surface of thebody seating portion 43 to a lower side. - A left
water distribution pipe 443a is connected to the water-supply counterpart portion 441 to supply water from the water-supply counterpart portion 441 to a water supply space Sw of a left rotating plate. One end of the leftwater distribution pipe 443a is connected to the press-inhole 441a of the water-supply counterpart portion 441, and the other end (an outlet or an exhaust nozzle) 444a of the leftwater distribution pipe 443a is positioned on or at the water supply space Sw. Water jetted or spouted from theoutlet 444a of the leftwater distribution pipe 443a falls into the water supply space Sw. Theoutlet 444a of the leftwater distribution pipe 443a may be positioned to be vertically overlapped with the water supply space Sw of the leftrotating plate 412. - A right
water distribution pipe 443b is connected to the water-supply counterpart portion 441 to supply water from the water-supply counterpart portion 441 to a water supply space Sw of a right rotating plate. One end of the rightwater distribution pipe 443b is connected to the press-inhole 441a of the water-supply counterpart portion 441, and the other end (an outlet or an exhaust nozzle) 444b of the rightwater distribution pipe 443b is positioned on or at the water supply space Sw. Water jetted or spouted from theoutlet 444b of the rightwater distribution pipe 443b falls into the water supply space Sw. Theoutlet 444b of the rightwater distribution pipe 443b may be positioned to be vertically overlapped with the water supply space Sw of the rightrotating plate 412. - Specifically, the
outlet 444a of the leftwater distribution pipe 443a and theoutlet 444b of the rightwater distribution pipe 443b are respectively coupled to fixingholes shaft support portion 426. Theoutlet 444a of the leftwater distribution pipe 443a and theoutlet 444b of the rightwater distribution pipe 443b communicate with a lower portion of the tilting-shaft support portion 426 through fixingholes - The left
water distribution pipe 443a and the rightwater distribution pipe 443b may be directly connected to the water-supply counterpart portion 441, or may be connected to the water-supply counterpart portion 441 through abranch pipe 442. Thebranch pipe 442 may be a T-shaped pipe connected to the press-inhole 441a, the leftwater distribution pipe 443a, and the rightwater distribution pipe 443b. - The left
water distribution pipe 443a and the rightwater distribution pipe 443b may be accommodated in themodule housing 42. - In order to supply water equally to the left and right mops, a length of the left
water distribution pipe 443a may be the same as a length of the rightwater distribution pipe 443b. In this instance, the same does not only mean the exact same in a mathematical sense, but also means similarity in a range including an error to some extent. The range of the error may be preferably 0% to 2%. - For a uniform water distribution, an inner diameter of the left
water distribution pipe 443a may be the same as an inner diameter of the rightwater distribution pipe 443b. Preferably, the length of the leftwater distribution pipe 443a may be the same as the length of the rightwater distribution pipe 443b, and the inner diameter of the leftwater distribution pipe 443a may be the same as the inner diameter of the rightwater distribution pipe 443b. - In addition, the left
water distribution pipe 443a and the rightwater distribution pipe 443b may have a symmetrical arrangement. The leftwater distribution pipe 443a and the rightwater distribution pipe 443b may be symmetrical to each other with respect to an imaginary central vertical plane. Preferably, an inner diameter of the leftwater distribution pipe 443a may be the same as an inner diameter of the rightwater distribution pipe 443b, and the leftwater distribution pipe 443a and the rightwater distribution pipe 443b may be symmetrical to each other with respect to the imaginary central vertical plane. - Referring to
FIG. 28 , a power device (not shown) that provides power required for cleaning may be installed in thebase 32. The power device may include at least one of asweep motor 2330 providing power to theagitator 2200 and amop motor 61 providing power to therotating plate 412. - The
case 31 may be disposed to surround at least a portion of the upper and side surfaces of thebase 32. Thecase 31 has a space in which thebase 32 is accommodated, and is opened downward. - Preferably, the
case 31 is completely overlapped with the base 32 when viewed in the horizontal direction, and may have a height greater than that of thebase 32. Further, thecase 31 may be completely overlapped with the base 32 when viewed in the vertical direction. With the above-described structure, since thecase 31 completely covers thebase 32, thecase 31 can detect the carpet, etc. having a low height, and in the case of the wet module, it is easy to avoid the carpet without climbing the carpet. - Depending on the embodiment, the
case 31 may be formed by combining a plurality of parts or a single part. In an embodiment, thecase 31 may include anupper casing 311 and alower casing - The
case 31 must be able to move by an external force applied from the outside to thebase 32 and be able to return to the origin again. To this end, the present disclosure includes a plurality ofpush supporters 600. - The
push supporter 600 transmits the load of thecase 31 to thebase 32 and provides the origin return force when thecase 31 deviates from the origin. In particular, thecase 31 is designed to have a relatively heavy load compared to the base 32 to increase the sensitivity of impact detection. - The
push supporter 600 supports thecase 31 away from thebase 32. In addition, thepush supporter 600 provides an elastic restoring force to thecase 31 in at least the upper direction of thebase 32 and the outer direction of thebase 32. Here, the outer direction of the base 32 means a direction extending from the center of thebase 32 around the plane of thebase 32. - The
push supporter 600 may have various shapes, materials, and structures. Preferably, thepush supporter 600 may be a leaf spring made of metal. - One end of each
push supporter 600 may be connected to thebase 32, and the other end of eachpush supporter 600 may be connected to thecase 31. If both ends of thepush supporter 600 are connected, it is not easy to assemble and remove, so one end of eachpush supporter 600 is connected to thebase 32, and some areas of thecase 31 may be supported on the other end of each thesupporter 600. It is that some areas of thecase 31 are supported at the other end of thepush supporter 600, that thecase 31 is placed at the other end of thepush supporter 600. - One end of the
push supporter 600 may be coupled to thebase 32 by a coupling member and may be bonded by an adhesive member. Preferably, as shown inFIG. 30 , asupporter groove 322 into which one end of thepush supporter 600 is inserted may be formed in thebase 32. Thesupporter groove 322 may be a groove opened upward. If thesupporter groove 322 is an upwardly open groove, the engagement of thepush supporter 600 is easy, the detachment of thepush supporter 600 is prevented by the weight of thecase 31, and the resistance to deformation of thepush supporter 600 is excellent. - The
case 31 may include acorresponding support portion 31e formed on theside 31a of the case 31 (detailed on the side of the lower casing 312) and which on the other end of thepush supporter 600 is located. Thecorresponding support portion 31e has a constant area when viewed from below. Specifically, thecorresponding support portion 31e may be formed to protrude in the inner direction from theside 31a of thecase 31, or may be formed by a part of theside 31a of thecase 31 is recessed to the outside. The lower surface of thecorresponding support portion 31e is supported by the other end of thepush supporter 600. - Further, the
corresponding support portion 31e may be formed with a difference in thickness between a part of theside 31a of thecase 31 and another part. Thecorresponding support portion 31e may be formed as a portion of theside 31a of thecase 31 having a greater thickness than the other portion of theside 31a of thecase 31. - Referring to
FIGS. 30 and31 , thepush supporter 600 may have a structure having elastic force to move thecase 31 away from the horizontal direction and move thecase 31 away from the upper direction. For example, thepush supporter 600 may include aconnection plate 610, asupport plate 650, and anelastic plate 630. - The connecting
plate 610 has one end connected to thebase 32 and the other end connected to theelastic plate 630. The width of the connectingplate 610 may be wider than theelastic plate 630 and thesupport plate 650. The connectingplate 610 is interpolated into thesupporter groove 322. The connectingplate 610 has a plate shape. The width of the connectingplate 610 may be larger than that of theelastic plate 630. Therefore, the connectingplate 610 is stably supported on thebase 32. - The
support plate 650 supports thecase 31 and is connected to the other end of theelastic plate 630. Thesupport plate 650 forms an angle intersecting the other end of theelastic plate 630. Preferably, thesupport plate 650 forms a surface parallel to the horizontal direction in the absence of external force. Here, forming the surface parallel to the horizontal direction means that it is arranged parallel to the horizontal surface of the widest surface. Thesupport plate 650 has a plate shape. - The
elastic plate 630 has one end connected to the connectingplate 610 and the other end connected to thesupport plate 650 to add elastic force. Theelastic plate 630 may have at least one bending portion to provide elastic force for restoring thesupport plate 650 and the connectingplate 610 to the origin. Specifically, theelastic plate 630 may have an upward convex mountain shape. Theelastic plate 630 has a plate shape. - For example, the
elastic plate 630 has afirst portion 631, one end of which is connected to the connectingplate 610, asecond portion 632, one end of which is connected to thesupport plate 650, and athird portion 635 connecting the other end of thefirst portion 631 to the other end of thesecond portion 632. - The other end of the
first portion 631 may be positioned higher than one end of thefirst portion 631, and the other end of thesecond portion 632 may be positioned higher than one end of thesecond portion 632. That is, theelastic plate 630 may be a bending structure based on thethird portion 635. Theelastic plate 630 may be an inverted "U" or "V" shape. - The slope of the
first portion 631 may be constant or may increase in one direction. Specifically, thefirst portion 631 has a constant slope, and is formed to be inclined upward in the other end direction of thefirst portion 631. Of course, thefirst portion 631 has a curvature, and the slope of thefirst portion 631 may increase or decrease in the other end direction of thefirst portion 631. - The
first portion 631 may be arranged parallel to the vertical direction. Thesecond portion 632 may be disposed parallel to theside 31a of thecase 31 or may have an angle within 5°of theside 31a of thecase 31. Thefirst portion 631 may form a surface parallel to the connectingplate 610. - The slope of the
second portion 632 may be constant or may increase in one direction. Specifically, thesecond portion 632 has a constant slope, and is formed to be inclined upward in the other end direction of thesecond portion 632. Of course, thesecond portion 632 has a curvature, and the slope of thesecond portion 632 may increase or decrease in the other end direction of thesecond portion 632. - The
second portion 632 may have the slope with theside 31a of thecase 31. Theside 31a of thecase 31 may have an angle within 10 to 20°. The angle formed by thefirst portion 631 and thesecond portion 632 may be 0 to 30°. Thesecond portion 632 forms a surface intersecting thesupport plate 650. - The
third portion 635 connects thefirst portion 631 and thesecond portion 632. Thethird portion 635 may have an inflection point. Thethird portion 635 may have a curvature whose center of curvature radius is located between thefirst portion 631 and thesecond portion 632. Thethird portion 635 may be a bending portion. - A plurality of
push supporters 600 are arranged, and even if an external force is applied in any direction of thecase 31, thecase 31 may have an arrangement for returning thecase 31 back to the origin. - Referring to
FIG. 29 , the plurality ofpush supporters 600 may be disposed along the circumference of thebase 32. The plurality ofpush supporters 600 may be disposed along a virtual circumference (circle) centered on the center of thebase 32. The separation distance between eachpush supporter 600 may be the same. - When the plurality of
push supporters 600 are disposed with a constant pitch along the circumference, thecase 31 can be stably supported, and strong origin returning force can be provided regardless of the external force coming from any direction. - The longitudinal direction of the
push supporter 600 may be arranged toward the central direction of thebase 32. The virtual line C1 connecting the connectingplate 610 and thesupport plate 650 may meet the center CE of thebase 32. - Referring to
FIG. 30 again, thecase 31 and the base 32 may further include a structure for limiting the movement path of thecase 31 or preventing thecase 31 from being separated. - For example, path limiting means for limiting the movement path of the
case 31 may be formed in thecase 31 and thebase 32. The path limiting means defines thepath projection 31d formed in one of thebase 32 and thecase 31 and a space in which thepath projection 31d are interpolated and moves, and may include apath limiting portion 324 formed in the other of thebase 32 and thecase 31. Thepath projection 31d is a projection protruding downward from thecase 31. - The
path limiting portion 324 may be a hole or a groove having a certain space when viewed from the upper direction. Thepath limiting portion 324 is located on thebase 32. Since thepath projection 31d moves within thepath limiting portion 324, the movement of thecase 31 is limited. - The
case 31 may further include arelease preventing portion 31c that is locked by thebase 32 and prevents thecase 31 from releasing. Therelease preventing portion 31c is locked by a part of the base 32 to limit movement in the upper direction of thecase 31. Therelease preventing portion 31c may be formed to protrude inward from the lower end of theside 31a of thecase 31. - Referring to
FIG. 32 , when there is no external force, thecase 31 is supported spaced apart from the base 32 by thepush supporter 600. When an external force is applied to thecase 31 from the outside, thepush supporter 600 is deformed, and thecase 31 is moved. - Referring to
FIG. 33 , when the external force disappears, thecase 31 is returned to its origin by the elastic restoring force of thepush supporter 600. - Hereinafter, an arrangement of components or elements for improving friction force of the spin mops 41 arranged at a left side and a right side, improving stability in a left-right direction and a front-rear direction, and achieving stable driving regardless of a water level in a
water tank 81. - Referring to
FIGS. 34 and35 , so as to increase the friction force by aspin mop 41 and limit occurrence of eccentricity in one direction when the mobile robot rotates, amop motor 61 and a battery Bt that are relatively heavy may be disposed on an upper portion of aspin mop 41. - Specifically, a left-
mop motor 61a may be disposed on aleft spin mop 41a (at an upper side of theleft spin mop 41a), and a right-mop motor 61b may be disposed on aright spin mop 41b (at an upper side of theright spin mop 41b). That is, at least a part of the left-mop motor 61a may be vertically overlapped with theleft spin mop 41a. Preferably, an entire portion of the left-mop motor 61a may be vertically overlapped with theleft spin mop 41a. At least a part of the right-mop motor 61b may be vertically overlapped with theright spin mop 41b. Preferably, an entire portion of the right-mop motor 61b may be vertically overlapped with theright spin mop 41b. - More specifically, the left-
mop motor 61a and the right-mop motor 61b may be vertically overlapped with an imaginary central horizontal line HL connecting a spin rotation axis Osa of theleft spin mop 41a and a spin rotation axis Osb of theright spin mop 41b. Preferably, a weight center (a center of gravity) MCa of the left-mop motor 61a and a weight center (a center of gravity) MCb of the right-mop motor 61b may be vertically overlapped with the imaginary central horizontal line HL connecting the spin rotation axis Osa of theleft spin mop 41a and the spin rotation axis Osb of theright spin mop 41b. Alternatively, a geometric center of the left-mop motor 61a and a geometric center of the right-mop motor 61b may be vertically overlapped with the imaginary central horizontal line HL connecting the spin rotation axis Osa of theleft spin mop 41a and the spin rotation axis Osb of theright spin mop 41b. The left-mop motor 61a and the right-mop motor 61b may be symmetrical with respect to a central vertical plane Po. - Since the weight center MCa of the left-
mop motor 61a and the weight center MCb of the right-mop motor 61b do not deviate from thespin mop 41, and the left-mop motor 61a and the right-mop motor 61b are symmetrical to each other. Accordingly, the friction force of thespin mop 41 can be enhanced and running performance and a left-right balance can be maintained. - Hereinafter, the spin rotation axis Osa of the
left spin mop 41a is referred to as a left spin rotation axis Osa, and the spin rotation axis Osb of theright spin mop 41b is referred to as a right spin rotation axis Osb.. - The
water tank 81 is disposed at a rear side than the central horizontal line HL, and an amount of water in thewater tank 81 is variable. In order to maintain a stable front-rear balance regardless of a water level of thewater tank 81, the left-mop motor 61a may be deviated to a left side from the left spin rotation axis Osa. The left-mop motor 61a may be deviated to a left front side from the left spin rotation axis Osa. Preferably, the geometric center of the left-mop motor 61a or the weight center MCa of the left-mop motor 61a may be deviated to the left side from the left spin rotation axis Osa, or the geometric center of the left-mop motor 61a or the weight center MCa of the left-mop motor 61a may be deviated to the left front side from the left spin rotation axis Osa. - The right-
mop motor 61b may be deviated to a right direction from the right spin rotation axis Osb. The right-mop motor 61b may be deviated to a right front side from the right spin rotation axis Osb. Preferably, the geometric center of the right-mop motor 61b or the weight center MCb of the right-mop motor 61b may be deviated to the right side from the right spin rotation axis Osb, or the geometric center of the right-mop motor 61b or the weight center MCb of the right-mop motor 61b may be deviated to the right front side from the right spin rotation axis Osb. - Since the left-
mop motor 61a and the right-mop motor 61b apply pressure at a position deviated from an outer front side from a center of eachspin mop 41, pressure is concentrated on the outer front side of eachspin mop 41. Therefore, running performance can be improved by the rotational force of thespin mop 41. - The left spin rotation axis Osa and the right spin rotation axis Osb are disposed at a rear side than the center of the
body 30. The central horizontal line HL may be disposed at a rear side of the geometric center Tc of thebody 30 and a weight center (a center of gravity) WC of the mobile robot. The left spin rotation axis Osa and the right spin rotation axis Osb are spaced apart at the same distance from the central vertical plane Po. - A left driving joint 65a may be disposed on the
left spin mop 41a (at an upper side of theleft spin mop 41a), and a right driving joint 65a may be disposed on theright spin mop 41b (at an upper side of theright spin mop 41b). - In the present embodiment, one battery Bt may be installed. At least a part of the battery Bt may be disposed on the
left spin mop 41a and theright spin mop 41b (at upper sides of theleft spin mop 41a and theright spin mop 41b). The battery Bt that is relative heavy is disposed on the spin mop 41 (at the supper side of the spin mop 41) to improve friction force by thespin mop 41 and reduce eccentricity caused by the rotation of the mobile robot. - Specifically, a part of a left portion of the battery Bt may be vertically overlapped with the
left spin mop 41a, and a part of a right portion of the battery Bt may be vertically overlapped with theright spin mop 41b. The battery Bt may be vertically overlapped with the central horizontal line HL and may be vertically overlapped with the central vertical plane Po. - More specifically, a weight center (a center of gravity) BC of the battery Bt or a geometric center of the battery Bt may be disposed at the central vertical plane Po and may be disposed at the central horizontal line HL. The weight center BC of the battery Bt or the geometric center of the battery Bt may be disposed at the central vertical plane Po, may be disposed at a front side of the central horizontal line HL, and may be disposed at a rear side of the geometric center Tc of the
body 30. - The weight center of the battery Bt or the geometric center of the battery Bt may be disposed at a front side than the
water tank 81 or a weight center PC of thewater tank 81. The weight center BC of the battery Bt or the geometric center Tc of the battery Bt may be disposed at a rear side than a weight center (a center of gravity) SC of thesweep module 2000. - One battery Bt is disposed at a middle portion between the
left spin mop 41a and theright spin mop 41b and is disposed at the central horizontal line HL and the central vertical plane Po. The battery Bt that is heavy holds centers during rotation of the spin mops 41 and provides weight on thespin mop 41, thereby improving friction force by thespin mop 41. - A height of the battery Bt (a height of a lower end of the battery Bt) may be the same as heights of the left-
mop motor 61a and the right-mop motor 61b (heights of lower ends of the left-mop motor 61a and the right-mop motor 61b). Alternatively, the battery Bt may be disposed on the same plane as the left-mop motor 61a and the right-mop motor 61b. The battery Bt may be disposed between the left-mop motor 61a and the right-mop motor 61b. The battery Bt may be disposed at an empty space between the left-mop motor 61a and the right-mop motor 61b. - At least a part of the
water tank 81 may be disposed on theleft spin mop 41a and theright spin mop 41b (at upper sides of theleft spin mob 41a and theright spin mop 41b). Thewater tank 81 may be disposed at a rear side than the central horizontal line HL and may be vertically overlapped with the central vertical plane Po. - More specifically, a weight center (a center of gravity) PC of the
water tank 81 or a geometric center of thewater tank 81 may be disposed at the central vertical plane Po and may be positioned at a front side than the central horizontal line HL. As another example, the weight center PC of thewater tank 81 or the geometric center of thewater tank 81 may be disposed at the central vertical plane Po and may be positioned at a rear side than the central horizontal line HL. In this instance, the phrase that the weight center PC of thewater tank 81 or the geometric center of thewater tank 81 is disposed at the rear side than the central horizontal line HL may mean that weight center PC of thewater tank 81 or the geometric center of thewater tank 81 is vertically overlapped with a region deviated rearward from the central horizontal line HL. The weight center PC of thewater tank 81 or the geometric center of thewater tank 81 may be vertically overlapped with thebody 30 without going beyond thebody 30. - The weight center PC of the
water tank 81 or the geometric center of thewater tank 81 may be disposed at a rear side than the weight center BC of the battery Bt. The weight center of thewater tank 81 PC or the geometric center of thewater tank 81 may be disposed at a rear side than the weight center SC of thesweep module 2000. - A height of the water tank 81 (a height of a lower end of the water tank 81) may be the same as heights of the left-
mop motor 61a and the right-mop motor 61b (heights of lower ends of the left-mop motor 61a and the right-mop motor 61b). Alternatively, thewater tank 81 may be disposed on the same plane as the left-mop motor 61a and the right-mop motor 61b. Thewater tank 81 may be disposed at an empty space between the left-mop motor 61a and the right-mop motor 61b. - The
sweep module 2000 may be disposed at a front side than the spin mops 41, the battery Bt, thewater tank 81, themop driving unit 60, the right-mop motor 61b, and the left-mop motor 61a at the body. - The weight center SC of the
sweep module 2000 or a geometric center of thesweep module 2000 may be disposed at the central vertical plane Po and may be disposed at a front side than the geometric center Tc of thebody 30. When viewed from an upper side, thebody 30 may have a circular shape and the base 32 may have a circular shape. The geometrical center Tc of thebody 30 may means a center of thebody 30 when thebody 30 has the circular shape. Specifically, when viewed from an upper side, thebody 30 may have a circular shape with a half-diameter error of less than 3%. - Specifically, the weight center SC of the
sweep module 2000 or the geometric center of thesweep module 2000 may be disposed at the central vertical plane Po, and may be disposed at a front side than the weight center BC of the battery Bt, the weight center PC of thewater tank 81, the weight center MCa of the left-mop motor 61a, the weight center MCb of the right-mop motor 61b, and the weight center WC of the mobile robot. - Preferably, the weight center SC of the
sweep module 2000 or the geometric center of thesweep module 2000 may be disposed at a front side than the central horizontal line HL and a front end of the spin mops 41. - The
sweep module 2000 may include adust housing 2100 having astorage space 2104, anagitator 2200, and asweep motor 2330 as described above. - The
agitator 2200 may be rotatably installed on thedust housing 2100 and may be disposed at a rear side than thestorage space 2104. Therefore, theagitator 2200 may have an appropriate length to cover the left and right spin mops 41a and 41b and not to protrude to an outside of the body. - A rotation axis of the
agitator 2200 may be parallel to the central horizontal line HL, and a center of theagitator 2200 may be positioned at the imaginary central vertical plane Po. Therefore, a large foreign material flowing into the spin mops 41 can be effectively removed by theagitator 2200. The rotation axis of theagitator 2200 may be disposed at a front side of the geometric center Tc of thebody 30. A length of theagitator 2200 may be preferably longer than a distance between the left spin rotation axis Osa and the right spin rotation axis Osb. The rotation axis of theagitator 2200 may be disposed to be adjacent to a front end of thespin mop 41. - A
left caster 58a and aright caster 58b being in contact with the floor may be further provided at both ends of thedust housing 2100. Theleft caster 58a and theright caster 58b are rolled while being in contact with the floor and may move up and down by elastic force. Theleft caster 58a and theright caster 58b may support thesweep module 2000 and a part of the body. Theleft caster 58a and theright caster 58b may protrude from a lower end of thedust housing 2100 to a lower side. - The
left caster 58a and theright caster 58b are disposed at a line parallel to the central horizontal line HL, and may be disposed at a front side than the central horizontal line HL and theagitator 2200. An imaginary line connecting theleft caster 58a and theright caster 58b may be disposed at a front side than the central horizontal line HL, theagitator 2200, and the geometric center Tc of thebody 30. Theleft caster 58a and theright caster 58b may be bisymmetrical to each other with respect to the central vertical plane Po. Theleft caster 58a and theright caster 58b may be spaced apart at the same distance from the central vertical plane Po. - The geometric center Tc of the
body 30, the weight center WC of the mobile robot, the weight center SC of thesweep module 2000, and the weight center BC of the battery Bt may be disposed in an imaginary quadrangle formed by sequentially connecting theleft caster 58a, theright caster 58b, the right spin rotation axis Osb, and the left spin rotation axis Osa. The battery Bt, which is relatively heavy, the left spin rotation axis Osa, and the right spin rotation axis Osb may be disposed to be adjacent to the central horizontal line HL. Then, a main load of the mobile robot may be applied to the spin mops 41 and a remaining sub-load may be theleft caster 58a and theright caster 58b. - The
sweep motor 2330 may disposed at the central vertical plane Po. When thesweep motor 2330 is disposed at one side based on the central vertical plane Po, thepump 85 is disposed at the other side based on the central vertical plane Po (refer toFIG. 19 ) so that a sum weight center of thesweep motor 2330 and thepump 85 may be disposed on the central vertical plane Po. - Therefore, the weight center of the mobile robot at a relatively front side is maintained regardless of the water level of the
water tank 81 disposed at a rear side, thereby increasing friction force by thespin mop 41. Also, the weight center WC of the mobile robot is disposed to be adjacent to the geometric center Tc of thebody 30 and thus stable driving can be achieved. - A weight center (a center of gravity) COC of a controller Co or a geometric center of the controller Co may be disposed at a front side than the geometric center Tc of the
body 30 and the central horizontal line HL. At least a 50% or more portion of the controller Co may be vertically overlapped with thesweep module 2000. - The weight center WC of the mobile robot may be disposed at the central vertical plane Po, may be disposed at a front side than the central horizontal line HL, may be disposed at a front side than the weight center BC of the battery Bt, and may be disposed at a front side than the weight center PC of the
water tank 81, may be disposed at a rear side than the weight center SC of thesweep module 2000, and may be disposed at a rear side than theleft caster 58a and theright caster 58b. - By disposing components or elements symmetrically with respect to the central vertical plane Po or considering weights of the components or elements, the weight center WC of the mobile robot is disposed at the central vertical plane Po. Accordingly, stability in a left-right direction can be improved.
- A ratio of an area where the
left spin mop 41a or theright spin mop 41b is vertically overlapped with thebody 30 may be preferably 85% to 95% of each spin mop. Specifically, an angle A11 between a line L11 connecting a right end of theright spin mop 41b and a vertical line VL parallel to the central vertical plane Po at the right end of the body may be 0 to 5 degrees. - A length of a portion of each
spin mop 41 exposed to an outside of the body may be preferably 1/7 to 1/2 of a radius of eachspin mop 41. The length of the portion of eachspin mop 41 exposed to the outside of the body may mean a distance from one end of eachspin mop 41 exposed to the outside of the body to an end of the body in a radial axis. - A distance between a geometric center TC and one end of the portion of each
spin mop 41 exposed to the outside of the body may be greater than an average radius of the body. - Considering a relationship with a sweep module, a portion of each spin mop exposed to the outside may be located between a lateral side of the
body 30 and a rear side of thebody 30. That is, quadrants are sequentially positioned in a clockwise direction when viewed from a lower side of the body, the portion of each spin mop exposed to the outside may be a 2/4 quadrant or a 3/4 quadrant of thebody 30.
Claims (22)
- A mobile robot comprising:a mop module including a left rotating plate to which a mop is attached to a bottom surface and a right rotating plate to which the mop is attached to the bottom surface;a base on which the mop module is installed;a case disposed to cover at least an upper portion and a part of a side of the base; anda plurality of push supporters supporting the case spaced apart from the base,wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- The mobile robot of claim 1, wherein one end of each push supporter is connected to the base and the other end of each push supporter is connected to the case.
- The mobile robot of claim 1, wherein one end of each push supporter is connected to the base, and some areas of the case are supported at the other end of each push supporter.
- The mobile robot of claim 1, wherein the base includes a supporter groove into which one end of the push supporter is inserted.
- The mobile robot of claim 4, wherein the supporter groove is opened upward.
- The mobile robot of claim 1, wherein a corresponding support portion is formed on a side of the case, has a thickness greater than that of other portions of the side of the case, and provides a space where the other end of the push supporter is located.
- The mobile robot of claim 1, wherein the plurality of push supporters are disposed on a virtual circle centered on a center of the base, and the separation distances between the push supporters are the same.
- The mobile robot of claim 1, wherein the push supporter includes a leaf spring.
- The mobile robot of claim 1, wherein the push supporter includes,a connecting plate connected to the base;a support plate supporting the case; andan elastic plate having one end connected to the connecting plate and the other end connected to the support plate to provide elastic force.
- The mobile robot of claim 9, wherein the elastic plate is convex upward.
- The mobile robot of claim 9, wherein the elastic plate includes,a first portion of which one end is connected to the connecting plate;a second portion of which one end is connected to the support plate; anda third portion connecting the other end of the first portion and the other end of the second portion, andwherein the other end of the first portion is positioned higher than one end of the first portion, and the other end of the second portion is positioned higher than one end of the second portion.
- The mobile robot of claim 11, wherein a slope of the first portion is constant or increases in one direction.
- The mobile robot of claim 11, wherein a slope of the second portion is constant or increases in one direction.
- The mobile robot of claim 11, wherein the third portion has an inflection point.
- The mobile robot of claim 11, wherein the second portion is inclined with a side of the case.
- The mobile robot of claim 9, wherein the virtual line connecting the connecting plate and the support plate meets the center of the base.
- The mobile robot of claim 9, wherein the width of the connecting plate is larger than the elastic plate.
- The mobile robot of claim 6, wherein the corresponding support portion is a shape in which a part of the side of the case is recessed, or a part of the side of the case is protruded.
- The mobile robot of claim 1, further comprising
a collection module having a collection part disposed at a position spaced forward from the mop module and forming a collection space for storing foreign matter, a sweeping part rotating to introduce the foreign matter into the collection space, and a sweeping motor providing a driving force to the sweeping part. - A mobile robot comprisesa power device providing power required for cleaning;a base on which the power device is installed;a case disposed to cover at least an upper portion and a part of side of the base; anda plurality of push supporters supporting the case spaced apart from the base,wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
- The mobile robot of claim 20, wherein the power device includes a motor that provides power to a agitator; and
at least one of a mop motor that provides power to a rotating plate. - A mobile robot comprisesa base on which a moving means is installed;a case disposed to cover at least an upper portion and a part of side of the base; anda plurality of push supporters supporting the case spaced apart from the base,wherein each push supporter provides the case with an elastic restoring force at least in the upper direction of the base and the outer direction of the base.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR20190093477 | 2019-07-31 | ||
KR20190093483 | 2019-07-31 | ||
KR1020200009476A KR20210015605A (en) | 2019-07-31 | 2020-01-23 | Cleaner |
PCT/KR2020/001348 WO2021020675A1 (en) | 2019-07-31 | 2020-01-29 | Mobile robot |
Publications (2)
Publication Number | Publication Date |
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EP4005751A1 true EP4005751A1 (en) | 2022-06-01 |
EP4005751A4 EP4005751A4 (en) | 2023-10-11 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20848058.2A Pending EP4005751A4 (en) | 2019-07-31 | 2020-01-29 | Mobile robot |
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EP (1) | EP4005751A4 (en) |
WO (1) | WO2021020675A1 (en) |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2004202834B2 (en) * | 2003-07-24 | 2006-02-23 | Samsung Gwangju Electronics Co., Ltd. | Robot Cleaner |
JP2011060085A (en) * | 2009-09-11 | 2011-03-24 | Fujitsu Ltd | Mobile robot |
KR101915547B1 (en) * | 2017-01-02 | 2018-11-06 | 엘지전자 주식회사 | Lawn mower robot |
KR20180080658A (en) * | 2017-01-04 | 2018-07-12 | 엘지전자 주식회사 | Cleaning robot |
KR102085338B1 (en) * | 2017-07-14 | 2020-03-05 | 에브리봇 주식회사 | A robot cleaner and driving control method thereof |
KR102014141B1 (en) * | 2017-08-07 | 2019-10-21 | 엘지전자 주식회사 | Robot Cleaner |
KR102021827B1 (en) * | 2018-01-19 | 2019-09-17 | 엘지전자 주식회사 | Cleaner |
-
2020
- 2020-01-29 EP EP20848058.2A patent/EP4005751A4/en active Pending
- 2020-01-29 WO PCT/KR2020/001348 patent/WO2021020675A1/en unknown
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Publication number | Publication date |
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EP4005751A4 (en) | 2023-10-11 |
WO2021020675A1 (en) | 2021-02-04 |
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