KR101750725B1 - Robotic vaccum cleaner with water jet module - Google Patents

Abstract

The present invention relates to a robot cleaner provided with a liquid cleaning module. In the present invention, liquid is continuously supplied to a floor surface, foreign matter such as dust attached to the floor surface is attached using a liquid, There is provided a robot cleaner provided with a liquid cleaning module having a contaminated water container for recovering contaminated liquid by using energy and centrifugal force.
The robot cleaner equipped with the liquid cleaning module according to the present invention is installed in a direction perpendicular to the bottom surface of the rotating body of the rotating body to be cleaned (in the direction of the plane vector of the bottom face) so that the soiled water after the floor cleaning can be easily recovered .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner having a liquid cleaning module,

The present invention relates to a robot cleaner provided with a liquid cleaning module, and more particularly, to a robot cleaner having a liquid cleaner module, and more particularly, to a robot cleaner having a function of removing dust by a vacuum suction method of a robot cleaner, The present invention relates to a robot cleaner provided with a liquid cleaning module for recovering a liquid.

The robot cleaner is a device for automatically cleaning the area to be cleaned by suctioning foreign matter such as dust from the surface to be cleaned while traveling by itself in the area to be cleaned without user's operation.

The robot cleaner includes a robot body, a suction unit, a suction port, a sensor unit, a control unit, and a battery. On both sides of the robot body, a plurality of drive wheels for running are provided. The robot main body has a substantially disk shape, and a substantially cylindrical cover is provided on the robot main body. The suction unit is configured to collect dust on the floor by generating a strong suction force on the suction port formed in the robot body and comprises a vacuum motor and a dust collecting chamber for collecting dust sucked through the suction port by driving the vacuum motor .

The suction port is provided at one side of the lower surface of the robot main body so as to communicate with the suction port, and a rotatable brush for shaking the dust on the floor is installed inside. The sensor unit is arranged at a predetermined interval around the side surface of the robot body so as to transmit signals to the outside and receive the reflected signals. The sensor unit includes an obstacle detection sensor and a travel distance detection sensor. The control unit processes the signals received through the transmit / receive unit, and controls the respective components. That is, the control unit receives a signal from an external control device or a remote controller to drive the driving wheel, drives the vibration motor of the suction unit, and controls the traveling of the robot cleaner with a signal received from the sensor unit.

The robot cleaner as described above determines the distance to an obstacle such as a mechanism installed in the cleaning area, office supplies, wall, etc., through the sensor unit, and selectively drives the driving wheel of the robot body. Thus, Clean.

However, although such a robot cleaner has some effect in removing dust scattered on the surface to be cleaned, it has a drawback in that it can not exert a great effect in removing foreign substances stuck to the surface to be cleaned, stains, and the like. In such a case, it is necessary to remove the dust accumulated on the floor of the room or the living room with the robot cleaner, and then use a separate rag to wipe the cleaning surface directly to remove any remaining foreign substances or stains. Therefore, it takes a long time to clean, and the user needs to take a separate effort to clean the mop on the surface to be cleaned.

In order to solve such a problem of separately cleaning the wet-cloth, a wet-cloth-attached robot cleaner has been proposed. The following Patent Document 1 (Korean Patent Laid-Open No. 10-2005-0012047) proposes a structure for attaching a rotating wet-cloth to the lower end of the robot cleaner to simultaneously perform wet-cloth cleaning and vacuum cleaning. The structure shown in Patent Document 1 has a structure in which a wet-cloth attached to the lower end rotates, and since it is difficult to apply sufficient force to the wet-cloth, it is difficult to clean cleanly. In addition, while vacuum suction can be used for a long time, the wet- It was inconvenient to use it in a robot cleaner.

Patent Document 1: Korean Patent Laid-Open No. 10-2005-0012047 (published on Jan. 31, 2005)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a liquid cleaning module suitable for a robot cleaner. It is another object of the present invention to provide a robot cleaner capable of cleaning liquid while consuming less power and cleaning the liquid that has been treated so as not to be sucked into a module for vacuuming water sprayed on the floor.

The above object of the present invention is achieved by a robot cleaner having a liquid cleaning module for performing vacuum cleaning with a suction force of a vacuum motor and cleaning the bottom surface while rotating the rotary body while supplying the liquid at the same time as vacuum cleaning, A plurality of sensors, a driving wheel provided on each of left and right sides of the bottom surface, a driving module for transmitting driving force to each of the driving wheels, a rotating motor having a rotating motor shaft, A rotating shaft provided in a direction perpendicular to the bottom surface (direction of a surface vector of the bottom surface), a rotating body coupled to the rotating shaft for rotating the bottom while rotating about a plane vector direction of the bottom surface, A raw water reservoir for storing a clean liquid and a pollutant reservoir for recovering the cleaned liquid which is separated by the centrifugal force generated when the rotator rotates The lower surface of the rotating body has a contact surface to be brought into close contact with the bottom surface during rotation, and a liquid guide surface formed so as to be continuous with the contact surface and inclined so that the bottom surface and the lower surface of the rotating body gradually become farther away from the vertical center axis A first side wall formed to have a predetermined height upward along the outer edge of the support housing; a water tank housing placed on the first side wall; The water tank housing and the first sidewall are provided with a supply hose for supplying the liquid filled in the raw water tank to the rotating body, And a first pump for pumping the liquid filled in the water reservoir to the supply hose, wherein a rotating hole for exposing the rotating body, And a vacuum flow path formed on the outer side of the liquid storage tank for providing a path for the vacuum suction air formed by the vacuum motor. Can be achieved by a robot cleaner provided with a cleaning module.

The robot cleaner equipped with the liquid cleaning module according to the present invention continuously supplies clean liquid to the friction surface and simultaneously circulates the liquid containing the pollutant that has been cleaned by using the surface energy generated by the rotational force of the rotating body and centrifugal force To be recalled. Therefore, in the conventional robot cleaner using the wet-cloth, it is required to wash the wet-cloth periodically. However, when the robot cleaner according to the present invention is used, the trouble of washing the wet-cloth can be substantially eliminated.

Further, in order to forcibly suck or remove water that is likely to remain on the floor surface, a separate device such as a vacuum device for providing a strong suction force is required. However, the robot cleaner equipped with the liquid cleaning module according to the present invention, The cleaned liquid can be efficiently recovered, the structure of the vacuum cleaner can be simplified, and a vacuum device for generating a loud noise can be omitted. Therefore, there is an advantage that no noise is generated to cause inconvenience to the user even in operation.

The robot cleaner provided with the liquid cleaning module according to the present invention is characterized in that the lower housing has a rotatable hole for exposing the rotatable body downward and has a barrel formed at a predetermined height in an upward direction along the circumference of the rotatable body, The present invention provides a design structure capable of sufficiently recovering the contaminated liquid even if the liquid is raised to the height of the bar without raising the liquid to the upper surface of the rotating body. Thus, the rotation speed of the rotating body can be kept low so that the electricity consumption can be reduced, The effect can be obtained.

1 is an exploded perspective view of a liquid cleaning module provided in a robot cleaner provided with a liquid cleaning module according to the present invention.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a liquid cleaning module, and more particularly,
FIG. 3 is a sectional view showing a state in which a part is cut away in the direction AA 'in FIG. 2;
FIG. 4 is a cross-sectional view of a part of the robot cleaner provided with the liquid cleaning module according to the present invention.
5 is a bottom view of a robot cleaner provided with a liquid cleaning module according to the present invention in which an air inlet is formed.
Fig. 6 is a cross-sectional view of an intake port in Fig. 4; Fig.
FIG. 7 is a sectional view of a rotating body of a rotatable floor cleaner according to the present invention. FIG.
FIG. 8 is a sectional view of a rotary body of a liquid-induced floor cleaner according to the present invention, showing a shape of a rotating body to which an intermediate recovery path is added. FIG.
Fig. 9 is an explanatory view for explaining the principle of movement of water droplets in the rotating body of the liquid-guiding floor cleaner according to the present invention; Fig.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It is to be understood that the present invention is not intended to be limited to the specific embodiments but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner provided with a liquid cleaning module provided with a liquid cleaning module as it is provided in a conventional robot cleaner performing vacuum cleaning. Therefore, the configuration of the conventional robot cleaner for performing the vacuum cleaning needs to be equally provided although the installation position and structure need to be changed.

For example, in a robot cleaner provided with a liquid cleaning module according to the present invention, a conventional robot cleaner that performs vacuum cleaning includes a suction unit, an inlet, a sensor, a controller, a battery, a plurality of drive wheels, Sensor, an odometer detection sensor, a camera, a control unit, and a wireless transmission / reception unit. In particular, the driving wheels provided on the left and right of the driving wheels provided in the robot cleaner are provided with driving modules each including a separate driving motor and gears, and the control unit adjusts the rotational force of each of the driving motors, It becomes possible to move while adjusting. Since the structure of the conventional robot cleaner for performing the vacuum cleaning is well known, a detailed description thereof will be omitted. In the present invention, the liquid cleaning module will be described in detail.

FIG. 1 is an exploded perspective view of a liquid cleaning module provided in a robot cleaner provided with a liquid cleaning module according to the present invention, FIG. 2 is an assembled perspective view, and FIG. 3 is a sectional view taken along the line A-A 'of FIG. The liquid cleaning module constituting the robot cleaner according to the present invention includes a raw water reservoir 41, a recovery reservoir 51, a first pump 45a, a second pump 45b, a water tank support housing 350, A first supply hose 43a, a second supply hose 43b, a recovery hose 29a, a first pulley 71a, a first belt 103a, a second belt 103b, a circular gear The lower housing 230, the second side wall 480 and the moving wheels 490a and 490b, as shown in FIG.

A raw water tank 41 and a contaminated water tank 51 are provided on the upper part of the water tank housing 350 and a first pump 45a and a second pump 45a are provided in the space between the raw water tank 41 and the contaminated water tank 51, 45b, and the rotation shaft of the motor 55 is exposed through the first through-hole formed at the center. The clean water for cleaning is stored in the raw water reservoir 41. The liquid stored in the raw water reservoir 41 is pumped by using the first pump 45a and then supplied through the first supply hose 43a to the respective rotors 50 To the center of rotation. The cleaned water is pumped by the second pump 45b through the recovery hose 29a and is recovered to the contamination water tank 51. [

A part of the space between the water tank housing 350 and the support housing 30b is provided with a first supply hose 43a, a second supply hose 43b, a recovery hose 29a, Respectively. The support housing 30b is provided with a plurality of second through holes 431, and each of the second through holes 431 has an annular bearing 21a inserted therein. A circular gear 20a is installed on the rotary shaft 10a so as to protrude above the support housing 30b and the first pulley 71a is connected to the selected one circular gear through the first belt 103a, And the first belt 20a is connected using the second belt 103b. A plurality of rotating holes 471 are provided in the lower housing 480. A barrier 35 is provided on the circumferential surface of each of the rotating holes 471. A plurality of rotating holes 471 are provided in the plurality of rotating holes 471 The entire body 50 is installed such that a part of the bottom surface is exposed downward.

The manner in which the rotational force of the motor is transmitted to the rotating body will be described. The rotating shaft of the motor 55 is provided with a first pulley 71a and the first pulley 71a is connected to the one circular gear 20a through the first belt 103a. Each of the circular gears 20a fitted to the upper end of the rotary shaft 10a of the rotating body 50 is interconnected via the second belt 103b. Therefore, the rotational force of the motor is transmitted to all the rotors 50 through the first pulley 71a, the first belt 103a, the second belt 103b, and the circular gear 20a.

FIG. 4 is a cross-sectional view of a part of the robot cleaner provided with the liquid cleaning module according to the present invention. A rotating shaft (10a) formed by a hollow hollow portion lying in the center of the rotating body (50) is inserted to be inserted. An annular bearing 21a is inserted into the second through hole of the support housing 30b and the rotary shaft 10a is installed so as to be interposed in the inner diameter of the annular bearing 21a. A circular gear 20a is installed on the rotating shaft 10a exposed above the support housing 30b. The liquid filled in the raw water reservoir is pumped by using the first pump and then supplied to the upper end of the hollow portion provided in each rotary shaft 10a through the first supply hose 43a. The liquid supplied to the rotating shaft 10a is exposed to the bottom along the hollow portion. The liquid supplied to the bottom surface of the rotating body 50 is combined with the foreign matter adhered to the bottom surface, then moved upwardly by the centrifugal force along the side surface of the rotating body, and then stored in the liquid storage tank 237. The liquid storage tank 237 is a space formed by the lower housing 230 and the barrier 35, and is used as a storage tank for temporarily storing the cleaned liquid. The liquid stored in the liquid reservoir 237 is pumped by the second pump through the recovery hose 29a and is recovered into the pollutant pail. Reference symbol 400 indicates the flow of the liquid.

FIG. 5 is a bottom view of a robot cleaner provided with a liquid cleaning module according to the present invention in which an air intake port is formed, and FIG. 6 is a sectional view of the robot cleaner with an intake port. A plurality of rotating bodies 50, which rotate in mutually offset directions, are provided on the bottom surface, and moving wheels 490a, 490b and 490c are provided. The third side wall 500 is provided on the outer side of the second side wall 480 and the dust or the like is vacuumed through the suction port 510 provided between the second side wall 480 and the third side wall 500 . Reference numeral 300 denotes a path through which dust or the like is sucked into the vacuum. That is, the suction port 510 is provided on the outer side of the liquid cleaning module to suck dust and the like by vacuum suction, and the dirt on the floor can be cleaned by the liquid cleaning module. The robot cleaner according to the present invention is provided with a vacuum flow path which is formed on the outer side of the liquid storage tank 237 and provides a path of vacuum intake air formed by a vacuum motor.

7 is a cross-sectional view of the rotating body of the liquid-induced floor cleaner according to the present invention, showing the shape of the rotating body. The rotating body 50 is used to clean the floor surface by rubbing directly with the floor surface or using the clean liquid through the floor member, moving the cleaned contaminated water by surface energy along the surface, It is a component that functions. The rotating body may be provided in various shapes, and some of the shapes will be described. As shown in Fig. 7 (a), the rotating body 50 A contact surface A which is in close contact with a bottom surface to be cleaned in the horizontal direction and a contact surface A which is in close contact with the contact surface A ) And a liquid-guiding surface (B, also referred to as an " slope ") that moves the contaminated liquid along the surface. The upper projecting portion 52 is a portion provided to fix the bottom member 60 by an elastic member such as rubber band and the lower projecting portion 54 is provided when a bottom member having a disk as shown in FIG. This is a part for inserting and fixing the disk. The central portion 53 is a portion where a liquid guiding surface (or an 'inclined surface') is formed. The lower surface of the rotating body 50 is designed to have an adhered surface A formed so as to be in close contact with the bottom surface when rotating, and an inclined surface formed to connect the contaminated liquid with the surface energy. The rotating body 50 shown in Fig. 7 (b) shows an embodiment having no lower protruding portion 54, and Fig. 7 (c) shows an embodiment in which the outermost portion of the inclined surface is bent downward Respectively.

7 (a) and Fig. 7 (c), the cleaning is performed after inserting a separate bottom member 60 as shown in Fig. 8 to be described later. Fig. 7 ) Is an embodiment that can be cleaned without using a separate bottom member 60. [ In the case of the rotating body 50 in which the separate bottom member 60 is not inserted, separate treatment is required to increase the surface energy. For example, the surface of the rotating body 50 is etched to have a porous surface having fine holes, or fine cilia is formed on the surface, or a material having a relatively high surface energy is coated.

8 is a cross-sectional view of the rotating body of the liquid guiding floor cleaner according to the present invention, showing the shape of the rotating body to which the intermediate return path is attached. The rotating body shown in Fig. 8 is an example in which the contact surface A of the rotating body which is in close contact with the bottom surface is flatly formed without a step. However, when the contact surface A is flatly formed, the liquid sprayed on the bottom through the vertical central axis of the rotating body 50 can not be completely recovered by a single mopping, so that it is often possible to recover by reciprocating movement several times . In order to more efficiently recover the water sprayed on the bottom surface, an intermediate recovery path (62) is formed which is inclined upward from the bottom surface to a top surface at a position spaced a certain distance from the vertical center radius of the rotating body. When the intermediate recovery path 62 is additionally formed, about 80% of the liquid sprayed on the bottom can be recovered through the intermediate recovery path 62. The remaining 20% of the liquid was allowed to be recovered along the inclined surface after wiping the contact surface of the outer periphery of the intermediate recovery passage 62.

Fig. 8 (a) is a cross-sectional view of the rotating body, Fig. 8 (b) is a bottom view of the rotating body seen from the bottom, and Fig. 8 . As shown in Figs. 8 (a) and 8 (b), the intermediate recovery passage 62 is provided at a position having a constant radius on the vertical center axis. In order to allow as much liquid as possible to be recovered by the intermediate recovery passage 62, the region (a) from the vertical center axis to the close contact surface where the intermediate recovery passage 62 is provided is formed so as to be stepped up by a predetermined height? T Respectively. Therefore, the liquid dropped to the lower portion of the vertical center axis is displaced outward by the centrifugal force in the space formed up to the region (a), and recovered through the intermediate recovery passage (62).

The rotating body 50 shown in Fig. 8 (c) eliminates the stepped surface provided on the bottom surface of the rotating body 50 shown in Fig. 8 (a) so that the adhered surface is flattened as a whole, A protruding protrusion 64 protruding downward is formed outside the protrusion 62. Therefore, the liquid dropped on the lower portion of the vertical center shaft is displaced outwardly by the centrifugal force so that most of the liquid is recovered on the intermediate recovery path 62 by the stone projections 64, and the remaining liquid is recovered along the inclined surface Respectively. The intermediate recovery path shown in FIG. 8 is configured to be formed obliquely from the lower surface to the upper surface of the rotating body, but it is needless to say that it is not necessarily formed up to the upper surface but may be formed to be formed as an inclined surface at the lower surface.

FIG. 9 is an explanatory view illustrating the principle of movement of water droplets in the rotating body of the liquid-induced floor cleaner according to the present invention. The rotating body 50 is shown schematically simplified and rotated counterclockwise along the rotation axis O-O ', and reference numeral 100 denotes a liquid droplet being moved. 9, F represents the centrifugal force, Cf represents the surface energy of the surface of the rotating body (bottom member when the bottom member is provided) acting on the liquid droplet, and the centrifugal force F thereof can be expressed by Equation 1 .

In the equation (1), m represents the mass of the liquid droplet, R represents the rotation radius of the liquid droplet, and W represents the angular velocity.

The liquid 100 supplied to the rotating body 50 moves in the horizontal direction along the surface of the rotating body (or the bottom member) toward the outer side away from the center by the centrifugal force due to rotation as indicated by 'Case 1' The direction of movement of the liquid gradually increases from a central portion having a sloped surface (liquid guiding surface) which is formed such that the rotating body is gradually bent to the upper surface portion as indicated by a case 2 ', and as shown by' Case 3 ' The centrifugal force applied to the water becomes larger than the surface energy Cf when the liquid reaches the end of the whole, and the liquid is removed from the rotating body and recovered to the liquid storage tank 237. As shown in Equation (1), the magnitude of the centrifugal force acting on the water can be controlled by the rotation radius (R) and the rotation angular velocity (W), and the liquid reaches the end portion of the rotating body The centrifugal force previously acting on the liquid may be sufficiently larger than the surface energy of the rotating body surface (or bottom member) acting on the liquid, so that the liquid may be separated from the rotating body 50. Accurately calculating this principle makes it possible to easily determine the height of the barrier 35. Therefore, it is necessary to design the center portion formed in the rotating body 50 such that the liquid to be separated by the centrifugal force is raised along the liquid guiding surface to an appropriate height. Such a liquid-induced surface may be referred to as a nasal surface where a fluid flows along a surface consuming less energy.

In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present disclosure rather unclear.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In addition, the components shown in the embodiments of the present invention are shown independently to represent different characteristic functions, which does not mean that each component is composed of separate hardware or software constituent units. That is, each constituent unit is included in each constituent unit for convenience of explanation, and at least two constituent units of the constituent units may be combined to form one constituent unit, or one constituent unit may be divided into a plurality of constituent units to perform a function. The integrated embodiments and separate embodiments of the components are also included within the scope of the present invention, unless they depart from the essence of the present invention.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

10a: rotating shaft 20a: circular gear
21a: annular bearing 29a: return hose
30b: support housing 35:
41: raw water reservoir 43a: first supply hose
43b: second supply hose 45a: first pump
45b: second pump 50: rotating body
51: Contaminated water bottle 52: Upper protrusion
53: central portion 54: lower protrusion
55: rotation motor 62: intermediate recovery path
64: protruding jaw 71a: first pulley
100: liquid drop 103a: first belt
103b: second belt 230: lower housing
237: Liquid storage tank
300: Vacuum air flow 350: Water tank housing
360: first side wall 431: second through hole
471: Rotor hole 480: Second side wall
490a, 490b, 490c: a moving wheel 500: a third side wall
510: inlet

Claims (8)

A robot cleaner having a liquid cleaning module for performing vacuum cleaning on a suction force of a vacuum motor, cleaning the bottom surface while rotating the rotary body while supplying liquid while vacuum cleaning,
A plurality of sensors,
A driving wheel provided on each of left and right sides of the floor,
A driving module for transmitting a driving force to each driving wheel;
A rotary motor having a rotary motor shaft,
A rotating shaft which rotates in accordance with a rotational force transmitted from the rotating motor shaft and is installed in a direction perpendicular to the bottom surface (a surface vector direction of the bottom surface)
A rotating body coupled to the rotating shaft to clean the floor while rotating about a plane vector direction of the bottom surface;
A raw water reservoir for storing a clean liquid supplied to the lower surface of the rotating body,
And a contaminated water reservoir for recovering the cleaned liquid which is separated by the centrifugal force generated when the rotating body rotates,
The lower surface of the rotating body has a close contact surface that is in close contact with the bottom surface when rotated. The lower surface of the rotating body is formed so as to be in contact with the close contact surface, And,
A support housing for supporting the rotation shaft of the rotating body,
A first sidewall having a predetermined height upward along the outer edge of the support housing,
A water tank housing placed on the first side wall,
Wherein the rotating motor, the raw water reservoir and the contamination reservoir are placed on the water tank housing,
Wherein a supply hose is provided in a space formed by the support housing, the water tincture housing, and the first side wall to supply the liquid filled in the raw water container to the rotary body,
And a first pump for pumping the liquid filled in the raw water reservoir to the supply hose,
A liquid storage tank which is formed around the periphery of the rotating hole and stores liquid which moves along the surface of the rotating body, and a liquid storage tank which is formed on the outer side of the liquid storage tank, Wherein the vacuum cleaner is provided with a vacuum flow path for providing a path of vacuum suction air formed by the vacuum cleaner.
The method according to claim 1,
Wherein the support housing is provided with a second through hole through which the rotation shaft passes, and an annular bearing installed to be inserted into the second through hole, wherein the rotation shaft is coupled to the annular bearing and rotated A robot cleaner equipped with a module.
The method according to claim 1,
Wherein the rotating body further comprises an intermediate return path formed to be inclined from the close contact surface to the upper surface or the inclined surface of the rotating body.
The method of claim 3,
And the liquid cleaning module is provided with an upper stepped region on the contact surface of the inner rotating body in the intermediate recovery path.
The method of claim 3,
And a protruding protrusion protruded downward from an outer side of the intermediate return path is further provided on the rotating body contact surface.
6. The method according to any one of claims 1 to 5,
The robot cleaner according to claim 1, wherein the plurality of liquid storage tanks are connected to each other.
The method according to claim 1,
The robot cleaner of claim 1, further comprising a circular gear inserted in the plurality of rotation shafts, and a belt connected to the circular gear to transmit power.
The method according to claim 6,
Wherein the rotating shaft is provided in a hollow state and the liquid supplied from the raw water container flows to the lower surface of the rotating body through the rotating shaft.

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