KR101208979B1 - Separable robot cleaner - Google Patents

Abstract

The present invention relates to a removable robot cleaner, a sensor module for detecting an obstacle, a control module for providing driving information by calculating obstacle information detected from the sensor module, and a driving for driving a cleaning area by driving information of the control module. A main body having a module; A handy vacuum cleaner detachably installed in the main body, the cleaning module for sucking dust in a cleaning area and a battery module for supplying power to each module; And a handy cleaner installed in the handy cleaner, the handle being embedded in the handy vacuum cleaner in conjunction with mounting the handy vacuum cleaner in the main body, the handle being protruding from the handy vacuum cleaner in conjunction with detaching the handy vacuum cleaner from the main body. Including a separating unit, it is possible to prevent the handle from interfering with external obstacles and to provide a detachable robot cleaner capable of minimizing a space for embedding the handle.

Detachable Robot Cleaner, Handy Cleaner, Handy Cleaner Separation Unit

Description

Detachable Robot Cleaner {SEPARABLE ROBOT CLEANER}

1 is a plan view briefly showing the internal structure of a detachable robot cleaner according to an embodiment of the present invention;

Figure 2 is a side view briefly showing the durable structure of the removable robot cleaner according to Figure 1,

Figure 3 is a side view briefly showing the structure of the handy cleaner according to Figure 1,

4 and 5 illustrate the fixing / detaching process of the handy cleaner according to an embodiment of the present invention,

Figure 4 is a view showing a state in which the handy cleaner is fixed to the main body according to an embodiment of the present invention,

5 is a view showing a state in which the handy vacuum cleaner is separated from the main body according to an embodiment of the present invention.

** Description of the symbols for the main parts of the drawings **

100: detachable robot cleaner 110: main body

111: hinge 111a, 111b: locking projection

113: hinge support spring 115: button

116: button spring 120: suction motor

130: fan 140: power battery

150: dust container 151: handle housing

153,192a: locking groove 160: suction head

170: connector 180: driving wheel

190: handle 191: gripper

192: handle on-off 194: handle support spring

195,196: Spring support jaw 200: Handy cleaner

210: Handy cleaner vacuum device detachable device 220: Handle on-off device

The present invention relates to a detachable robot cleaner, and more particularly, to a detachable robot cleaner having a handle that minimizes installation space and does not receive interference from external obstacles.

The robot cleaner detects the cleaning area and obstacles by using the sensor installed in the cleaner under the control of the controller, runs the cleaning area and cleans automatically, and the power of the battery provided inside the device When it is exhausted, it moves to the charging station which is separately provided at a predetermined position and charges it. After the charging is completed, the device returns to the original position where the cleaning was performed again.

The robot cleaner determines the distance to the obstacles such as furniture, office products, walls, etc. installed in the cleaning zone through the distance sensor, and accordingly selectively drives the left and right wheel motors of the robot cleaner to switch directions by itself. Clean it.

It also includes a handy cleaner or cordless cleaner that can be removed from the main unit for cleaning parts of the wall, corners, cloth-made sofas, beds, etc. that can't be cleaned by a typical robot cleaner. Removable robot cleaners are designed to attract attention.

On the other hand, the removable robot cleaner, the robot cleaner is located on the automatic charger is equipped with a handle for removing the handy vacuum cleaner from the main body or to carry the removable robot cleaner for cleaning during charging or storage.

However, since the handle of the conventional detachable robot cleaner is basically a structure that is easy to hold by hand, it is mounted on the upper part of the main body of the robot cleaner and protrudes to the outside. As a result, the robot cleaner protrudes when the robot cleaner cleans while driving autonomously. The handle may collide with a furniture chin such as under a sofa or under a bed, resulting in damage to furniture or malfunction of the robot cleaner.

In addition, when the handle is formed by digging the handle in the interior of the robot cleaner to prevent the above problems, the capacity of the dust bucket of the robot cleaner is reduced, which adversely affects the performance of the robot cleaner and improves the space efficiency of the internal parts. There was a problem falling.

In addition, the handle that can be grabbed by putting the hand on the surface of the robot cleaner requires a recessed space, there was also a problem that the beauty of the product worsens.

The present invention has been made to solve the problems of the prior art as described above, the object of the present invention is to provide a detachable robot cleaner that can install a handle using a minimum space.

In addition, another object of the present invention to provide a removable robot cleaner having a handle that can prevent the interference of external obstacles.

Still another object of the present invention is to provide a detachable robot cleaner having a handle that is simply operated in conjunction with the detachment of the handy vacuum cleaner.

The present invention provides a cleaning area by a sensor module for detecting an obstacle, a control module for providing driving information by calculating obstacle information detected from the sensor module, and driving information of the control module, in order to achieve the object as described above. A main body having a traveling module for traveling; A handy vacuum cleaner detachably installed in the main body, the cleaning module for sucking dust in a cleaning area and a battery module for supplying power to each module; And a handy cleaner installed in the handy cleaner, the handle being embedded in the handy vacuum cleaner in conjunction with mounting the handy vacuum cleaner in the main body, the handle being protruding from the handy vacuum cleaner in conjunction with detaching the handy vacuum cleaner from the main body. Provided is a detachable robot cleaner including a separation unit.

By configuring as described above, the handle can be installed using only a minimum space, and the handle can be prevented from colliding with or interfering with an external obstacle, thereby improving the reliability of the robot cleaner.

Here, the handy vacuum cleaner separating unit, a hinge having a locking projection for constraining the handy vacuum cleaner and the handle at the same time, a hinge shaft installed on the main body for mounting the hinge, the hinge to support the hinge about the hinge axis Handy cleaner mounting and detaching device having a hinge support spring installed between the hinge and the main body, a button installed in contact with the hinge to release the locking projection and a button spring for supporting the button, and at the same time the release of the hinge It is preferably configured to include a handle on-off device having a handle formed with a support spring for protruding the handle and a spring support jaw for supporting the support spring.

As a result, the handle may be embedded or protruded in conjunction with the detachment of the handy cleaner.

In addition, the locking projection is formed on one end of the hinge and the first locking projection to be engaged with the first locking groove formed in the handy cleaner for mounting the handy cleaner to the main body, and formed on the other end of the hinge and the handle And a second locking projection engaged with the second locking groove formed in the handle for embedding.

On the other hand, the support spring of the handle on-off device is composed of an upper support spring and a lower support spring, the elastic modulus of the lower support spring is preferably larger than the elastic modulus of the upper support spring. Thus, the handle may protrude by the restoring force of the lower support spring that was compressed when the handy cleaner is mounted.

In addition, one end of the button is in contact with the hinge is formed in a curved surface. This is to smooth the mutual movement of the button and the hinge.

On the other hand, the handy vacuum cleaner mounting and detaching device and the handle on-off device may comprise a toggle switch. The operation structure of the handle can be simplified by employing a structure such as a toggle switch used for a ballpoint pen in the handy vacuum cleaner detachable device and the handle on / off device.

The objects and features of this invention will become more apparent from the following detailed description. Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the configuration and operation according to an embodiment of the present invention.

However, in describing the present invention, a detailed description of a known function or a known configuration will be omitted to clarify the gist of the present invention.

1 is a plan view briefly illustrating an internal structure of a detachable robot cleaner according to an exemplary embodiment of the present invention, FIG. 2 is a side view briefly illustrating an endurance structure of the detachable robot cleaner according to FIG. 1, and FIG. The side view briefly showing the structure of the handy vacuum cleaner according to the present invention.

1 and 2, the detachable robot cleaner 100 according to an embodiment of the present invention has a main body 110 forming an appearance and a suction force provided to the inside of the main body 110 to suck air. In the suction motor 120 to be generated, the suction nozzle 160 provided in the lower portion of the main body 110 to suck the dust and the like by the driving of the suction motor 120, and the suction nozzle 160 It comprises a dust container 150 for collecting the foreign matter in the inhaled air.

In addition, the main body 110 is provided with a control module 119 for controlling the robot cleaner 100 to be automatically operated without a user's manipulation.

The main body 110 of the detachable robot cleaner 100 is formed in a cylindrical shape having a relatively low height compared to the diameter.

Referring to the configuration of the separate robot cleaner 100 in more detail, the suction motor 120 is installed in the inner front of the main body 110, the fan 130 is installed behind the suction motor 120. The fan 130 serves to force the flow of air.

In addition, a filter (not shown) for filtering foreign matter such as dust is installed at the rear of the fan 130. The air from which the foreign matter contained in the air introduced by the suction motor 120 is removed is discharged to the outside of the main body 110 through the fan 130.

The rear of the fan 130 is provided with a dust container 150 for collecting foreign matter such as dust collected. The dust container 150 is preferably installed on the upper side of the main body 110, the handle 190 is provided on the upper portion of the dust container 150.

One end of the connecting pipe 170 is connected to the rear of the dust container 150. The connecting pipe 170 has a shape that gradually decreases in width when viewed from above, and is formed to form a curved surface when viewed from the side.

The other end of the connection pipe 170 is connected to the suction head 160. The suction head 160 has an opening for sucking foreign substances such as dust, and sucks foreign substances such as dust by using suction force generated by the suction motor 120 and the fan 130.

A main brush 161 rotatably installed in the opening of the suction head 160 to sweep dust or dirt from the bottom, and a motor installed around the main brush 161 to drive the main brush 161 ( 162 is provided. Here, the main brush 161 and the motor 162 are interconnected by the belt 163.

A battery module 140 for charging and discharging is installed under the dust container 150 of the main body 10, and a charging terminal part (not shown) is provided on the rear side, and is connected to an automatic charger (not shown). In order to be able to charge the battery module 140 installed inside the main body 110.

The lower side of the main body 110 is driven by a wheel driving motor (not shown) and a pair of driving wheels 180 are disposed at both ends of the main brush 160 at regular intervals, the driving wheel The front and rear sides of the 180 may be provided with a plurality of auxiliary wheels (not shown) to support the main body 110 and to maintain the horizontal.

A bumper 118 is installed on the front side of the main body 110 to prevent collision with an external obstacle, and the bumper 118 is provided with a sensor (not shown) for collecting information on the external obstacle.

On the other hand, the configuration of the removable robot cleaner 100 as described above can be modularized, which includes a sensor module, a travel module, a control module, a cleaning module and a battery module.

First, the sensor module is composed of a bumper 118 for detecting obstacles and a sensor installed in the bumper 118. The driving module is a system that avoids obstacles detected by the sensor module and runs a cleaning section according to a predetermined pattern. It is configured to include the 180 and the wheel drive motor.

The control module 119 is a system for controlling the traveling module by calculating the obstacle information and the position information detected from the sensor module, and the cleaning module sucks dust using the floor suction and the main brush 161 and uses a dust container ( The system to collect 150 is configured to include a suction motor 120, a fan 130, a dust container 150, a connection pipe 170 and the suction head 160.

Finally, the battery module 140 is a system for distributing and controlling proper power so that the respective modules can be smoothly driven.

The sensor module and the control module are located in front of the main body 110, the driving module is located on the left and right of the main body 110, the battery module 140 is located below the main body 110, the cleaning module Silver is preferably located in the center of the body (110).

As shown in FIG. 3, when the cleaning module and the battery module 140 are separated from the main body 110, the handy cleaner 200 is configured.

As such, by separating the handy cleaner 200 from the main body 110 mechanically, it is not necessary to provide a separate cleaner for cleaning the area that the robot cleaner 100 cannot clean.

On the other hand, the cleaning module excluding the suction head 160 may be separated from the main body 110 to configure the handy cleaner 200.

In order to separate the handy vacuum cleaner 200, a handy vacuum cleaner mounting device 210 and a handle on-off device 220 are installed.

In addition, by installing an ultraviolet lamp (not shown) on the bottom surface of the handy cleaner 200 may be given a sterilization function.

4 is a view showing a state in which the handy cleaner according to an embodiment of the present invention is fixed to the main body, Figure 5 is a view showing a state in which the handy cleaner according to an embodiment of the present invention is separated from the main body.

As shown in FIG. 4 and FIG. 5, the handy vacuum cleaner 200 is separated from the main body 110 or the robot cleaner 100 is moved on the dust container 150 of the cleaning module constituting the handy vacuum cleaner 200. Handle 190 is installed.

The handle 190 is composed of a grip portion 191 that the user can hold by hand, and a handle-on-off portion 192 formed by bending from the grip portion 190. Here, the gripping portion 190 is accommodated in the handle accommodating portion 151 formed in the upper surface of the dust container 150.

On the other hand, the handle on-off part 192 is formed to penetrate the inside of the dust container 150 and is installed to perform a linear movement in the handle mounting hole 152 formed to be connected to the handle accommodating part 151.

The handle-on-off part 192 has a cylindrical shape, and a first spring support jaw 195 and a second spring support jaw 196 protruding in a disk shape are formed in a middle portion thereof. Here, it is preferable that the lower end of the handle on-off part 192 extends to the side.

Handle support springs 193 and 194 for supporting a linear movement of the handle on-off part 192 are installed at upper and lower portions of the spring support jaws 195 and 196.

Here, the handle support springs 193 and 194 are divided into an upper support spring 193 installed at an upper portion and a lower support spring 194 installed at a lower portion thereof.

The lower end of the upper support spring 193 is supported by the first spring support jaw 195, and the upper end of the upper support spring 193 is formed by the upper flange 152a formed at the upper end of the handle mounting hole 152. Supported. Here, the upper flange 152a is preferably protruded to have an inner diameter smaller than the inner diameter of the handle mounting hole 152.

In addition, an upper end of the lower support spring 194 is supported by the second spring support jaw 196, and a lower end of the lower support spring 194 is provided at the lower flange 152b formed at the lower end of the handle mounting hole 152. Is supported by. Here, the shape of the lower flange 152b is preferably the same as the shape of the upper flange 152a.

On the other hand, it is effective that the elastic modulus of the upper support spring 193 is smaller than the elastic modulus of the lower support spring 194. Because, if the elastic modulus of the upper support spring 193 is greater than the elastic modulus of the lower support spring 194, even if the handy cleaner 200 is separated from the main body 110, the handle 190 is the outside of the handle accommodating part 151 Because it does not protrude.

The handle includes an upper support spring 193 and a lower support spring 194, a handle on-off part 192 formed with a first spring support jaw 195 and a second spring support jaw 196 for supporting the upper support spring 193 and the lower support spring 194. On-off device 220 is configured.

The handle 190 is interlocked with the handy cleaner demounting device 210 for separating the handy cleaner 200 from the main body 110 or embedded in the outside.

The hand-held vacuum cleaner of the hand-held cleaner 210, the first locking groove 153 formed on one surface of the dust container 150, the second locking groove 192a formed on the lower surface of the handle on-off part 192 and The hinge 111 having the first locking protrusion 111a and the second locking protrusion 111b respectively seated in the first locking groove 153 and the second locking groove 192a, and the hinge 111. A hinge shaft 112 for supporting rotation, a hinge support spring 113 installed between the hinge 111 and a lower portion of the main body 110 of the robot cleaner 100, and the main body to press the hinge 111. It is configured to include a button 115 installed in 110.

Preferably, the hinge 111 has a “c” shape, and the first locking protrusion 111a and the second locking protrusion 111b are formed at both ends thereof.

The hinge 111 is coupled to the hinge shaft 112 installed in the main body 110 to make a pivoting movement around the hinge shaft 112, and the pivoting movement is performed by the hinge 111 and the main body of the robot cleaner 100. It is made by the compression and restoration of the hinge support spring 113 installed between the lower (110).

The hinge support spring 113 is installed on either side of the hinge shaft 112, in the case of installing a hinge support spring 113 between the second locking projection (111b) and the hinge shaft 112, the tension spring It is effective to use, and in the case of installing the hinge support spring 113 on the opposite side it is effective to use a compression spring.

The first catching protrusion 111a is engaged with the first catching groove 153 formed in the dust container 150 to fix the dust container 150 or the handy cleaner 200 to the main body 110.

In addition, when the handy cleaner 200 is coupled to the main body 110, the second locking protrusion 111b is engaged with the second locking groove 192a formed in the handle on / off part 192 of the handle 190. 190 serves to be embedded or accommodated in the handle accommodation portion (151).

On the upper portion of the hinge 111 on which the first catching protrusion 111a is formed, a button 115 for forcing the pivoting movement of the hinge 111 is formed in the main body 110. That is, when the user presses the button 115, the hinge 111 is pivoted by the hinge spring 113 about the hinge axis 112. Here, the button 115 is installed spaced apart from the vertical axis of the hinge shaft 112, it is preferable to be installed on one side of the dust container 150 to prevent interference with the dust container 150.

One end of the button 115 is exposed outside the main body 110 of the robot cleaner 100, and the other end is located inside the main body 110 to contact the hinge 111 near the first locking protrusion 111a. do.

Here, the end portion of the button 115 in contact with the hinge 111 is effectively formed as a curved portion. This is for turning the hinge 111 while the hinge 111 is gently pressed downward when the user presses the button 115.

That is, if the end of the button 115 in contact with the hinge 111 is not a curved portion, the hinge 111 is not pressed smoothly due to the friction between the hinge 111 and the button 115.

On the other hand, since the button 115 must be returned to its original state after being pressed, it is preferable that the button spring 116 is installed in the button 115 for this purpose.

The button spring 116 is to be fixed at a certain position. For this purpose, flanges 117a and 117b extending inwardly are formed at the top and bottom of the button insertion hole 117 into which the button 115 is inserted. The spring support 115a is formed in the 115. The button spring 116 is installed between the flange 117b and the spring support 115a to support the button 115.

Here, the handy vacuum cleaner mounting and detaching device and the handle on / off device may be configured as a toggle switch.

Hereinafter, the operation of the detachable robot cleaner according to the exemplary embodiment of the present invention will be described with reference to FIGS. 4 and 5.

First, in order to carry the detachable robot cleaner 100 or to separate the handy cleaner 200 from the main body 110 of the robot cleaner 100, the user presses the button 115 protruding from the main body 110. In the direction of "

When the user presses the button 115, one end of the button 115 formed as a curved portion presses the upper portion of the hinge 111 on which the first catching protrusion 111a is formed, and thus the entire hinge 111 is hinged ( 112, the turning motion as shown by the arrow "B".

As a result, the first locking protrusion 111a and the second locking protrusion 111b are separated from the first locking groove 153 and the second locking groove 192a, respectively.

At this time, the grip portion 191 of the handle 190 protrudes from the handle accommodating portion 151 of the main body 110 by the elastic force of the upper support spring 193 and the lower support spring 194 to allow the user to handle the handle ( 190) can be held. Therefore, the user may hold the grip portion 191 of the handle 190 to separate the handy cleaner 200 in the direction of the arrow "C".

Since the elastic modulus of the compressed lower support spring 194 is greater than the elastic modulus of the tensioned upper support spring 193, the handle-on-off portion 192 is released and the elasticity of the lower support spring 194 is released. The handle 190 is projected to the outside by the restoring force.

That is, if the user only presses the button 115 to separate the handy cleaner 200 from the main body 110, the handle 190 protrudes to the outside in conjunction with the detachment of the handy cleaner 200 without a separate operation.

When the handy vacuum cleaner 200 is coupled to the main body 110 to charge or store the detachable robot cleaner 100, the user presses the handle 190 while coupling the handy vacuum cleaner 200 to the main body 110. You can give it.

When the user presses the handy cleaner 200 or the handle 190 with respect to the main body 110 of the detachable robot cleaner 100, the first catching protrusion 111a and the second catching protrusion 111b each have a first catching groove. The handheld cleaner 200 is fixed to the main body 110 and the handle 190 is embedded in the handle accommodating part 151.

As such, the handle 190 is embedded in the handle accommodating part 151 and does not protrude to the outside in conjunction with the coupling of the handy cleaner 200 to the main body 110. The handle 190 does not hit the obstacle.

In the above description of the preferred embodiment of the present invention by way of example, the scope of the present invention is not limited only to this specific embodiment, it can be appropriately changed within the scope described in the claims.

As described above, the present invention, first, minimizes the space for accommodating the handle so that the dust box is not reduced to reduce the inconvenience of frequently emptying the dust box and can be used for a long time.

Secondly, the present invention does not cause malfunctions due to collision or interference with external obstacles because the handles do not protrude to the outside by accommodating or embedding the handles in the handy cleaner or the dust container.

Third, the present invention can facilitate the user's convenience by interlocking the operation of the handle-on-off part with the mounting device of the handy vacuum cleaner.

Claims (6)

A main body including a sensor module for detecting an obstacle, a control module for calculating driving information detected by the sensor module and providing driving information, and a driving module for driving the cleaning area based on driving information of the control module; A handy vacuum cleaner detachably installed in the main body, the cleaning module for sucking dust in a cleaning area and a battery module for supplying power to each module; And A handy vacuum cleaner installed in the handy vacuum cleaner, the handy vacuum cleaner having a handle which is embedded in the handy vacuum cleaner in conjunction with mounting the handy vacuum cleaner in the main body, and which has a handle protruding from the handy vacuum cleaner in connection with detaching the handy vacuum cleaner from the main body Detachable robot cleaner comprising a unit. The method of claim 1, The handy vacuum cleaner separation unit, A hinge having a locking projection for simultaneously restraining the handy cleaner and the handle, a hinge shaft installed on the main body for mounting the hinge, and a hinge support provided between the hinge and the main body to support the hinge about the hinge axis. Handy cleaner mounting and detachment device having a spring, a button installed in contact with the hinge to release the locking projection and a button spring for supporting the button, And a handle on / off device having a handle formed with a spring support jaw for supporting the support spring and a support spring for protruding the handle simultaneously with the release of the hinge. The method of claim 2, The locking projection is formed on one end of the hinge and the first locking projection to be engaged with the first locking groove formed in the handy cleaner for mounting the handy cleaner on the main body, And a second catching protrusion formed at the other end of the hinge and engaged with a second catching groove formed in the handle to bury the handle. The method according to claim 2 or 3, The support spring of the handle-on-off device is composed of an upper support spring and a lower support spring, wherein the elastic modulus of the lower support spring is larger than the elastic modulus of the upper support spring. The method of claim 2, The button is a detachable robot cleaner, characterized in that one end in contact with the hinge is formed in a curved surface. The method of claim 2, The hand-held vacuum cleaner loading and detaching device and the handle on-off device is a removable robot cleaner, characterized in that it comprises a toggle switch.

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