KR101872099B1 - Vacuum cleaner - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum cleaner, and more particularly, A moving wheel rotatably mounted on both sides of the cleaner main body for traveling of the cleaner main body and supporting the main body rotatably; And a wheel motor assembly disposed between an outer surface of the cleaner main body and the moving wheel and rotating the moving wheel to travel the cleaner main body, And is rotatably coupled to the moving wheel at the rear of the extension line.

Description

Vacuum cleaner

The present invention relates to a vacuum cleaner.

BACKGROUND ART [0002] Generally, a vacuum cleaner sucks dirt and foreign substances existing on a surface to be cleaned by using a suction motor provided inside a main body, and then filters dirt and foreign substances in the main body.

The vacuum cleaner includes an up-right type vacuum cleaner in which a suction nozzle is connected to a main body and moves together with the main body, and a suction nozzle is connected to the main body by an extension pipe, a handle, a hose, It can be divided into vacuum cleaner.

Korean Patent Laid-Open Publication No. 10-2012-0004100 (publication date: Jan. 12, 2012) discloses a canister-type vacuum cleaner.

An object of the present invention is to provide a vacuum cleaner capable of detecting the posture of a vacuum cleaner and judging whether the vacuum cleaner is stopped or moved so as to be able to run automatically, thereby improving usability.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vacuum cleaner in which the cleaner main body is rotatable about a rotation axis of the moving wheel, thereby making it possible to more easily determine the stop and running state of the cleaner main body.

The object of the present invention is to provide a vacuum cleaner in which the center of gravity of the vacuum cleaner main body is rearwardly disposed rearward of a wheel motor assembly for driving a mobile wheel, thereby enabling a more stable stopping state of the vacuum cleaner and detecting a traveling state.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vacuum cleaner in which the wheel motor and the moving gear are formed of modules and the wheel motor assembly has a simple mounting structure to improve the assemblability.

A vacuum cleaner according to an embodiment of the present invention includes a vacuum cleaner body; A moving wheel rotatably mounted on both sides of the cleaner main body for traveling of the cleaner main body and supporting the main body rotatably; A wheel motor assembly provided between the outer side surface of the cleaner main body and the moving wheel and rotating the moving wheel to travel the cleaner main body; A sensing unit provided on the cleaner main body and sensing a tilt of the cleaner main body; The wheel motor assembly is coupled to a rotary shaft of the wheel, and the wheel motor assembly is coupled to the wheel motor assembly. The wheel motor assembly is coupled to the rotary shaft of the wheel, And the bottom surface of the cleaner main body is inclined with respect to the ground when the cleaner main body is in a stopped state, And the wheel motor assembly is driven to maintain a state in which the cleaner body is rotated so as to be lower than the bottom surface and the ground of the cleaner body while the cleaner main body is in a running state, .

In addition, the cleaner main body includes side portions extending up and down in a state of being separated from each other and forming both side surfaces of the cleaner main body, and the moving wheel can be mounted on the side portion.

Further, the wheel motor assembly may be mounted on the side portion.

In addition, the sensing unit may be mounted on the side portion, and the sensing unit may be disposed above the rotation axis of the mobile wheel.

In addition, a wheel gear is rotatably mounted on the side portion, and the wheel gear is fixed on the rotating shaft of the moving wheel, and can be mounted to be rotated by the wheel motor assembly.

The wheel motor assembly may include a wheel motor, a moving gear that transmits the power of the wheel motor to the moving wheel, and a wheel motor case that receives the wheel motor and the moving gear.

In addition, a wheel boss is formed on both side surfaces of the cleaner main body, and a case mounting groove is formed in the wheel motor case so as to be recessed in a shape corresponding to the wheel boss to accommodate at least a part of the wheel boss from the rear of the wheel boss .

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In addition, the center of gravity of the cleaner body may be located further rearward than the movement wheel, and may be inclined so that the rear half of the cleaner body is lowered when the cleaner is stopped.

In addition, the user can drive the wheel motor assembly when the angle between the main body and the ground detected by the sensing unit becomes smaller than the stop state.

The user can stop the wheel motor assembly when the angle of the paper surface with the cleaner body detected by the sensing unit becomes large.

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According to the vacuum cleaner of the embodiment of the present invention, the following effects can be expected.

In the vacuum cleaner according to the embodiment of the present invention, the body is rotatably supported by a moving wheel, and a sensing unit for sensing a posture of the body, that is, a tilt or a rotation angle, is provided in the body. Since the suction hose is connected to the upper portion of the main body, when the user pulls the suction hose to move the vacuum cleaner, the main body is inclined and the moving wheel is driven by the sensing portion.

Therefore, even if the user does not move the main body itself, the user can operate the main body automatically by a light operation of moving the suction hose. When the user moves, the main body can travel along the user, .

In addition, the center of gravity of the cleaner main body is placed in the rear half, so that the cleaner main body can always be maintained at a constant angle when the cleaner main body is in the stopped state, so that the tilt or rotation of the main body can be detected more accurately.

In addition, since the center of gravity is positioned at the rear half, the stable stop state can be maintained at all times. In particular, the tilt of the main body can be stopped while maintaining the tilt of the main body regardless of the presence or absence of dust in the dustbin. Can be improved.

The vacuum cleaner main body is rotatable by the center of gravity of the vacuum cleaner main body, and the vacuum cleaner main body can be rotated by the center of gravity of the vacuum cleaner main body, It becomes possible to change the angle by rotation. The sensing unit senses a change in the angle of the cleaner main body and can determine the state of the cleaner more accurately and control the travel.

Further, since the wheel motor assembly for driving the mobile wheel can be disposed at the rear while being coupled with the mobile wheel, the center of gravity of the cleaner main body can be located further rearward, thereby improving the stability at the time of stopping the cleaner main body At the same time, it can be detected more easily by changing the angle at the start of movement of the cleaner main body.

Further, since the wheel motor assembly is installed between the cleaner main body and the moving wheel, the assemblability can be improved. In addition, since the wheel motor assembly has a structure in which the wheel motor and the moving gear are combined in the case, it is possible to mount the structure for driving the moving wheel only by mounting the wheel motor assembly, have.

Further, since the mounting position of the sensing unit is disposed above the rotation axis of the moving wheel, it is possible to more effectively detect the change in the angle of the cleaner main body through the sensing unit when the cleaner main body rotates.

1 is a perspective view of a vacuum cleaner according to an embodiment of the present invention.
2 is a view showing a state in which the cleaner main body and the suction device are separated.
3 is a view showing a state where the dust bin is separated from the cleaner main body.
4 is a view showing a cover member of the cleaner main body opened.
5 is an exploded perspective view of the cleaner main body.
6 is a sectional view of the cleaner main body.
7 is a plan view of the cleaner main body in which the cover member is removed.
8 is an exploded perspective view of the coupling structure of the cleaner main body, the moving wheel and the sensing unit as viewed from one direction.
9 is an exploded perspective view of the coupling structure of the cleaner main body, the moving wheel and the sensing unit, viewed from the other direction.
10 is a side view showing the mounting state of the cleaner main body and the wheel gear assembly.
11 is a side view of the cleaner main body.
12 is a bottom view of the cleaner main body.
13 is an exploded perspective view showing a coupling structure of a rear wheel unit according to an embodiment of the present invention.
14 is a sectional view showing the operating state of the rear wheel unit.
FIG. 15 is a rear view of the rear cover of the cleaner main body. FIG.
16 is an exploded perspective view showing a coupling structure of a battery and a filter according to an embodiment of the present invention.
17 is a sectional view of the cleaner main body before the battery is mounted.
18 is a sectional view of the cleaner main body in a state where the battery is mounted.
19 is a perspective view of the cover member.
20 is an exploded perspective view of the cover member.
Fig. 21 is a partial cross-sectional view showing the coupling structure of the cover member and the obstacle sensing member. Fig.
22 is an exploded perspective view showing a coupling structure of a locking assembly according to an embodiment of the present invention.
23 is a perspective view showing a state before the locking assembly is operated.
24 is a cross-sectional view showing the locking assembly before being operated.
25 is a perspective view showing an operation state of the locking assembly.
26 is a sectional view showing the operating state of the locking assembly.
27 is a perspective view showing the cover member opened;
28 is an exploded perspective view showing a coupling structure of a link assembly according to an embodiment of the present invention.
29 is a sectional view showing the state of the link assembly when the cover member is closed.
30 is a sectional view showing the state of the link assembly with the cover member opened;
31 is an enlarged view of part A of Fig.
32 is a perspective view of the dust container.
33 is an exploded perspective view of the dust container.
FIG. 34 is an exploded perspective view of the coupling structure between the upper cover and the lower cover of the dust container viewed from one side. FIG.
35 is a sectional view in which the upper cover is opened.
FIG. 36 is an exploded perspective view of the coupling structure between the upper cover and the lower cover of the dust container viewed from the other side. FIG.
37 is a sectional view of the lower cover opened;
38 is an exploded perspective view showing a coupling structure of the lower cover and the dust compression unit.
39 is an enlarged view of a portion B in Fig.
40 is a cross-sectional view showing air and dust flows of the cleaner main body.
41 is a plan view showing air and dust flows of the cleaner main body.
FIG. 42 is a view showing a state where the cleaner main body is stopped. FIG.
43 is a view showing a running state of the cleaner main body.
44 is a view showing an obstacle avoidance running state of the cleaner main body.
45 is a view showing the sensing range of the obstacle sensing member.
FIG. 46 is a view showing the traveling state of the wall of the cleaner main body. FIG.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, it should be understood that the present invention is not limited to the embodiment shown in the drawings, and that other embodiments falling within the spirit and scope of the present invention may be easily devised by adding, .

1 is a perspective view of a vacuum cleaner according to an embodiment of the present invention. 2 is a view showing a state in which the cleaner main body and the suction device are separated.

As shown in the drawings, a vacuum cleaner 1 according to an embodiment of the present invention includes a cleaner main body 10 and a suction device 20.

A motor for generating a suction force is provided in the cleaner main body 10. When the motor is driven to generate a suction force, the suction device 20 can guide dust-containing air to the cleaner body 10. [

The suction unit 20 may include a suction unit 21 for suctioning dust on the floor surface and a connection unit for connecting the suction unit 21 to the cleaner body 10. The connection unit includes an extension pipe 22 connected to the suction unit 21, a handle 23 connected to the extension pipe 22, and a suction hose 23 connecting the handle 23 to the main body 10 24).

The suction hose 24 may be provided with a fitting portion 241 for improving airtightness when the suction hose 24 is coupled to the connector 401 of the cleaner body 10.

The fitting portion 241 may attach / detach the suction hose 24 to / from the connector 401. The fitting portion 241 may be formed to be multi-tiered as shown.

The cleaner main body 10 includes a main body 30 and a cover member 40 which form an overall appearance.

The cleaner main body 10 may further include a moving wheel 60 rotatably coupled to the main body 30. The moving wheels 60 may be provided as a pair, and may be coupled to both sides of the main body 30, respectively. The moving wheel 60 supports the main body 30 so that the main body 30 can be rotated about the rotation center of the moving wheel 60.

The cover member 40 may be provided with a grip portion 41 for gripping by a user. The user can grip the grip portion 41 when lifting or tilting the main body 30 or when opening or closing the cover member 40. [

The rear cover 314 may be provided on the rear surface of the main body 30. The rear cover 314 may be configured to open and close a space in which the battery unit 38 and the filter unit 39 are accommodated in the main body 30.

The cleaner main body 10 further includes a dust container 50 for storing dust sucked through the suction device 20. The dust container 50 may have a cylindrical shape as shown in the drawings, but the shape of the dust container 50 is not limited thereto. The dust container 50 may be detachably provided on the front surface of the main body 30.

3 is a view showing a state in which the dust bin is separated from the cleaner main body. 4 is a view showing a cover member of the cleaner main body opened.

As shown in the figure, the dust container 50 may be detachably mounted on a seat part 32 formed on a front portion of the main body 30. The dust container 50 may form a part of the front surface of the main body 30 in a state where the dust container 50 is mounted on the seating part 32. The dust container 50 may be detached by opening and closing the cover member 40.

The dust container 50 may be provided with a suction port 511 through which dust is sucked. The suction port 511 may be disposed on the upper surface of the dust container 50 as shown in FIG. Accordingly, the air introduced into the suction port 511 is guided downward and moves to the dust collecting space inside the dust container 50. [

The dust container 50 may be detachably mounted to the main body 30. [ A dust collecting space in which the dust introduced into the suction port 511 is collected may be formed in the dust container 50.

The dust container 50 may be disposed in front of the main body 30. The side surface of the dust container 50 may be made of a transparent material so that at least a part of the dust container 50 can be seen by the user. .

The side portion can be exposed through the front surface of the main body portion 30 in a state where the dust container 50 is seated in the seating portion 32. [ At this time, the exposed portion of the dust container 50 can be checked without separating the dust container 50 from the upper end of the transparent side portion of the dust container 50 to the lower end thereof.

A dust separating structure for separating the air and the dust sucked in the suction device 20 may be provided in the dust container 50. The dust separated by the dust separating structure may be disposed below the dust container 50 Can be captured.

 The connector 401 is directly connected to the suction hose 24 so that air containing dust can be introduced. That is, one side of the connector 401 is coupled to the suction hose 24, and the other side is coupled to the suction port 511. Accordingly, the connector 401 connects the suction hose 24 and the suction port 511.

The connector (401) can communicate with the dust container (50). Accordingly, the air introduced into the suction hose 24 can be introduced into the dust container 50 through the connector 401.

At one side of the dust container (50), a suction port (511) through which dust enters can be provided. The suction port 511 may be provided on the dust container 50 as shown in FIG. In addition, the suction port 511 may be formed to face forward. Here, the front side refers to a portion where the suction hose 24 is located with respect to the cleaner main body 10.

As shown in the drawing, the connector 401 can be disposed on the upper portion of the dust container 50. Since both the suction port 511 and the connector 401 are disposed at the upper portion of the dust container 50, the length of the air flow path from the suction hose 24 can be minimized.

The cleaner main body 10 further includes a cover member 40 movably provided in the main body 30. The cover member 40 forms at least a part of the upper surface of the cleaner main body 10 and can be configured to open and close the upper surface of the main body 30. [ At this time, the rear end of the cover member 40 is axially coupled to the main body 30 and can be rotated, and can be opened by holding the grip portion 41 and rotating.

The connector 401 may be provided on the cover member 40. Therefore, the connector 401 can move together with the cover member 40. [ The cover member (40) can shield at least one side of the dust container (50). The cover member 40 can be engaged with the dust container 50 while shielding at least one side of the dust container 50. When the cover member 40 is closed, it can be engaged with the dust container 50. When the cover member 40 is opened, the dust container 50 can be separated from the dust container 50. For example, the cover member 40 may be coupled to the upper portion of the dust container 50.

The fitting portion 241 of the suction hose 24 connected to the connector 401 of the cover member 40 may be in communication with the suction port 511 of the dust container 50 when the cover member 40 is closed have. The dust and air sucked through the suction device 20 can be introduced into the dust container 50 through the suction port 511 through the connector 401 of the cover member 40. [

When the cover member 40 is opened, the fitting portion 241 of the suction hose 24 is kept connected to the connector 401 of the cover member 40, The dust container 50 can be separated. Therefore, the dust container (50) can be separated from the seat (32) when the cover member (40) is open.

Hereinafter, the cleaner main body 10 will be described in more detail.

5 is an exploded perspective view of the cleaner main body. 6 is a sectional view of the cleaner main body. 7 is a plan view of the cleaner main body in which the cover member is detached.

As shown in the figure, the cleaner main body 10 includes the main body 30 and the cover member 40, and the dust container 50 may be mounted on the main body 30 .

The main body 30 forms the bottom of the cleaner main body 10 and provides a space for mounting the dust container 50, the battery unit 38, the filter unit 39 and the main motor 35 (Not shown).

The base 31 may include a front half 312, a middle 311 and a rear half 313. The base 31 is formed to have a predetermined width and includes therein the dust container 50, the battery unit 38, (39) and the like can be mounted.

The central portion 311 of the base 31 may be formed in a planar shape and may be disposed between the first half 312 and the second half 313. At this time, the first half 312 and the second half 313 extend obliquely with respect to the center 311, and may be formed so as to be further away from the end of the center 311.

A terminal mounting portion 311a may be formed at one side of the center portion 311, that is, at a position adjacent to the moving wheel 60, where a power supply terminal 307 is disposed. The terminal mounting portion 311a may be formed to be recessed to open the lower surface and connected to the terminal of the charging device when the battery unit 38 of the vacuum cleaner 1 is to be charged.

A rear wheel unit 70 may be provided at a position adjacent to the rear half 313 of the central portion 311. The rear wheel unit 70 can prevent the cleaner body 10 from being turned back while the cleaner 1 is in use. The rear wheel unit 70 can maintain the angle of the base 31 in a stopped state. For this purpose, the rear wheel unit 70 can be rotated in a state where the cleaner body 10 does not travel, So as to elastically support the cleaner main body 10 in contact therewith.

A front portion 312 is formed at a front end of the central portion 311. The front part 312 extends upward at an end of the center part 311 and the front part 312 may have a seating part 32 forming a space for accommodating the dust container 50 .

The seating portion 32 may include a bottom portion 321 forming a bottom and a peripheral portion 322 extending upwardly along the periphery of the bottom portion 321. The circumferential portion 322 is formed so that the dust container 50 can be mounted on the front side thereof.

A compression motor assembly 323 for driving the dust compression unit 56 in the dust container 50 may be provided between the bottom part 321 and the front part 312. When the dust container 50 is attached to the mounting portion 32, the compression motor assembly 323 and the dust compression unit 56, which will be described in detail below, are connected to each other, It becomes possible.

The compression motor assembly 323 may include a compression motor 323a for providing rotational power and a compression gear 323b connected to the rotation shaft of the compression motor 323a. The compression gear 323b may be positioned eccentrically to one side of the center of the bottom portion 321. The bottom hole 321a is formed in the bottom surface portion 321 and the first transmission gear 591 to be described below can be positioned in the bottom hole 321a when the dust container 50 is seated. . Accordingly, when the dust container 50 is mounted, the compression gear 323b is engaged with the first transmission gear 591 to transmit the power of the compression motor 323a.

A front wheel 312a may be mounted on a lower surface of the front half 312. The front wheel 312a is located slightly forward of the center of the front half 312 and allows the obstacle to move easily when an obstacle such as a carpet or a threshold is located in front of the cleaner body 10 . The front wheel 312a may be rotated in contact with the ground to prevent the cleaner main body 10 from being forwarded when the cleaner main body 10 is tilted forward.

The rear half (313) may also be formed to be inclined upward from the rear end of the center part (311). Therefore, when the cleaner main body 10 starts to move forward for traveling, the cleaner is tilted about the moving wheel 60, and the rotation of the cleaner main body 10 is facilitated do.

At least a part of the rear opening 317 opened / closed by the rear cover 314 may be formed in the rear half 313. The rear cover 314 has the same curved surface as the lower decor 315 and the upper decor 37 forming the outer surface of the rear half 313 and the cleaner body 10 in a state of shielding the rear opening 317 Respectively. The rear cover 314 may be formed to have the same inclination or curved surface as the rear half 313 as a part of the rear half.

The rear cover 314 may form a rear part of the main body 30. The lower end of the rear cover 314 is rotatably coupled to the rear half, and the rear opening 317 can be opened or closed by pivoting. The rear cover 314 is provided with a grill for discharging air separated from the dust while passing through the interior of the cleaner body 10, so that dust-filtered air can be discharged.

On the other hand, a base frame is mounted at the center of the base 31. The base frame is formed to define a space in which the dust container 50 is disposed, a space in which the main motor 35 is provided, and a space in which the battery unit 38 and the filter unit 39 are provided.

In detail, the base frame may include a lower frame 33 and an upper frame 34.

The lower frame 33 is mounted on the central portion 311 and includes a first barrier 331 partitioning a part of the internal space of the main body 30 in the forward and backward directions and a second barrier 331 extending from both sides of the first barrier 331 And a pair of first side walls 332 extending from the first side walls 332. The front of the first barrier 331 is controlled to control the overall operation of the vacuum cleaner 1 including the main motor 35, the wheel motor assembly 63, the compression motor assembly 323, and the obstacle sensing member 44. The main PCB 301 may be provided.

A lower seating member 300 may be provided on the front surface of the first barrier 331. The lower seating member 300 may be formed so as to be depressed at the center so as to support the side surface of the dust container 50 when the dust container 50 is installed. The main PCB 301 mounted on the front surface of the first barrier 331 may be received inside the lower seating member 300.

A noise filter 302 for removing noise from an input power source supplied to the main PCB 301 is provided on a rear surface of the first barrier 331. The noise filter 302 may be an EMI filter.

The first barrier 331 between the main PCB 301 and the noise filter 302 is formed with a first barrier hole 331a to be a flow path for air. Therefore, the air passing through the first barrier hole 331a enables the cooling of the main PCB 301 and the noise filter 302 naturally.

The lower frame 33 is upwardly and rearwardly opened when mounted on the base 31. The upper frame 34 is mounted on the upper end of the lower frame 33. The upper frame 34 shields the opened upper surface of the lower frame 33 to form a space in which the battery unit 38 and the filter unit 39 are accommodated. In addition, a space for accommodating the main motor 35 for sucking air is formed.

In detail, the upper frame 34 may include a cover plate 341, a second barrier 342, and a second sidewall 343.

The second barrier 342 divides an upper space of the main body 30 into a front space and a rear space and forms a space provided with a suction guide connected to the dust container 50 at the front, Thereby forming a space.

A second barrier hole 342a is formed in the second barrier 342 so that air that has passed through the dust container 50 when the main motor 35 is driven is guided by the suction guide, (35).

At both ends of the second barrier 342, forwardly extending barrier walls 344 are formed to form a space for accommodating the suction guide.

The suction guide includes an upper seating member 303 which is in close contact with the dust container 50 and a seating member case 304 which is fixed to the upper seating member 303 and is in close contact with the second barrier 342 Lt; / RTI >

The front surface of the upper seating member 303 is formed to have a curved surface corresponding to the outer surface of the dust container 50 so that when the dust container 50 is mounted on the main body 30, As shown in FIG.

A guide hole 303a is formed in the upper seating member 303 at a position corresponding to the discharge port 512 of the dust container 50. [ The guide hole 303a may be formed in a size and shape corresponding to the discharge port 512. A seating member gasket 303b is formed around the guide hole 303a so as to be in close contact with the periphery of the ejection opening 512 so that the dust box 50 and the upper seating member 303 are closely contacted with each other, .

The upper seating member 303 further includes a locker groove 303c. The locker groove 303c receives an upper locker 57 protruding from the outer surface of the dust container 50 when the dust container 50 is mounted on the main body 30. [ Therefore, the locker groove 303c may be formed to correspond to the protruding shape of the upper locker 57. [

On both sides of the upper seating member 303, an insertion receiving recess 303d and a fastening protrusion 303e are formed which are engaged with the seating member case 304. [

The seating member case 304 is formed in a grill shape and includes a case grill 304a which is in close contact with the second barrier 342 and a case grill 304b which extends along the circumference of the case grill 304a, And a case frame 304b for accommodating the case.

A gasket may be provided around the case grill 304a as needed to closely contact the second barrier 342 and the seating member case 304 in an airtight state. The case grill 304a is formed in a grill shape so that the air introduced through the guide hole 303a can pass through the second barrier hole 342a.

The case frame 304b may be in close contact with the outer surface of the upper seating member 303 and may have a bottom width larger than a width of the top so that the top seating member 303 can be engaged in an inclined state, It can be formed obliquely. On both sides of the case frame 304b, a case inserting portion 304c to be inserted into the inserting recess 303d is formed. In the case inserting portion 304c, a fastening protrusion 303e is fastened A hole 304d can be formed.

On the rear surface of the second barrier 342, a pair of second sidewalls 343 may extend rearward. The second sidewall 343 may form a space in which the main motor 35 is disposed and may form a space in which the subfeedback 305 is disposed.

In detail, the main motor 35 is disposed between the pair of second sidewalls 343, and the sub-vision 305 can be mounted on the outer surface of one of the second sidewalls 343 . That is, as shown in FIG. 7, the main motor 35 and the sub-vision unit 305 may be disposed in the divided spaces with respect to the second sidewall 343.

The second barrier hole 342a may be formed in a region between the pair of second sidewalls 343 so that the air passing through the second barrier hole 342a may pass through the main motor 35 It becomes possible to pass.

A plate hole 341a may be formed in the cover plate 341 forming the bottom of the upper frame 34. The plate holes 341a may be formed in a region between the pair of second sidewalls 343. The air introduced into the space in which the main motor 35 is received through the second barrier hole 342a is received by the battery unit 38 formed in the lower frame 33 through the plate hole 341a So that the battery unit 38 can be cooled.

The main motor 35 is provided in a space formed by the upper frame 34 and is located behind the center of gravity of the main body 30 and the center of the moving wheel 60. Therefore, when the external force is not provided on the mounting structure of the main motor 35, the weight of the main motor 35 causes a load to be applied to rotate the main body 30 in a direction in which the rear end is lowered.

The main motor 35 is disposed long in the front and rear direction so that the center of gravity of the main body 30 can be further rearward than the center of rotation of the moving wheel 60, It is possible to provide a rotation moment for the clockwise rotation operation of the first motor.

Meanwhile, the main motor 35 has a structure in which a fan and a motor are coupled inside a case for guiding the flow of air. The structure of the main motor 35 may be various structures that can force the flow of air.

The main motor 35 may be fixedly mounted on the upper frame 34 by the motor support member 351. The motor support member 351 may be made of rubber or a material having elasticity, and it is possible to attenuate vibrations generated when the main motor 35 is driven, thereby reducing noise due to the vibration.

A motor cover 352 may be further provided at the rear of the main motor 35 to cover at least a part of the main motor 35. The motor cover 352 is formed with a plurality of holes through which air forcedly blown by the main motor 35 can pass. Further, a sound absorbing material is further provided between the motor cover 352 and the main motor 35 to reduce noise generated when the main motor 35 is driven.

The main motor 35 is disposed in a space formed in the upper frame 34 so as to be offset to one side where the sub-vision area 305 is provided. That is, the main motor 35 is disposed adjacent to the second sidewall 343 on which the sub-vision rib 305 is mounted, of the pair of the second sidewalls 343. Therefore, a relatively large space may be formed between the main motor 35 and the second sidewall 343, which is farther from the sub-vision unit 305 than the sub-vision unit 305.

At least a portion of the plate hole 341a may be exposed through a region between the main motor 35 and the second sidewall 343. Also, the first barrier hole 331a may be formed in the same area as the plate hole 341a.

Therefore, the air discharged through the main motor 35 is discharged through the motor cover 352, and one side direction of each side is blocked by the adjacent second side wall 343, Flows into the space between the second sidewalls 343 on the other side where the first barrier holes 331a are formed, and air can smoothly flow to the first barrier holes 331a, thereby reducing flow noise.

Meanwhile, the upper frame 34 may be provided with a frame cover 36. The frame cover 36 may be configured to shield the opened upper surface of the upper frame 34. Therefore, the space in which the main motor 35 is accommodated can be sealed when the frame cover 36 is mounted, and the space is accommodated in the second barrier hole 342a by driving the main motor 35 The air can be discharged through the main motor 35 to the plate hole 341a.

Meanwhile, the second side wall 343 of the pair of the second sidewalls 343 may be provided with a sub-pixel ratio 305. The subfeedback 305 controls the driving of the sub motor 201 capable of driving the agitator in the suction device 20. [ The sub-motor 201 may be a low-cost and easy-to-control BDD, and the sub-PCB 305 may supply the input power to the sub-motor 201 in a reduced pressure.

The sub-vision unit 305 may be provided on the upper frame 34 separately from the main PCB 301 and may be mounted as needed. That is, when the sub motor 201 is not provided in the suction device 20, the sub-vision device 305 may not be mounted, so that the main PCB 301 can be shared and used.

The upper portion of the cleaner main body 10 may be formed by an upper decor 37. The upper decor 37 may shield the upper portion of the base 31, which is opened, to shield the internal structures mounted on the base 31. The upper decor 37 forms an outer surface of a part of the upper surface of the cleaner main body 10 and removes the portion shielded by the cover member 40 and the remaining portions excluding the moving wheel 60 and the dust container 50 Thereby forming the upper surface of the cleaner main body 10.

The upper decor 37 may be combined with the lower decor 315 described below and combined with the lower decor 315 to form a part of the side surface of the cleaner body 10.

8 is an exploded perspective view of the coupling structure of the cleaner main body, the moving wheel and the sensing unit as viewed from one direction. 9 is an exploded perspective view of the coupling structure of the cleaner main body, the moving wheel and the sensing unit viewed from the other direction. 10 is a side view showing the mounting state of the cleaner main body and the wheel gear assembly. 11 is a side view of the cleaner main body.

As shown in the drawing, a pair of side portions 316 extending upward is formed at both side ends of the base 31. As shown in FIG. The side portion 316 may provide a space for mounting the wheel motor assembly 63 for driving the moving wheel 60 and the moving wheel 60. The pair of side portions 316 may be provided on both sides of the left and right sides, and the structure in which the wheel motor assembly 63 and the moving wheel 60 are mounted may be the same.

The side portion 316 may extend to a position higher than the center of the moving wheel 60 and may be formed smaller than the size of the moving wheel 60. A wheel boss 316a may be provided at the center of the side portion 316 to allow the wheel 60 to be rotatably mounted. The wheel boss 316a may extend from the side portion 316 toward the center of the moving wheel 60. [ The moving wheel 60 may be rotated by the wheel motor assembly 63 and the wheel gear 64 in a state where the moving wheel 60 is mounted on the wheel boss 316a. Also, the cleaner main body 10 may be rotatable about the wheel boss 316a.

The wheel motor assembly 63 may be provided on the side of the wheel boss 316a. When the mobile wheel 60 is mounted on the wheel boss 316a, the wheel motor assembly 63 can be shielded by the moving wheel 60. [ That is, the wheel motor assembly 63 may be provided in a space formed between the side portion 316 and the moving wheel 60.

The wheel motor assembly 63 includes a wheel motor 632, a wheel motor case 631 and a plurality of moving gears 631 and 622 provided in the wheel motor case 631 for transmitting power to the wheel gear 64, (Not shown).

The wheel motor 632 may be composed of a non-Diesel motor which is easy to control the rotation and is light. The plurality of moving gears connecting the rotation axis of the wheel motor 632 and the wheel gear 64 of the moving wheel 60 decelerate the rotation of the wheel motor 632 and transmit the rotation to the moving wheel 60 .

Meanwhile, the wheel motor assembly 63 may be mounted further behind the center of rotation of the wheel 60. In detail, the wheel motor case 631 may have a case mounting groove 633 recessed inward. The case mounting groove 633 is recessed in a shape corresponding to the wheel boss 316a and is formed to accommodate at least a part of the wheel boss 316a. That is, in a state where the wheel motor assembly 63 is mounted, the case mounting groove 633 is installed to surround the rear half of the outer surface of the wheel boss 316a and is disposed on the rear side of the wheel boss 316a. Therefore, the center of gravity of the cleaner main body 10 may be located further behind the wheel motor assembly 63 when the wheel motor assembly 63 is mounted on the cleaner main body 10.

The wheel motor 632 is positioned below the wheel motor case 631, and a plurality of moving gears are positioned above the wheel motor. That is, the center of gravity of the cleaner main body 10 can be positioned further downward by arranging the wheel motor 632, which is relatively heavy, downward.

The side deck 315 may be provided with a lower deco 315 which forms an outer surface of the body portion exposed to the outside of the moving wheel 60. The lower deco 315 may be formed along at least a part of the periphery of the moving wheel 60 and may have a curved surface continuous with the curved surface of the moving wheel 60 to form a smooth appearance.

A plurality of reinforcing ribs 316b extending in the vertical direction may be further formed on the inner surface of the side portion 316, that is, the surface opposite to the surface on which the wheel boss 316a is formed. By forming the plurality of reinforcing ribs 316b, it is possible to prevent the side portions 316 from being damaged by a load applied laterally. In addition, a stable engagement state of the mobile wheel 60 can be maintained.

The sensing part 306 may be further provided on one side of the inner side of the side part 316. The sensing unit 306 senses a movement state or an attitude of the cleaner main body 10 and controls driving of the movement wheel 60. [ The sensing unit 306 may include a gyro sensor or an acceleration sensor, which is commonly used to detect the movement of the cleaner body 10. Of course, the sensing unit 306 may include various sensors or devices capable of sensing movement of the main body 10 in addition to the gyro sensor and the acceleration sensor.

The sensing unit 306 may be mounted on the inner surface of the side portion 316. The sensing unit 306 may include a sensing unit 360a having a gyro sensor mounted thereon and a sensing unit fixing member 306b having the sensing unit 360a fixed and mounted on the side unit 316 have. The sensing part fixing member 306b is provided with a pair of fixing hooks 306c to be formed on the side part 316 and inserted into the sensing part fixing part 316c.

Meanwhile, the sensed vehicle ratio 360a may be configured to control driving of the wheel motor 632 provided at both sides. That is, it is possible to configure the configuration for controlling the gyro sensor and the wheel motor 632 to be one piece of a ratio.

The sensing unit 306 may be fixedly mounted on the side 316 and the sensing unit 306 may be mounted on the side of the moving wheel 60, And may be disposed at one side away from the rotation center. Accordingly, when the cleaner main body 10 is running or stopped, the rotation angle of the cleaner main body 10, that is, tilting can be effectively sensed.

In the state where the cleaner main body 10 is stopped, the center of gravity is positioned behind the center of the moving wheel 60. Accordingly, the cleaner main body 10 maintains a state of rotating clockwise with respect to the center of the moving wheel 60.

11, the cleaner main body 10 is moved forward and backward by a vertical extension line extending perpendicularly to the ground surface (or the cleaning surface) with reference to the rotation center C of the movement wheel 60 Can be divided.

Accordingly, the main motor 35 may be located behind the vertical extension line, and the battery unit 38 may also be located behind the vertical extension line. And, the overall center of gravity G of the cleaner main body 10 may be located on the back of the vertical extension line.

The cleaner main body 10 is maintained in a state of being supported by the rear wheel unit 70 which contacts the ground. Accordingly, the bottom surface of the cleaner main body 10, particularly, the front half 312, can be maintained at a predetermined angle.

In this state, the sensing unit 306 determines that the cleaner main body 10 is in a stopped state, not in the running state, through the inclination of the cleaner main body 10, that is, the angle of the first half 312.

In detail, the wheel motor assembly 63, the battery unit 38 and the main motor 35 may be disposed behind the center of the moving wheel 60. The center of gravity G of the cleaner main body 10 is located further rearward than the center C of rotation of the moving wheel 60 and naturally the main body 10 of the cleaner rotates It is desired to rotate clockwise with respect to the center.

The rear half 313 of the cleaner main body 10 can be supported by the rear wheel unit 70 mounted on the rear half 313 of the base 31. [ Therefore, the cleaner main body 10 is not excessively rotated in the clockwise direction, and the angle? Can be stably maintained.

Particularly, due to the characteristics of the vacuum cleaner 1, dust is accumulated in the dust container 50. Considering this point, the center of gravity of the vacuum cleaner main body 10 is always located at the rear half, and the rear wheel unit 70 So that the cleaner main body 10 can maintain a constant slope with the ground when the cleaner main body 10 is stopped regardless of the amount of dust.

In this state, when the sensing unit 306 senses the angle of the front part 312 and confirms that the angle? Is maintained, the posture of the cleaner main body 10 is maintained . Therefore, the main PCB 301 is maintained in a stopped state by preventing the wheel motor assembly 63 from operating.

On the other hand, when the user grasps the handle 23 for forward use to use the cleaner 1, the cleaner body 10 tilts due to the position of the handle 23. That is, the cleaner main body 10 rotates in the counterclockwise direction so that the first half 312 is further moved downward.

At this time, the sensing unit 306 senses the angle change of the front half 312 and determines that the movement of the vacuum cleaner 1 is started according to the change of the angle. Accordingly, it is determined that the cleaner main body 10 is moved in the main PCB 301, and the wheel motor assembly 63 is driven to rotate the moving wheel 60.

When the movement of the cleaner main body 10 is stopped again, the cleaner main body 10 is rotated to the initial state by the center of gravity. And the angle? Accordingly, it is determined that the movement of the cleaner main body 10 is completed in the main PCB 301 and the wheel motor assembly 63 is stopped.

10, the bottom surface of the cleaner main body 10, that is, the central portion 311, the front half portion 312 and the rear half portion 313 of the base 31 may have a predetermined angle. The angles of the central portion 311, the first half 312 and the second half 313 may be variously set. Hereinafter, the angle of the base 31 in a state where the cleaner main body 10 is not moved and is stopped will be described.

For example, the first half 312 may be inclined at an angle of 27 degrees with respect to the ground. It is possible to prevent the first half 312 from bumping against the ground even if the cleaner main body 10 rotates by pulling the suction hose 24 with the front half 312 having an angle of 27 °. Of course, the front part 312 may touch the ground surface by sudden operation, but at this time, the movement of the cleaner body 10 can be smoothly performed by the rolling motion of the front wheel 312a. In addition, the front part 312 can easily exceed the carpet, the threshold, and the like while the cleaner main body 10 is running by the inclination.

When the cleaner main body 10 is stopped, the center portion 311 may be inclined at an angle of 7 degrees with respect to the ground. When the wheel 60 is rotated by the wheel motor 632 and the cleaner main body 10 travels, the cleaner main body 10 is rotated in the counterclockwise direction by about 7 degrees, The center portion 311 is kept horizontal with the ground while the cleaner main body 10 is running, and thus the floor of the cleaner can be prevented from being caught by foreign substances in the room.

In a state where the cleaner main body 10 is stopped, the rear half 313 may be inclined at an angle of 10 degrees with respect to the ground. Accordingly, the cleaner main body 10 is rotated clockwise by the center of gravity of the cleaner main body 10, which is eccentrically backwardly rotated in a state where the cleaner main body 10 is stopped, to be seated on the ground.

That is, in the stopped state, the rear half 313 is already lowered by the center of gravity of the cleaner body 10, and regardless of the amount of dust stored in the dust container 50, the rear wheel unit 70 So that a stable supporting state can be maintained.

When the cleaner main body 10 is rotated by pulling the suction hose 24 by the inclined rear half 313, the rotation of the cleaner main body 10 is restricted by the bottom half 313 colliding with the ground. .

The wheel 60 is rotatably mounted on the wheel boss 316a of the side portion 316 and rotatably supports the wheel frame 61 on which the wheel gear 64 is mounted, And a wheel decolator 62 coupled to the outer surface of the wheel 60 to form an appearance of the wheel 60.

The wheel frame 61 forms a substantial skeleton of the moving wheel 60 and rolls in contact with the ground surface. The wheel frame 61 has a plurality of ribs 611 radially reinforced on the inner and outer surfaces thereof . A wheel gear mounting portion 612 to which the wheel gear 64 is fixed is formed at the center of the wheel frame 61. The wheel gear 64 may be rotatably mounted on the wheel boss 316a while being fixed to the wheel frame 61. [

A wheel opening 621 is formed at the center of the wheel decolator 62 and a coupling member for coupling the wheel gear 64 and the wheel frame 61 through the wheel opening 621 can be fastened have. A wheel cap 623 is mounted on the wheel opening 621 to shield the wheel opening 621.

12 is a bottom view of the cleaner main body. 13 is an exploded perspective view showing the coupling structure of the rear wheel unit according to the embodiment of the present invention. 14 is a sectional view showing the operating state of the rear wheel unit.

As shown in the figure, the base 31 may be provided with a rear wheel unit 70. At the rear end of the central portion 311 of the base 31, a base depression 311b recessed inward is formed. Wheel mounting portions 311c for mounting the rear wheel unit 70 are formed on the front ends of both side surfaces of the base depression 311b.

The rear wheel unit 70 contacts the ground in a state where the cleaner main body 10 is not moved so that the cleaner main body 10 maintains the set posture. The rear wheel unit 70 is brought into contact with the ground while the cleaner main body 10 is rotated so that the front half 312 can be heard and at the same time provides elasticity for the reverse rotation of the cleaner main body 10, It is possible to prevent the body 10 from being excessively rotated or turned off.

The rear wheel unit 70 may include a wheel supporter 71 and a rear wheel 72. The wheel supporter 71 is rotatably mounted on the rear wheel 72 and can contact the lower surface of the base 31 to provide a predetermined elasticity.

The wheel supporter 71 includes a pair of legs 73 provided on both sides of the wheel supporter 71. The wheel supporter 71 connects a front end of the leg 73 to a wheel receiving portion 74 on which the rear wheel 72 is mounted, And an elastic part 75 provided between the legs 73 and contacting with the base 31 to provide elasticity.

The leg 73 may be provided on both sides of the wheel 73. The leg 73 may be provided with a leg protrusion 731 protruding outwardly from the upper end of the leg 73, . The leg protrusion 731 may be inserted into the wheel mounting portion 311c and the wheel supporter 71 may be rotatably mounted on the leg protrusion 731.

The wheel receiving portion 74 is provided at a front end of the pair of legs 73 and is configured to connect between the pair of legs 73. The wheel receiving portion 74 may be formed in a downwardly opened shape to provide a space in which the rear wheel 72 can be received. A shaft receiving portion 741 may be further formed at both ends of the wheel receiving portion 74 so that the rotating shaft 721 of the rear wheel 72 is rotatably connected. Therefore, the rear wheel 72 can be rotated in a state accommodated in the wheel receiving portion 74.

The elastic part 75 is provided between the legs 73 and may extend from the front half of the leg 73 toward the rear half. The elastic portion 75 may be extended to have a predetermined curvature such that the extended end thereof faces the base 31. The elastic part 75 may be formed in a plate shape and may be elastically deformed when it comes into contact with the base 31.

The extended portion of the elastic portion 75 can contact the base 31 when the vacuum cleaner 1 is stopped. At this time, the rear wheel 72 can be in contact with the ground. Accordingly, the cleaner main body 10 can be supported by the pair of the moving wheels 60 and the rear wheel 72 behind the moving wheels 60 to maintain a stable state.

The elastic part 75 may be elastically deformed when the vacuum cleaner main body 10 rotates about the moving wheel 60 by moving the vacuum cleaner main body 10, In order to prevent excessive rotation or conduction. When the external force for rotating the vacuum cleaner 1 is removed after the vacuum cleaner 1 stops moving, the vacuum cleaner body 10 returns to its original position by the restoring force of the elastic portion 75.

A terminal mounting portion 311a is formed at one side of the base 31 corresponding to the power supply terminal 307 to expose the power supply terminal 307 downward. The terminal mounting portion 311a is formed such that a lower surface thereof is opened, and the power supply terminal 307 may be provided in the terminal mounting portion 311a. The terminal mounting portion 311a may be located at a position adjacent to one side of the moving wheel 60 so that the moving wheel 60 is seated on the charging device and fixed to the power supplying terminal 307 The charging device can be aligned.

FIG. 15 is a rear view of the rear cover of the cleaner main body. FIG. 16 is an exploded perspective view showing a combined structure of a battery and a filter according to an embodiment of the present invention.

As shown in the drawing, a rear cover 314 may be provided on the rear surface of the cleaner main body 10. The rear cover 314 may be rotatably mounted on the base 31 and may be configured to open and close the rear opening 317 formed by the base 31 and the upper decor 37 by rotation. do.

A rear cover restraining portion 314a may be formed at the upper end of the rear cover 314 to selectively fix the rear cover 314 to the rear end of the upper deck 37. Therefore, opening and closing of the rear cover 314 can be operated by the operation of the rear cover restraining portion 314a.

A cover rotation shaft 314b protrudes from both sides of the lower end of the rear cover 314. The cover rotation shaft 314b is coupled to the base 31 and the rear cover 314 rotates about the cover rotation axis 314b when the rear cover 314 is opened and closed to open the rear opening 317 So that it can be opened and closed.

A space for accommodating the filter and the battery unit 38 may be formed on the rear portion of the cleaner main body 10, that is, behind the center of the moving wheel 60. The space in which the filter unit 39 and the battery unit 38 are accommodated can be defined by the lower frame 33. The lower frame 33 includes a first barrier 331 and a first sidewall 332 and the filter unit 39 and the battery unit 33 are coupled by the engagement of the base 31 and the upper frame 34. [ A space for accommodating the light emitting diode 38 can be formed.

The filter unit 39 may include a filter case 391 forming an outer shape and a filter member 392 provided inside the filter case 391. The filter member 392 filters ultrafine dust (defined as dirt of particles smaller than dirt and fine dust) in the air that has passed through the dust container 50 and the main motor 35. Generally, Can be used. As a matter of course, the filter member 392 may be various kinds of filters capable of filtering ultrafine dust.

The filter case 391 may be disposed above the space and may be configured to contact the bottom surface of the upper frame 34 in a mounted state. Therefore, all the air flowing into the space through the plate hole 341a of the upper frame 34 can be purified while passing through the filter unit 39. After the cooling of the battery unit 38, .

A part of the air introduced into the space through the plate hole 341a can be moved forward through the first barrier hole 331a of the first barrier 331. In this process, (302) and the main PCB (301).

A filter handle 393 may be formed at the rear end of the filter case 391. When the rear cover 314 is opened, the filter handle 393 is exposed, and the user grips the filter handle 393, The unit 39 can be separated from the space.

Filter grooves 394 may be formed on both sides of the filter case 391. The filter groove 394 may extend in the longitudinal direction from the rear end of the filter case 391 and may be inserted into the filter guide 333 formed in the second sidewall 343.

That is, the filter case 391 is inserted into the space between the filter guides 333 formed on both sides when the filter case 391 is mounted in the space. Therefore, the filter case 391 can be completely inserted into the space along the filter guide 333, and in a state in which the filter case 391 can be installed in contact with the bottom surface of the upper frame 34 have.

The battery unit 38 can supply power necessary for all the operations of the vacuum cleaner 1. The battery unit 38 may be a secondary battery that can be charged and discharged. Of course, a power cord (not shown) for supplying commercial power may be separately connected to the battery unit 38.

On the other hand, in the case of a model not shown, in which the battery unit 38 is not provided, a cordless cord (not shown) may be disposed around which a power supply line is supplied instead of the battery unit 38. The center of gravity can be moved backward by the claw drill.

The battery unit 38 may include a battery case 381 and a secondary battery accommodated in the battery case 381. The secondary battery 383 may be arranged in the battery case 381 in an aligned state.

The battery case 381 may be formed in an acceptable size in the space, and a battery grill 381a may be formed on the upper surface and the lower surface of the battery case 381 and at a position corresponding to the rear cover 314. Therefore, the air that has passed through the filter unit 39 and flows into the space can pass through the battery case 381 through the battery grill 381a to cool the secondary battery 383.

A battery handle 382, which can be held by the user when the battery unit 38 is drawn out from the space, may be formed on the rear surface of the battery case 381. Battery grooves 384 may be formed on both sides of the battery case 381. The battery groove 384 is recessed from both sides of the battery case 381 and extends from the front end toward the rear.

A battery guide 334 formed at a lower portion of the first sidewall 332 is inserted into the battery groove 384 and the battery guide 334 is inserted into the battery groove 384 when the battery unit 38 is mounted. 384 so that the battery unit 38 can be properly mounted.

The battery guide 334 on both sides of the first sidewall 332 may be provided with a battery restricting portion 335 and a battery restricting member 336, respectively. The battery restricting portion 335 and the battery restricting member 336 are disposed to face each other so that the battery unit 38 is installed in the space. And can be engaged with the battery restricting groove 385 formed on both sides.

In detail, the battery restricting portion 335 is formed by cutting a part of the first sidewall 332 to form a first elastic portion 335a, and a first restricting projection 335a is formed at an end of the first elastic portion 335a 335b may be formed. Accordingly, when the battery unit 38 is inserted, the first elastic portion 335a may be elastically deformed. When the battery unit 38 is fully inserted, the first restricting protrusion 335b may be elastically deformed, So that one side of the battery unit 38 can be restrained by engaging with the restricting groove 385.

Meanwhile, the battery restraint member 336 is fixedly mounted on the first sidewall 332 facing the battery restraining part 335. A side hole 334a formed in a shape corresponding to the battery restricting member 336 is opened in the first side wall 332 on which the battery restraint member 336 is mounted. The side hole 334a may be formed with a restricting member fixing portion 334b for press-fitting the periphery of the battery restricting member 336. [ Therefore, the battery restraint member 336 can be fixedly mounted by press fitting, and hooks are formed at the end of the restraining member fixing portion 334b, so that the battery restraint member 336 can be maintained in a fixed state .

The battery restraint member 336 may be formed of a different material from the battery restraint unit 335. For example, the battery restricting part 335 may be formed integrally with the lower frame 33 and may be injection molded of ABS material. The battery restraint member 336 may be formed of a POM material. The battery restricting member 336 and the battery restricting portion 335 are formed of different materials and are separately formed to prevent breakage of the restricting portion when the battery unit 38 is attached and to be more effectively combined.

The battery restraining member 336 may include a restraining member rim 336a formed in a rectangular shape corresponding to the side hole 334a and the restraining member rim 336a may protrude from the side of the battery restraining member 335 And is fixedly mounted on the side hole 334a by the circumference. The battery restricting member 336 may include a second elastic portion 336b and the second restricting protrusion 336c.

The second elastic part 336b and the second restricting protrusion 336c may have a shape corresponding to the first elastic part 335a and the first restricting protrusion 335b. That is, the second elastic portion 336b may be formed by cutting the inner side of the battery restricting member 336, and may have elasticity by extending to a predetermined length. The second restricting projection 336c may be formed at an end of the extended second elastic portion 336b.

The second elastic portion 336b may be elastically deformed when the battery unit 38 is inserted and when the battery unit 38 is fully inserted, So that the battery unit 38 can be restrained by engaging with the restricting groove 385.

A battery terminal 331b connected to the battery unit 38 in a state in which the battery unit 38 is fully inserted may be provided at a lower end of the first barrier 331. [ The battery terminal 331b may protrude in the inserting direction of the battery unit 38 and may be configured to engage with the front surface of the battery unit 38. [ The battery terminal 331b may be electrically connected to the battery unit 38 and may supply power for driving the internal configurations of the vacuum cleaner 1.

A holder 371 may be provided above the rear opening 317 which is shielded by the rear cover 314. When the vacuum cleaner 1 is not in use, the holder 371 can be fixedly mounted on the extension pipe 22, and the opening 371a can be formed so as to be narrowed downward from the opened upper side. have.

The holder 371 may be formed separately from the upper decor 37 and inserted into the upper decor 37. The extension pipe holder 371 can be additionally fixed to the main body 30 by the holder fixing member 371b and is not damaged when the extension pipe 22 is mounted and a load is generated. The holder 371 may be formed of a metal material. The holder 371 may be formed by die casting to have higher strength.

17 is a sectional view of the cleaner main body before the battery is mounted. 18 is a cross-sectional view of the cleaner main body with the battery mounted thereon.

17, before the battery unit 38 is mounted, the battery restraining part 335 and the battery restraint member 336 are disposed at positions facing each other. The first and second elastic portions 335a and 336b are not subjected to an external force and the first and second fixing protrusions 335b and 336c are in contact with the lower surface of the lower frame 33 And is projected into the inner space.

In this state, the user can open the rear cover 314 to expose the space and mount the battery unit 38. After the rear cover 314 is opened, the battery unit 38 is inserted into the space. At this time, the battery unit 38 may be slidably inserted in a state in which the battery guide 384 is aligned with the battery guide 334. When the battery unit 38 is fully inserted, And the front surface is coupled with the battery terminal 331b to supply power to the internal components of the cleaner body 10. [

18, the front surface of the battery unit 38 is in contact with the first barrier 331 in a state in which the battery unit 38 is completely inserted and mounted. During the insertion of the battery unit 38, the first elastic portion 335a and the second elastic portion 336b are elastically deformed outwardly. When the battery unit 38 is inserted, the first and second fixing protrusions 335b and 336c are inserted into the battery fixing groove 385 formed on both sides of the battery case 381, Keep the state.

19 is a perspective view of the cover member. 20 is an exploded perspective view of the cover member. FIG. 21 is a partial cross-sectional view showing a coupling structure of the cover member and the obstacle sensing member. FIG.

The cover member 40 forms an upper portion of the cleaner main body 10 and is formed to have a structure for shielding the upper end of the upper decor 37 and the upper end of the dust container 50, .

The cover member 40 may include a cover base 42 and an out cover 43 as a whole. The cover base 42 forms a lower surface of the out cover 43 and substantially obscures the opened upper surface of the dust container 50 and the main body 30. [

A cover member engaging portion 421 is formed at the rear end of the cover base 42. The cover member engaging portion 421 is engaged with the upper end of the main body 30, As shown in Fig. A connecting hole 422 connected to the connector 401 may be formed on the front end of the cover base 42.

The cover base 42 may be provided with an obstacle sensing member 44. The obstacle sensing member 44 can identify an obstacle during traveling of the cleaner main body 10 while the cleaner main body 10 is moving. The obstacle sensing member 44 can be disposed on the front surface of the cover base 42.

A plurality of the obstacle sensing members 44 may be provided and a plurality of the obstacle sensing members 44 may be provided on the front center of the cover base 42, that is, on the left and right sides with respect to the connector 401. That is, two of the obstacle sensing members 44 may be provided on both left and right sides of the center of the cover base 42, and each of the obstacle sensing members 44 may be provided with a laser sensor 441 at an angle of about 25 degrees As shown in FIG. The plurality of obstacle sensing members 44 may be disposed to face the neighboring obstacle sensing members 44 in different directions.

The obstacle detection sensor 44 may include front sensors 44b and 44c and lateral sensors 44a and 44d. The front sensors 44b and 44c detect an obstacle located in front of the cleaner main body 10 and sense an obstacle in front of the cleaner main body 10 when the cleaner main body 10 is running. The side sensors 44a and 44d are for detecting obstacles located on the sides of the cleaner main body 10 and obstacles are present on the sides adjacent to the cleaner main body 10 during traveling of the cleaner main body 10. [ If so, you can detect it. Particularly, the lateral sensors 44a and 44d allow the cleaner main body 10 to travel without being caught by the edge of the wall through combination with the front sensors 44b and 44c.

In more detail, the front sensors 44b and 44c may be disposed on both left and right sides of the connector 401 so as to irradiate light rays diagonally between the front and the side. That is, as shown in FIG. 21, the center of the front sensors 44b and 44c on both sides is positioned at a position rotated at an angle of 45 degrees in the clockwise direction and the counterclockwise direction with respect to the center of the connector 401 . Accordingly, the centers of the front sensors 44b and 44c on both sides can be at an angle of 90 degrees with respect to each other.

Since the detection range of the obstacle detection sensor 44 is approximately 25 ° each, a non-sensing area S is generated between the front sensors 44b and 44c. The non-sensing area S may have an angle of 65 degrees. The non-sensing area S is an area where the suction hose 24 can be positioned while the cleaner main body 10 is running, and the front sensors 44b and 44c recognize the suction hose 24 as an obstacle . That is, even if the user moves the suction hose 24 during the cleaning operation, the front sensors 44b and 44c erroneously recognize the suction hose 24 as an obstacle so that the cleaner main body 10 travels abnormally Can be prevented.

The side sensors 44a and 44d are positioned further behind the front sensors 44b and 44c and are arranged to irradiate a light beam toward the side of the cleaner body 10. [ That is, the lateral sensors 44a and 44d may be disposed on both sides of the center of the connector 401 so as to form an angle of about 90 °. Accordingly, the lateral sensors 44a and 44d can detect an obstacle appearing on the side of the cleaner main body 10. [

Meanwhile, the lateral sensors 44a and 44d may be configured to have a sensing distance shorter than the sensing distance of the front sensors 44b and 44c. For example, the front sensors 44b and 44c may be configured to have a sensing distance L1 of about 600 mm forward, but the lateral sensors 44a and 44d may have lateral sensing distances L2 of about 350 mm Lt; / RTI >

Since the obstacle located in front of the cleaner main body 10 is likely to be interfered with during traveling of the cleaner main body 10, it is possible to detect an obstacle at a long distance, and in case of an obstacle located at the side, It is not likely that the cleaner main body 10 will be interfered with during traveling of the cleaner main body 10.

Particularly, if the detection distance L2 of the lateral sensors 44a and 44d is set to be shorter than the detection distance L1 of the front sensor, it is possible to smoothly escape when the main body 10 is out of a wall or a corner .

The obstacle sensing member 44 may include a laser sensor 441 and a sensor substrate 442 on which the laser sensor 441 is mounted. The sensor substrate 442 may include the laser sensor 441, 441 may be further mounted. Of course, various means such as an ultrasonic sensor, a proximity sensor and a vision camera, which can detect an obstacle ahead, may be used instead of the laser sensor 441 in the obstacle sensing member 44.

A locking assembly 80 may be further provided between the cover base 42 and the outboard cover 43 to allow the cover member 40 to be selectively constrained. The locking assembly 80 may include a main link 83 and a sub link 84 that are operated by a pushing member 81 and the pressing member 81.

The outer cover 43 forms the outer shape of the cover member 40 and forms the upper surface of the cleaner body 10 in a state where the cover member 40 is closed. A connector 401 connected to the fitting portion 241 of the suction hose 24 is formed at the front end of the out cover 43. The connector 401 is connected to the connecting hole 422 to allow dust and air sucked through the suction device 20 to flow toward the dust container 50.

A sensing hole 431 may be formed on the front surface of the outer cover 43 with respect to the connector 401. The detection hole 431 may be opened at a position corresponding to the laser sensor 441 and may be configured to emit and receive light rays for detecting an obstacle.

Meanwhile, the sensing hole 431 may be open at a position corresponding to the front sensors 44b and 44c and the lateral sensors 44a and 44d, and both inner sides may be inclined. Therefore, it is possible to cause the irradiated light to be irradiated by the set angle range.

The sensing hole 431 may further include a hole cover 432 formed of a material capable of transmitting the light of the laser sensor 441 and shielding the sensing hole 431. The plurality of detection holes 431 are all formed at the same height, and may be positioned symmetrically with respect to the connector 401. The detection hole 431 and the obstacle sensing member 44 are disposed in the vicinity of the center of the cover unit (not shown) that is exposed to the front without being shielded by the main body 30 so as to detect obstacles during running of the cleaner main body 10. [ 40 may be disposed on the front surface of the ash.

The grip portion 41 may be formed on the top surface of the out cover 43. The grip portion 41 may extend from one side of the connector 401 to a rear end of the out cover 43. The grip portion 41 may be provided with a pressing member 81 for pressing the cover member 40 by a user's pressing operation. The cover restraint protrusion 843 is selectively protruded to both sides of the cover member 40 by the operation of the pressing member 81 so that the cover member 40 can be selectively restrained to the main body portion 30 have.

22 is an exploded perspective view showing a coupling structure of a locking assembly according to an embodiment of the present invention.

As shown in the figure, the locking assembly 80 includes the pushing member 81 to be pressed by the user, the transmitting member 82 for transmitting the operation of the pressing member 81, and the transmitting member 82 A main link 83 rotated by the main link 83 and a sub link 84 horizontally moved by rotation of the main link 83. [

The pressing member 81 may be accommodated inside the grip portion 41 and may be arranged to be vertically movable. The grip portion 41 may be formed by combining the grip portion cover 411 and the grip portion body 412 and the pressing portion 81 may be mounted on the grip portion body 412. A cover opening 411a may be formed in the grip cover 411 and the pressing member 81 may be exposed through the cover opening 411a.

A transmitting member mounting portion 811 extending downward is formed on the lower surface of the pressing member 81. The transfer member 82 is mounted on the transfer member mounting portion 811. The transmitting member 82 and the pressing member 81 may be axially coupled and the transmitting member 82 may be moved up and down together with the pressing member 81 being rotated at a predetermined angle.

In addition, a transmitting member inclined portion 821 may be formed on the lower surface of the transmitting member 82. The transmission member slanting portion 821 is formed to move the main link 83 in contact with the main link 83 to be described below. The width of the slanting portion 821 increases toward the upper end of the main link 83 to form an inclined surface.

The main link 83 and the sub link 84 may be coupled with each other and interlocked with each other. A pair of the main link 83 and the sub link 84 may be provided on the left and right sides of the center of the cover base 42, respectively. That is, the main link 83 and the sub link 84 are connected to each other by a first main link 83a and a first sub link 84a provided on the left side and a second main link 83b And a second sub link 84b.

The main link 83 may be rotatably coupled to the cover base 42 by the fastening bosses 85. The main link 83 includes a penetration portion 831 through which the coupling boss 85 passes and a first extension portion 832 extending from the penetration portion 831 toward the center where the transmission member 82 is located. And a second extending portion 833 extending in the direction perpendicular to the first extending portion 832 in the penetrating portion 831. [

The connecting portions 834 formed in the first extending portions 832 of the first main link 83a and the second main link 83b may be overlapped with each other. An extension portion hole 834b and an extension portion protrusion 834a which are rotatably coupled to each other are formed so that the first main link 83a and the second main link 83b can be interlocked with each other.

One end of the first extending portion 832, that is, one end of the first extending portion 832, which is in contact with the transmitting member 82, is formed with an extending portion inclined surface 834c corresponding to the transmitting member inclined portion 821. As the transmitting member 82 moves up and down, the transmitting member inclined portion 821 is inclined with respect to the extending portion inclined surface 834c So that the first extending portion 832 can be moved in the forward and backward directions. The first main link 83a and the second main link 83b may be rotated in accordance with the forward and backward movement of the first extension portion 832. [

The sub-link 84 may be rotatably coupled to an end of the second extension 833. That is, the first sub link 84a and the second sub link 84b are coupled to the ends of the pair of second extending portions 833, respectively. A link hole 833a is formed at an end of the second extension portion 833 and the first sub link 84a and the second sub link 84b are connected to the link hole 833a A link protrusion 841a may be formed. Therefore, when the main link 83 rotates, the sub link 84 can interlock with the sub link 84.

A link guide 423 may be formed on the cover base 42. The link guide 423 is formed at a position corresponding to the positions of the first sub link 84a and the second sub link 84b and has the first sub link 84a and the second sub link 84b Is formed in the space. The link guide 423 may be formed as a pair of ribs and may be guided so that the sub link 84 can be moved between the pair of ribs.

The first sub link 84a and the second sub link 84b are connected to each other by a third extension part 841 accommodated in the link guide 423 and a fourth extension part 841 folded vertically in the third extension part 841. [ And an extension portion 842. The third extending portion 841 may be provided with a cover fixing protrusion 843 projecting laterally.

The side surface of the cover fixing protrusion 843 may be formed with an inclined surface 843a and the inclined surface 843a may be inclined such that the width becomes wider from the lower end to the upper end. Therefore, when the cover member 40 is closed, the inclined surface 843a of the cover fixing protrusion 843 comes in contact with the side wall of the upper deco 37, (424), it may protrude outward and be constrained. For this, the upper end of the cover fixing protrusion 843 may be formed in a planar shape.

A protrusion opening 424 through which the cover fixing protrusion 843 can be inserted and removed can be formed on a side surface of the cover base 42 corresponding to the position of the link guide 423. The cover fixing protrusion 843 can be inserted into or protruded from the protrusion opening 424 when the second sub link 84b is moved in the horizontal direction and the cover fixing protrusion 843 can protrude from the protrusion opening / So that the cover member 40 can be held in a closed state by being engaged with one side of the main body 30.

Although not shown, at least one of the pressing member 81, the main link 83, and the sub link 84 may be provided with an elastic member such as a spring, The protruding portion 843 can maintain the protruded state in a state in which no external force is provided by the user's operation.

23 is a perspective view showing a state before the locking assembly is operated. 24 is a cross-sectional view showing the locking assembly before the operation.

As shown in the figure, when the user does not operate the pushing member 81, the transmitting member 82 remains in contact with the main link 83. At this time, the transmitting member 82 is located at the uppermost position, and the transmitting member inclined portion 821 is in contact with the inclined plane 834c of the extending portion.

A guide slope 822 may be further formed at the lower end of the transmission member 82 so that the guide slope 822 may be in contact with a guide member 412a formed in the cover base 42. [ That is, when the transfer member 82 moves downward, the transfer member 82 moves the guide slope 822 along the transfer member guide 412a. The transfer member guide 412a extends perpendicular to the main link 83 so that the transfer member 82 moves in a direction intersecting with the main link 83 when the transfer member 82 moves downward, The link 83 can be operated.

At this time, the first main link 83a and the second main link 83b are maintained on the same extension line, and the main link 83 is maintained in a state where no external force is applied. Accordingly, the sub-link 84 is maintained in a state in which no external force is applied, and the cover-fixing protrusion 843 is engaged with the one side of the main body 30 in a state of protruding from the protrusion- So that the cover member 40 can be kept in a closed state.

In this state, in order to open the cover member 40, the user presses the pushing member 81 to operate. The main link 83 and the sub link 84 operate in conjunction with each other by the operation of the pushing member 81 and the cover member 40 can be opened.

25 is a perspective view showing an operation state of the locking assembly. 26 is a sectional view showing the operating state of the locking assembly.

As shown in the figure, when the user presses the pushing member 81, the transmitting member 82 moves downward. At this time, the transmitting member 82 can be rotated by the rotation shaft 811a on the transmitting member mounting portion 811, and the main link 83 can be pressed in the vertical direction. At this time, a pair of separation preventing protrusions 824 may protrude from the upper end of the transmission member 82 to prevent excessive rotation or deviation of the transmission member 82. The separation preventing protrusions 824 The release preventing ribs 812 of the pressing members 81 can be disposed between the release preventing ribs 812.

When the transmission member 82 is moved downward in a state of being in contact with the inclined plane 834c of the extending portion 834c, the transmission member inclined portion 821 is inclined with respect to the extending portion inclined plane 834c ) Relative motion. That is, the first extension portion 832 is pushed forward. At this time, since the first main link 83a and the second main link 83b are connected to each other, the first extending portion 832 moves forward together.

When the first extension portion 832 moves forward, the main link 83 rotates about the penetration portion 831, and the second extension portion 833 moves in a direction approaching each other . Accordingly, the first sub link 84a and the second sub link 84b connected to the second extension part 833 are horizontally moved toward the inside. The cover fixing protrusion 843 formed on the sub link 84 is also horizontally moved by the horizontal movement of the sub link 84 and moves to the inside of the protrusion opening 424.

In this state, the cover fixing protrusion 843 is positioned inside the cover member 40, so that the restraint with the main body unit 30 can be released. Therefore, the user rotates the cover member 40 while gripping the grip portion 41 of the cover member 40 to open the inside of the body portion 30 or to open the dust container 50 to the main body portion 30 As shown in Fig.

27 is a perspective view showing the cover member opened; 28 is an exploded perspective view showing a coupling structure of a link assembly according to an embodiment of the present invention.

As shown in the figure, the cover member 40 is formed with the cover member engaging portion 421 at a rear end thereof, and the cover member engaging portion 421 is engaged with the upper deck 37 of the main body 30 And may be coupled to the cover member engaging hole 372 formed therein. When the cover member engaging portion 421 is engaged with the cover member engaging hole 372, the cover member 40 can be rotatably mounted, and the cover member 40 is engaged with the cover member engaging portion 421 So that the inside of the main body 30 can be opened and closed.

The cover member 40 can be opened and closed at the time of separating the dust container 50. In this case, the cover member 40 can be easily separated from the dust container 50 You can do the work.

The cover member 40 has a structure in which the fitting portion 241 of the suction hose 24 is mounted on the front end of the cover member 40. Therefore, The cover member 40 is closed naturally.

A link assembly 90 may be provided to connect the rear end of the cover member 40 and the inside of the upper decor 37 to maintain the open state of the cover member 40 in such a state.

The link assembly 90 includes a rotation link 91 attached to the cover member engaging portion 421 and a slider 92 coupled to the rotation link 91 and slidably moved upon rotation of the rotation link 91. [ And a spring 93 for elastically supporting the slider 92.

The rotary link 91 includes a rotary part 911 rotatably mounted on the cover member engaging part 421 and a supporting part 912 extended from both sides of the rotary part 911 in a state of being separated from each other And the like.

The rotary part 911 may be inserted between a pair of the cover member engaging parts 421 and the rotary shaft 911a projecting laterally from both side ends of the rotary part 911 may be inserted into the cover member engaging part 421, 421, 422, 423, 423, Therefore, the rotation link 91 can be rotated about the rotation axis 911a, and can be rotated when the cover member 40 is opened or closed.

The supporting portion 912 may extend in a state of being spaced apart from each other and a space portion 913 may be formed between the pair of supporting portions 912 to accommodate the end portion of the slider 92. A slider fixing portion 912a and a supporting protrusion 912b may be formed at the ends of the pair of supporting portions 912, respectively.

The slider fixing portions 912a protrude in the direction opposite to each other at the ends of the supporting portion 912 and are positioned inside the space portion 913. [ The slider fixing portion 912a may be inserted into the slider fixing groove 921 of the slider 92. [ The slider fixing portion 912a may be a rotary shaft of the slider 92 or the rotary link 91. [

The supporting protrusions 912b protrude laterally from the end of the supporting portion 912 to the outer side. The supporting protrusion 912b protrudes outward and selectively engages with the interference protrusion 375a inside the link assembly receiving portion 373 when the cover member 40 is opened or closed.

Supporting slits 912c may be formed at the ends of the supporting portion 912. [ The supporting slit 912c can easily elastically deform the end of the supporting portion 912 when the supporting protrusion 912b interferes with the interference protrusion 375a.

The rear end of the slider 92 is disposed inside the space portion 913 and the front end portion of the slider 92 can be received in the link assembly receiving portion 373 formed in the body portion 30. [

On both right and left sides of the slider 92, a slider fixing groove 921 which is recessed inward may be formed. The slider fixing groove 921 is formed to open rearward and is configured to receive the slider fixing portion 912a formed in a shaft shape. The slider 92 may be operated in cooperation with the rotation link 91

A slider guide 922 may be formed in front of the slider fixing groove 921. The slider guide 922 may extend from an end of the slider fixing groove 921 to an end of the slider 92. The slider guide 922 includes a pair of left and right ribs on both sides thereof, and the guide ribs 374a to be described below are accommodated to allow smooth movement of the slider 92.

A spring hole 923 recessed inward is formed on the rear surface of the slider 92. It is felt that the spring 93 can be inserted into the spring hole 923 and can be compressed or elastically deformed by the movement of the slider 92 to provide an elastic force to the slider 92.

Meanwhile, the link assembly receiving portion 373 may be formed in the upper decor 37. The link assembly receiving portion 373 may be provided on the upper surface of the main body 30. [ The slider 92 and the rotary link 91 may be formed in a size that allows the slider 92 and the rotary link 91 to move in and out.

In detail, a slider accommodating portion 374 accommodating the slider 92 may be formed at an inner center of the link assembly accommodating portion 373. Guide ribs 374a are formed to protrude from both side walls of the slider receiving portion 374. The guide ribs 374a may protrude into the slider guide 922 and extend in the inserting direction of the slider 92. Therefore, the guide ribs 374a and the slider guides 922 can slide on the predetermined path without detaching the slider 92 when the slider 92 is slid forward and backward.

The link assembly receiving portion 373 may further include a link receiving portion 375 into which the rotating link 91 can be selectively inserted. The link receiving portion 375 is located behind the slider receiving portion 374 and provides a space in which the rotating link 91 can be received and can be opened rearward.

An interference protrusion 375a protruding inward may be protruded from the inner wall surface of the link receiving portion 375. The interference protrusion 375a supports the supporting protrusion 912b formed on the supporting portion 912 in a state that the cover member 40 is opened and the rotating link 91 is drawn out, So that the state to be drawn out can be maintained.

At this time, the interference protrusion 375a may be inclined at a predetermined angle so that the rotation link 91 can be supported in an inclined state when supporting the supporting protrusion 912b. That is, when the interference protrusion 375a supports the supporting protrusion 912b, the cover member 40 maintains a tilted state, so that the cover member 40 can be kept open.

The cover member 40 is rotated in accordance with whether the supporting protrusion 912b is supported by the interference protrusion 375a or over the interference protrusion 375a in accordance with the rotation operation of the cover member 40 by the user, It is possible to determine the open /

29 is a sectional view showing the state of the link assembly when the cover member is closed.

Referring to the drawings, a state of the link assembly 90 when the cover member 40 is closed will be described. When the cover member 40 is closed, Thereby shielding the opened upper surface. The lower end of the cover member 40 is brought into contact with the lower end of the upper deck 37 and the link assembly 90 of the cover member 40 is constrained to the upper deck 37.

The slider 92 and the rotary link 91 are inserted into the link assembly receiving portion 373 of the upper decor 37 and the rotary link 91 is horizontally One state or the same extension state.

At this time, since the slider 92 is completely inserted into the slider receiving portion 374, the spring 93 is compressed to the maximum. Therefore, when the user releases the restraint of the locking assembly 80 to open the cover member 40, the slider 92 is pushed by the elastic force of the spring 93, 40 are rotated.

In this state, the user presses the pushing member 81 to open the cover member 40 to operate the locking assembly 80, and the cover member 40 and the main body 30 So that the cover member 40 can be opened. The user can hold the grip portion 41 and rotate the cover member 40 to open the cover member 40.

30 is a sectional view showing the state of the link assembly with the cover member opened; 31 is an enlarged view of part A of FIG.

Referring to the drawings, the state of the link assembly 90 when the cover member 40 is opened will be described. When the user opens the cover member 40, And can be opened by rotating clockwise about the axis 421 as an axis.

The slider 92 connected to the rotation link 91 is coupled to the slider guide 922 and the guide ribs 91. The slider 92 is coupled to the slider guide 922, 374a to the rear side (the right side room in FIG. 30). The spring 93 that elastically supports the slider 92 when the slider 92 is moved can provide an elastic force to further facilitate the movement of the slider 92. [

The rotary link 91 is horizontally moved together with the slider 92 so as to pull the slider 92 to pull out the slider 92 and is simultaneously rotated counterclockwise. At this time, the supporting protrusion 912b of the rotating link 91 comes into contact with the interference protrusion 375a on the link assembly receiving portion 373. [

When the user fully opens the cover member 40, the rotating link 91 can be in the state as shown in FIGS. 30 and 31. At this time, the supporting protrusion 912b is passed through the interference protrusion 375a by the user's turning operation of the cover member 40, and the supporting portion 912 is elastically deformed so that the supporting protrusion 912b So that the interference protrusion 375a can be passed over.

In this state, the cover member 40 can be stopped from being opened. Even if the grip portion 41 is placed, the supporting protrusion 912b comes in contact with the interference protrusion 375a, . The cover member 40 can be kept open at a predetermined angle. When the cover member 40 is opened, the user can separate the dust container 50 from the dust container 50, It is possible to perform necessary work.

On the other hand, when the cover member is to be closed again in the state as shown in FIGS. 30 and 31, the cover member may be pivoted counterclockwise by closing the grip member by holding the grip member.

At this time, as the cover member 40 starts to rotate in the counterclockwise direction, the supporting protrusion 912b passes over the interference protrusion 375a by the force applied by the user, and the supporting portion 912 It can be elastically deformed to facilitate the movement of the supporting protrusion 912b.

When the cover member 40 is completely rotated and closed, the state as shown in FIG. 29 is reached. When the cover member 40 is closed, the cover fixing protrusion 843 of the locking assembly 80 is inserted into the protrusion opening / So that the cover member 40 can be held in a closed state.

32 is a perspective view of the dust container. 33 is an exploded perspective view of the dust container.

As shown in the figure, the dust container 50 separates and stores dust in the air flowing through the suction device 20, and the suctioned air is separated into dust and air by a first cyclone 54 and the second cyclone 55 and then discharged through the discharge port 512 and introduced into the main body 30.

The dust container 50 includes an upper cover 52 for opening and closing an open upper end of the transparent case 53 and the transparent case 53 as a whole and a lower cover 52 for opening and closing the lower end of the transparent case 53. [ And a cover 52 as shown in Fig. The first cyclone 54 and the second cyclone 55 and the inner case 544, the dust compression unit 56 and the guide unit 543 can be accommodated in the transparent case 53.

More specifically, the upper cover 52 forms an upper surface of the dust container 50, and is configured to be shielded by the cover member 40 when mounted on the main body 30 . A suction port 511 is formed in front of the dust container 50. The suction port 511 communicates with the connector 401 when the cover member 40 is closed, So that air containing dust to be sucked flows into the inside of the dust container (50).

Although not shown in detail, a flow guide 518 is provided on the inside of the upper cover 52 so that the air introduced through the inlet 511 is guided along the outer periphery of the upper case 52, So that it can flow downward along the inner side. At this time, the air to be flowed is discharged in one direction along the inner surface of the transparent case 53 by the upper cover 52, and can rotate along the circumference of the transparent case 53 while rotating in a spiral shape.

At the rear of the upper cover 52 facing the suction port 511, a discharge port 512 is formed. The discharge port 512 is an outlet through which the air in the dust-filtered state passes through the first cyclone 54 and the second cyclone 55 in the dust container 50 and is discharged to the outside of the dust container 50. The air inside the dust container 50 can be guided to the discharge port 512 by the flow guide 518 provided in the upper cover 52. The discharge port 512 may be connected to the guide hole 303a of the suction guide and may be introduced into the main body 30 through the guide hole 303a.

On the upper surface of the upper cover 52, a dust bin grip 513 which can be drawn upward can be provided. The handle 513 may include a handle 513a extending in the transverse direction and a side extension 513b extending vertically at both ends of the handle 513a. The side extension portion 513b can be inserted into the upper cover 52 and the tab 513a can be brought into close contact with the upper surface of the upper cover 52 at this time. In the state in which the dust container 50 is mounted, the dust container handle 513 is inserted by its own weight and is not interfered with when the cover member 40 is opened or closed.

An upper cover insertion portion 514 extending downward along the periphery is formed at a lower end of the upper cover 52 and an upper gasket 515 is provided at the upper cover insertion portion 514, 52) is hermetically sealed in the transparent case (53) in a state where the transparent case (53) is mounted on the transparent case (53). The upper cover 52 is maintained in a state of being coupled to the transparent case 53 by the upper locker 57 described below.

The lower cover 52 may be formed in a shape corresponding to the bottom surface of the transparent case 53 so as to cover the opened bottom surface. The lower cover 52 is provided with a lower gasket 523 which is in close contact with the transparent case 53 to close the transparent case 53 and the lower cover 52 when the lower cover 52 is closed. .

A transmission gear 59 may be provided at the center of the lower cover 52. The transmission gear 59 connects the compression motor assembly 323 and the dust compression unit 56 so that the dust compression unit 56 can be powered by the compression motor assembly 323 .

One side of the lower cover 52 may be axially coupled to the lower end of the transparent case 53 and may be opened or closed by rotating the lower cover 52 to empty the dust. The lower cover 52 is kept in a state of being coupled to the transparent case 53 by a lower locker 58 to be described later. Accordingly, the lower cover 52 can be selectively opened and closed by the operation of the lower locker 58.

The first cyclone 54 is configured to filter out foreign matter and dust from the introduced air, and to allow the foreign matter and dust to flow into the interior. The first cyclone 54 may include a cylindrical strainer 541 having a plurality of holes and a dust filter 542 provided outside or inside the strainer 541.

Therefore, the air introduced along the transparent case 53 can be filtered by the dust filter unit 39, and the filtered dust is introduced into the inside of the strainer 541 and then falls downward, (543) and stored in the first dust collecting space (501) below the dust container (50). On the other hand, the fine dust which is not filtered by the dust filter unit 39 can flow into the second cyclone 55 through the dust filter unit 39 and can be separated.

The second cyclone 55 may be accommodated in the strainer 541 and may include a plurality of cones 551 formed in a conical shape that becomes narrower toward the lower side. The upper end of the casing 551 and the lower end of the casing 551 are opened and the sucked air is rotated inside the casing 551 so that the fine dust is separated and discharged downwardly and the air separated from the fine dust is discharged upward It can have a structure that flows. The fine dust separated by the casing 551 may be stored in the second dust collecting space 502 separated from the first dust collecting space 501.

An inlet 551a through which air can be introduced may be formed in the upper portion of the casing 551. The inlet 551a is provided with a guide vane 552 formed in a spiral shape along the inner periphery of the casing 551 to generate rotational flow of the introduced air.

An upper portion of the casing 551 is provided with a vortex finder 553 having an outlet 553a through which the air separated from fine dust is discharged from the casing 551. The vortex finder 553 shields the opened upper surface of the casing 551, and the outlet 553a may be disposed at the center of the casing 551. A cyclone cover 554 is formed to form an upper surface of the second cyclone 55. The cyclone cover 554 is connected to the outlet 553a of the plurality of vortex finders 553. The vortex finder 553 and the cyclone cover 554 may be integrally formed and the guide vane 552 may be formed integrally with the vortex finder 553. [ The cyclone cover 554 may be fixedly coupled to the upper cover 52 or may be fixed to the upper end of the transparent case 53.

The air discharged upward through the outlet 553a of the vortex finder 553 flows through the upper cover 52 and flows along the inside of the main body 30 through the discharge port 512 And may be exhausted to the outside of the main body 30 through the rear cover 314.

The inner case 544 may support the first cyclone 54 and the second cyclone 55 and may define the first dust collecting space 501 and the second dust collecting space 502 at the same time. The inner case 544 may have a cylindrical shape with an open top and bottom, and may have a smaller diameter than the top. The space between the inner case 544 and the transparent case 53 is defined as the first dust collecting space 501 in which the dust separated by the first cyclone 54 is stored, 544 may be defined as a second dust collecting space 502 in which dust separated by the second cyclone 55 is stored.

The upper portion of the inner case 544 has a smaller diameter as it goes downward, and the lower portion of the casing 551 can be received. A guide unit 543 may be provided on the upper portion of the inner case 544.

The guide unit 543 can be moved downward while rotating spirally when the dust and air separated through the first cyclone 54 are flowed downward. The guide unit 543 is disposed outside the inner case 544 And a vane 543b protruding from the guide base 543a.

The guide base 543a is formed in a cylindrical shape and may be disposed outside the inner case 544. The guide base 543a may be coupled to the inner case 544 or may be integrally formed with the inner case 544. The guide base 543a may be rotatably mounted on the outer side of the inner case 544. The guide base 543a may be integrally formed with the dust compression unit 56. [

The vane 543b may be formed around the outer circumference of the base 31 and may be inclined so as to force the flow direction of dust and air in a spiral direction. The plurality of vanes 543b may be disposed such that at least a portion of the neighboring vanes 543b overlaps one another when viewed from above, and the dust and air may pass through a passage formed between the adjacent vanes 543b And can be moved downward.

The dust guided through the vane 543b can be stored in the first dust collecting space 501 through the vane 543b. The dust stored in the first dust collecting space 501 is formed to be inclined and stays in the first dust collecting space 501 without being reversely flowed in the reverse direction of the structure of the vane 543b arranged so as to overlap with each other in the vertical direction.

Particularly, the reverse flow blocking portion 531 is formed on the inner surface of the transparent case 53 corresponding to the area of the vane 543b. The reverse flow blocking portions 531 may be disposed at regular intervals along the inner circumference of the transparent case 53. The reverse flow blocking portion 531 may have a rib shape extending in a direction intersecting with the vane 543b.

Part of the dust backwashing in the first dust collecting space 501 collides against the backflow blocking portion 531 that passes through the vane 543b during the rotation of the vane 543b and thus passes through the vane 543b And then drops downward again to perform primary compression. That is, some of the dust that flows upward is repeatedly dropped by the vane 543b and the backflow blocking portion 531, and collides with other dusts and is compressed.

The dust compression unit 56 is provided at a lower portion of the inner case 544 and is configured to reduce the volume of dust by pressing the dust stored inside the first dust collection space 501 by rotation.

In detail, the dust-compressing unit 56 may be composed of a rotating part 561 and a pressing part 562. [ The rotation part 561 is formed in a cylindrical shape and mounted on the outer side of the inner case 544. The rotation unit 561 may be independently rotated according to a state of engagement with the inner case 544 or rotated together with the inner case 544. Of course, when the rotation unit 561 is engaged with the guide unit 543, it may be rotated together with the guide unit 543. [

The pressing part 562 may be formed to cross the first dust collecting space 501 from one side of the rotation part 561 to an inner side surface of the transparent case 53. The pressing portion 562 may be formed in a plate shape corresponding to the end face of the first dust collecting space 501 to divide the inside of the first dust collecting space 501, (Not shown) extending inwardly to overlap with the pressing portion 562 may be formed in the first dust collecting space, and the dust stored in the first dust collecting space may be pressed between the pressing portion 562 and the inner wall, The dust stored in the first dust collecting space 501 is secondarily compressed by the rotation of the pressing portion 562. In other words,

A plurality of air vents 562a are formed in the pressing portion 562 to eliminate the resistance of the air that may be generated when the pressing portion 562 rotates and to control the pressure imbalance of the space partitioned by the pressing portion 562 It can be solved. A decorative member 563, which is in contact with the inner surface of the transparent case 53, may be attached to the extended end of the pressing portion 562. The decorative member 563 is formed in a rectangular shape in surface contact with the transparent case 53 so as to shield the space between the pressing portion 562 and the transparent case 53. The decor member 563 may be formed of a wear-resistant material, and may be formed of a lubricious material to facilitate the rotation of the pressing portion 562.

Meanwhile, a pair of supporting ribs 532 may be formed on the outer surface of the transparent case 53. The supporting rib 532 may extend from the upper end of the transparent case 53 to the lower end thereof. The supporting ribs 532 are in contact with the left and right ends of the opened front face of the main body 30 when the dust container 50 is mounted, thereby inducing accurate mounting of the dust container 50.

FIG. 34 is an exploded perspective view of the coupling structure between the upper cover and the lower cover of the dust container viewed from one side. FIG. 35 is a sectional view in which the upper cover is opened. 36 is an exploded perspective view of the coupling structure between the upper cover and the lower cover of the dust container viewed from the other side. 37 is a sectional view in which the lower cover is opened.

The upper cover 52 and the lower cover 52 may be mounted on the upper and lower ends of the transparent case 53 to shield the transparent case 53 as shown in the figure.

The upper cover 52 can be held in the transparent case 53 by the upper locker 57. [ The upper cover 52 may be detached from the transparent case 53 by disassembling and cleaning the inside of the dust container 50 or by operating the upper locker 57 when maintenance and service are required.

The upper locker 57 may be mounted on the upper locker mounting portion 533 formed at the upper end of the transparent case 53. At this time, a locker rotation shaft 571 projecting sideways from both sides of the upper locker 57 is inserted into the locker hole 533a on the upper locker mounting portion 533 so that the upper locker 57 can be rotated.

A locker spring 572 may be provided between the upper locker 57 and the upper locker mounting portion 533 under the locker rotating shaft 571. The spring mounting portion 573 and the spring guide 533b So that the lower portion of the upper locker 57 is elastically supported.

The upper locker 57 may extend beyond the upper end of the transparent case 53 and may have a hook portion 574 projecting in a hook shape. The hook portion 574 is inserted into the hook restraint portion 516 of the upper cover 52 in a state where the upper cover 52 is mounted, so that the hook portion 574 can be engaged and constrained.

Upper protrusions 517 may be formed on one side of the upper cover 52 facing the hook restraining portion 516 and upper protrusions 517 may be formed on the upper side of the inner side of the corresponding transparent case 53. [ The upper groove 534 is formed.

Therefore, when the upper cover 52 is mounted, one end of the upper cover 52 is fixed by the engagement of the upper protrusion 517 and the upper groove 534, The other end of the upper cover 52 is fixed and the state in which the upper cover 52 is mounted can be maintained. In order to separate the upper cover 52, the upper locker 57 is operated to release the upper end of the upper cover 52, and then the upper protrusion 517 and the upper groove 534 are separated from each other do.

The lower cover 52 can be kept closed by the lower locker 58 and the first dust collecting space 501 and the second dust collecting space 502 can be opened The dust in the first dust collecting space 501 and the dust in the second dust collecting space 502 can be emptied.

A lower cover shaft 521 is formed at one end of the lower cover 52. The lower cover shaft 521 is rotatably coupled to a lower cover engaging portion 535 formed at a lower end of the transparent case 53. [ Therefore, when the lower cover 52 is opened or closed, the lower cover 52 is rotated with respect to the axis of the lower cover 52. [

A lower locker 58 is provided at the other end of the transparent case 53 corresponding to the lower cover engaging portion 535. The lower locker 58 is slidably mounted in the vertical direction to selectively restrict the lower cover 52.

In detail, a lower locker mounting portion 536 is formed at the lower end of the transparent case 53, which is opposed to the upper locker mounting portion 533. The lower locker mounting portion 536 may be formed as a pair of protruding ribs, and a locker slot 536a extending in the vertical direction is formed.

A case locking portion 537 is formed between the lower locker mounting portions 536. The case catching portion 537 protrudes from the lower end of the transparent case 53 and is configured such that the lower hook 522 of the lower cover 52 can be caught and restrained when the lower cover 52 is closed .

The lower locker 58 is formed in a recessed shape so that the lower locker mounting portion 536 can be received inwardly. Locker projections 581 protruding inward are formed on both sides of the inner surface of the lower locker 58 Is formed and inserted into the locker slot 536a. Therefore, the lower locker 58 is mounted on the lower locker mounting portion 536 so as to be movable up and down.

A pushing portion 582 extending downward may be formed in the recessed inside of the lower locker 58. The pushing portion 582 is in contact with a lower hook 522 formed on the lower cover and has an inclined surface 582a so that when the lower locker 58 is moved downward, So that the lower cover 52 is opened.

The inclined surface 522a of the lower hook 522 may be inclined to the inclined surface 582a of the pushing portion 582 and the upper surface of the lower hook 522 may be inclined. They are brought into contact with each other. The pushing portion 582 pushes the inclined surface 522a of the lower hook 522 to elastically deform the lower hook 522. As a result, Therefore, the elastic deformation of the lower hook 522 allows the lower hook 522 to be released from the restraint with the case hook 537.

38 is an exploded perspective view showing a coupling structure of the lower cover and the dust compression unit. 39 is an enlarged view of the portion B in Fig.

As shown in the figure, a bearing 593 can be mounted at the center of the lower cover 52. A first transmission gear 591 may be provided on the lower surface of the lower cover 52. The first transmission gear 591 may be connected to the compression motor assembly 323 and rotated. When the dirt receptacle 50 is seated on the seat 32, the first transmission gear 591 can be connected to the compression motor assembly 323 and rotated.

The rotation shaft 591a of the first transmission gear 591 is mounted to penetrate the bearing 593 and can be smoothly rotated by the bearing 593. The second transmission gear 592 is disposed on the upper surface of the lower cover 52 and is coupled to the rotation shaft 591a of the first transmission gear 591 through the bearing 593 do. Therefore, the second transmission gear 592 can be rotated together with the first transmission gear 591.

The second transmission gear 592 is formed in a disk shape and has a plurality of gear portions 592a formed along the periphery thereof and the plurality of gear portions 592a are formed on the inner peripheral surface of the rotation portion 561 of the dust compression unit 56, The engaging protrusion 561a may be engaged with the gear engaging protrusion 561a.

That is, when the dust container 50 is assembled, when the lower cover 52 is closed while the dust compression unit 56 is mounted, the gear portion 592a of the second transmission gear 592 and the dust compression The gear engagement protrusions 561a of the unit 56 are engaged and the dust compression unit 56 can be driven.

A coupling boss 592b is formed at the center of the upper surface of the second transmission gear 592 and a seating groove 592c can be formed at the outer side of the coupling boss 592b to receive a gasket plate 594. [ have.

A gasket mounting protrusion 592d is formed on a lower surface of the second transmission gear 592. [ The transmission gear gasket 597 is mounted on the gasket mounting projection 592d. The transmission gear mounting portion 592d may be hermetic in contact with the inner circumferential surface of the rotation portion 561. [ At this time, the transmission gear gasket 597 is integrally coupled with the second transmission gear 592 and is rotated together with the second transmission gear 592 when the second transmission gear 592 rotates.

The gasket plate 594 is formed in a disc shape and an inner gasket 595 for shielding the opened lower surface of the inner case 544 is mounted. The inner gasket 595 may be integrally formed with the gasket mounting portions 594a and 594b formed at the upper end of the gasket plate 594. [ The inner gasket 595 may be formed in a shape corresponding to the opening of the inner case 544.

The inner gasket 595 has a first airtight portion 595a formed in a disk shape and in contact with an opened lower end of the inner case 544 and a second airtight portion 595b provided above the first airtight portion 595a, And a second airtight portion 595b inserted into the inside of the inner case 544 and in contact with the inner surface of the inner case 544 so that the opening of the inner case 544 can be sealed in a fixed state.

The gasket mounting portions 594a and 594b include first and second protrusions 594a and 594b protruding upward from the upper surface of the gasket plate 594 and vertically outwardly protruding from the first protrusions 594a . Both the first protrusion 594a and the second protrusion 594b are inserted into the lower surface of the inner gasket 595 and can firmly fix the inner gasket 595 to the gasket plate 594. [

On the lower surface of the gasket plate 594, a seating rib 594c inserted into the seating groove 592c may be formed. The seating rib 594c is formed to be able to flow while being inserted into the seating groove 592c.

A shaft coupling hole 594d is formed at the center of the gasket plate 594 for fastening a shaft coupling member 596 for coupling the gasket plate 594 and the second transmission gear 592 to each other. The shaft coupling member 596 may be coupled through the shaft coupling hole 594d and the coupling boss 592b of the second transmission gear 592. [

At this time, the engaging boss 592b is formed to be higher than the gasket plate 594 so that the shaft engaging member 596 does not press the gasket plate 594. Therefore, the gasket plate 594 can be freely and rotatably mounted even when engaged with the second transmission gear 592.

That is, when the compression motor assembly 323 is driven while the dust container 50 is mounted, the first transmission gear 591 and the second transmission gear 592 rotate, The rotation unit 561, which is gear-coupled with the rotation shaft 592, is rotated, so that the dust compression unit 56 can be driven.

Since the gasket plate 594 mounted on the second transmission gear 592 is freely rotatably engaged with the second transmission gear 592 above the second transmission gear 592, It is possible to maintain a stopped state. Therefore, the inner gasket 595 mounted on the gasket plate 594 can maintain a state of shielding the lower surface of the inner case 544, that is, the second dust collecting space 502.

Hereinafter, the flow of dust and air inside the cleaner when the main motor is driven will be described.

40 is a cross-sectional view showing air and dust flows of the cleaner main body. 41 is a plan view showing the air and dust flow of the cleaner main body.

As shown in the figure, when the user operates the vacuum cleaner 1, the main motor 35 starts to be driven, and the suction force generated by the main motor 35 causes the suction device 20, The air mixed with the dust can be sucked.

The air mixed with the dust is sucked through the connector 401 of the cleaner main body 10 and can be sucked into the dust container 50 through the suction port 511 of the dust container 50. In the dust container 50, the first dust collection space 501 and the second dust collection space 502, in which dust and fine dust are separated, can be collected by the first cyclone 54 and the second cyclone 55, respectively. have.

Air mixed with the dust introduced into the suction port 511 flows into the dust container 50 and the strainer 541 through the flow path guide 518. [ At this time, the air and the dust introduced by the flow guide 518 flows while rotating along the inner wall of the dust container 50.

The dust and air that flows may be primarily filtered through the dust filter 542 and the strainer 541, and the filtered air may be introduced into the space inside the strainer 541. The separated dust drops downward and is stored in the first dust collecting space 501 through the guide unit 543. The dust collected in the first dust collecting space 501 is doubly compressed by the dust compressing unit 56, the guide unit 543 and the back flow blocking unit 531, Lt; / RTI >

Meanwhile, the air filtered through the filter and the strainer 541 flows into the casing 551 through the inlet 551a of the casing 551. At this time, air introduced into the casing 551 by the guide vane 552 on the inlet 551a swirls along the inner wall of the casing 551. [

In this process, the fine dust and the air are separated and the fine dust can be filtered secondarily. The fine dust separated inside the casing 551 can be dropped through the lower surface of the casing 551 and stored in the second dust collecting space 502. The filtered air flows upward through the outlet 553a of the vortex finder 553 and then flows out of the dust container 50 through the outlet 512. [

The air discharged through the discharge port 512 flows into the space inside the upper frame 34 through the upper seating member 303 and passes through the main motor 35. Air that has passed through the main motor 35 flows downward through the plate hole 341a and passes through the filter unit 39 mounted on the lower frame 33. [

The ultrafine dust contained in the air can be separated in the process of passing through the filter unit 39, and ultimately, ultrafine dust can be filtered. Most of the filtered air cools the battery unit 38 under the filter unit and can be discharged rearward through the rear cover 314. [

A part of the air passing through the filter unit 39 passes through the first barrier hole 331a to cool the noise filter 302 and the main PCB 301 in this process. The air cooled by the noise filter 302 and the main PCB 301 can be naturally exhausted from the main body 30 or discharged through the rear cover 314.

 In order to empty the dust container 50 after use of the cleaner 1, the locking member 80 is operated by pressing the pressing member 81 to open the cover member 40. When the cover member 40 is fully opened, the cover member 40 is kept open by the link assembly 90.

In this state, after the dust container 50 is separated from the main body 30, the lower cover 52 can be opened by operating the lower locker 58. [ When the lower cover 52 is opened, dust in the first dust collecting space 501 and the second dust collecting space 502 can be completely discharged. In order to clean and check the dust container 50, the upper locker 57 may be operated to open the dust container 50 to the upper cover 51. In order to separate and clean the inside of the dust container 50, do.

After the dust container 50 is emptied, the dust container 50 is mounted on the main body 30 and the cover member 40 is rotated to close the cover member 40.

Meanwhile, during use of the vacuum cleaner 1, the user grips the handle 23 and moves the vacuum cleaner main body 10 in a controlled manner.

FIG. 42 is a view showing a state where the cleaner main body is stopped. FIG.

The center of gravity G of the cleaner main body 10 is positioned further behind the center of rotation C of the moving wheel 60 in a state where the cleaner main body 10 is not moved and stopped, State.

In this state, the cleaner main body 10 tries to rotate in the clockwise direction with respect to the rotation center C of the moving wheel 60, the rear half 313 of the base 31 moves downward, 312).

At this time, the rear wheel unit 70 prevents the rear half 313 of the base 31 from being excessively lowered in a state of being in contact with the ground, and the rear wheel unit 70 elastically supports the base 31, Thereby maintaining a stable state.

That is, both the moving wheel 60 and the rear wheel unit 70 on both sides are in contact with the ground, and three points of the cleaner main body 10 are supported. In addition, the cleaner main body 10 is lowered in the rear direction of the cleaner main body 10 where the center of gravity is located, and a stable posture can be maintained in a stopped state.

Therefore, the front half of the cleaner main body 10 can maintain the set angle? Regardless of the presence or absence of dust inside the dust container 50. [ The sensing unit 306 can determine the posture of the cleaner body 10 through the angle in this state.

That is, the sensing unit 306 determines that the front half 312 holds the predetermined angle?, And determines that the cleaner main body 10 is in a stop state in which it is not moved. Accordingly, the wheel motor 632 Can be kept in a stopped state without being driven.

43 is a view showing a running state of the cleaner main body.

As shown in the drawing, when the user moves forward while holding the handle 23 for cleaning, the suction hose 24 connected to the handle 23 is pulled. Since the connector 401 to which the suction hose 24 is connected is positioned on the cover member 40, a force is exerted above the rotation center C of the movement wheel 60. Accordingly, the cleaner main body 10 is rotated in the counterclockwise direction with respect to the rotation center C of the moving wheel 60 by the rotation moment.

The angle? Between the front half portion 312 and the paper surface may vary depending on the magnitude of the force applied to the connector 401. However, . Even if the force applied to the connector 401 is increased, the front half 312 does not directly contact the ground by the front wheel 312a, and the front wheel 312a contacts the ground, Can be stably moved.

For example, in a state in which the cleaner body 10 stably travels, the center portion 311 is in a horizontal state with the ground. By moving the cleaner body 10 in the counterclockwise direction, the first half 312 may be at an angle of 20 degrees with respect to the ground, and the second half 313 may be at 10 degrees. In this state, the cleaner main body 10 can ideally travel, but the angle of the cleaner main body 10 may vary depending on the magnitude of an instantaneous force pulled by the user or the ground state.

The sensing unit 306 senses the posture of the cleaner body 10 and determines the rotation of the mobile wheel 60. When the angle? Between the front part 312 and the ground becomes smaller than the set angle? In the sensing part 306, the wheel motor 632 is driven to rotate the moving wheel 60 in the counterclockwise direction . The cleaner main body 10 can be driven forward by the rotation of the moving wheel 60.

At this time, the sensing unit 306 may drive the wheel motor 362 as soon as the sensed angle becomes smaller than the set angle?, And if necessary, the change value sensed by the sensing unit 306 may be set It may be driven when it exceeds the range (for example, 1˚ ~ 2˚).

Meanwhile, the sensing unit 306 may sense a change in the angle? Between the first half 312 and the ground, so that the rotation speed of the wheel motor assembly 63 may be adjusted in proportion to the angle change. The rotation speed of the wheel motor 632 is also increased so that the cleaner main body 10 can be moved forward at a high speed when the angle? Between the front half portion 312 and the ground surface is drastically reduced . If the angle between the front half portion 312 and the ground surface is relatively small, the rotation speed of the wheel motor 362 may be made to be slower.

When the distance to the user is shortened due to forward movement of the cleaner main body 10, the force applied to the connector 401 may be reduced or eliminated, and when the force applied to the connector 401 is lost The cleaner main body 10 is in a state as shown in FIG. 42 again in the clockwise direction with respect to the rotation center of the moving wheel 60. At this time, the sensing unit 306 can stop the driving of the wheel motor assembly 63 by confirming that the front half and the ground are set at an angle?.

Accordingly, when the user grasps and moves the handle 23 in the process of using the vacuum cleaner 1, the connector 401 is forced and the vacuum cleaner body 10 is moved forward. When the cleaner main body 10 travels forward and becomes closer to the user, the force applied to the connector 401 is weakened. When the force applied to the connector 401 is lost, (10) is rotated clockwise by the center of gravity and is stopped.

When the user repeats this process, the cleaner main body 10 follows the user in accordance with the movement of the user, so that the user can move autonomously without any additional operation for moving the cleaner main body 10 .

Since the front portion 312 is formed to be inclined, when there is a threshold or an obstacle during traveling, the front portion 312 can be effectively moved. That is, even in a situation where an obstacle is generated, the cleaner main body 10 can stably run and continue traveling beyond an obstacle.

When the obstacle exceeds a high obstacle or when the user lifts the handle 23, the cleaner main body 10 is rotated in the clockwise direction with respect to the center of the moving wheel, Can be moved toward the ground. At this time, the rear wheel unit 70 can prevent the rear half 313 from being excessively lowered or turned over in contact with the ground. The rear wheel unit 70 elastically supports the rear half 313 so that when the external force is removed from the cleaner main body 10, the cleaner main body 10 is in a state as shown in FIG.

In the meantime, the cleaner main body 10 may detect the obstacle O while driving, and when the obstacle O is detected, the driving of the moving wheel 60 may be controlled so that the cleaner main body 10 avoids the obstacle .

FIG. 44 is a view showing an obstacle avoidance running state of the cleaner. FIG.

As shown in the figure, the obstacle O can be detected by the obstacle sensing member 44 when the cleaner main body 10 starts traveling in a running state or in a stationary state. The obstacle sensing member 44 is provided on the front surface of the cover member 40 formed in a curved shape and the obstacle sensing member 44 senses the obstacle O within a predetermined angle range and avoids the obstacle O do.

For example, when an obstacle is detected by the front sensor 44c of the obstacle sensing member 44 during traveling of the cleaner main body 10 as shown in the figure, the obstacle sensing unit 44 may detect the obstacle in the main PCB 301 or the sensing face ratio 360a O) of the vehicle.

When the position of the obstacle O is calculated, the main PCB 301 accelerates the rotation of the moving wheel 60 near the obstacle O among the moving wheels 60 on both the left and right sides, The obstacle can be avoided by changing the running direction of the cleaner main body 10. [

At this time, the main PCB 301 can drive only one wheel motor 632 of the wheel motor 632 on both sides, and the wheel speeds of the wheel motor 632 on both sides are made different from each other, O) can be avoided.

The rotation speed of the wheel motor 362 may be varied according to the distance of the obstacle detected by the obstacle sensing member 44. That is, when the obstacle O is detected at a long distance, the rotational speed of the wheel motor 362 may be relatively slow. When the obstacle O is detected at a close distance, the rotation of the wheel motor 362 The speed can be relatively fast.

In this way, it is possible to actively avoid the obstacle O by the obstacle sensing member 44 and to travel without performing an operation for avoiding the separate obstacle O.

The rear half 313 of the cleaner body 10 is inclined so that the cleaner main body 10 is moved in accordance with the angle of the rear half 313, It may be possible to automatically run the vehicle backward.

45 is a view showing the sensing range of the obstacle sensing member.

As shown in the figure, the obstacle sensing member 44 senses an obstacle within the set sensing distance L. For example, the obstacle sensing member 44 may have a sensing distance of approximately 650 mm.

At this time, the detection distance L of the obstacle sensing member 44 is set to a distance such that when the cleaner main body 10 rotates counterclockwise and the front wheel 312a touches the ground, Can be set.

When the detection distance L is excessively long, there is a problem that the front surface of the cleaner body 10 can be recognized as an obstacle when the front half 312 of the cleaner body 10 rotates counterclockwise. On the contrary, if the detection distance L is excessively shortened, the obstacle can be avoided very quickly since the obstacle in front of the cleaner main body 10 is detected, It may be absent.

Accordingly, the obstacle sensing member 44 may have a set distance L that allows the obstacle to be effectively avoided without traveling on the ground while the cleaner body 10 rotates.

The obstacle sensing member 44 is disposed on the front surface of the cover member 40 at the uppermost end of the cleaner main body 10 so that the obstacle can be effectively detected without detecting the ground even when the angle of the cleaner main body 10 changes It is possible to set the irradiation angle of the obstacle sensing member.

For example, when the obstacle sensing member 44 is provided on the lower surface of the cleaner main body 10 or is provided at a lower position, the light rays irradiated from the obstacle sensing member 44 can not be directed toward the ground. An error can not be avoided. In particular, it is important to select a position where the obstacle can be identified without actually detecting the ground due to the nature of the cleaner body 10 being rotated.

FIG. 46 is a view showing the traveling state of the wall of the cleaner main body. FIG.

As shown in the drawing, the cleaner main body 10 may be moved along an indoor wall surface or a wall surface of a furniture for cleaning. When moving along the wall surface, the cleaner main body 10 recognizes the wall surface and travels along the wall surface without avoiding the wall surface. Thereafter, the cleaner main body 10 must completely rotate after exiting the corner.

The obstacle sensing member 44 may be set such that the front sensors 44b and 44c and the lateral sensors 44a and 44d have different sensing distances L1 and L2. The sensing distance L1 of the front sensors 44b and 44c may be set longer than the sensing distance L2 of the side sensors 44a and 44d. For example, if the front sensor has a sensing distance L2 of approximately 650 mm, the lateral sensors 44a and 44d may be set to have a sensing distance L2 of approximately 300 mm.

If the sensing distance L2 of the lateral sensors 44a and 44d is equal to or longer than the front sensors 44b and 44c, the sensing distance L2 of the lateral sensors 44a and 44d is too far from the wall surface The front sensors 44b and 44c can not detect the wall surface and the front sensors 44b and 44c and the lateral sensors 44a and 44d can not be detected at the same time. Accordingly, when the detection distance L2 of the lateral sensors 44a and 44d is shortened and the cleaner main body 10 is positioned closer to the wall surface, the front sensors 44b and 44c and the lateral sensors 44a and 44d, Can be recognized simultaneously.

On the other hand, if the side sensors 44a, 44d of the front sensors 44b, 44c simultaneously sense an obstacle while the cleaner main body 10 is running, it is determined that the obstacle is a wall surface, can do. That is, the front sensors 44b and 44c and the lateral sensors 44a and 44d travel while maintaining a state of sensing the wall surface.

When the front sensors 44b and 44c recognize that there is no obstacle after the cleaner main body 10 continuously travels along the wall surface and then the lateral sensors 44a and 44d recognize that there is no obstacle, The main body 10 may judge that the corner of the wall surface has passed, and travel in the direction of the corner.

At this time, the cleaner main body 10 can be operated so that the side sensors 44a and 44d check that there is no obstacle, and then rotate straight after advancing by the set distance. That is, it is possible to prevent the rear portion of the cleaner main body 10 from colliding with the wall surface after the cleaner main body 10 has completely passed the corner.

Claims (24)

A cleaner main body;
A moving wheel rotatably mounted on both sides of the cleaner main body for traveling of the cleaner main body and supporting the main body rotatably;
A wheel motor assembly provided between the outer side surface of the cleaner main body and the moving wheel and rotating the moving wheel to travel the cleaner main body;
A sensing unit provided on the cleaner main body and sensing a tilt of the cleaner main body;
And a driving unit that drives the wheel motor assembly according to a slope of the cleaner main body detected by the sensing unit,
Wherein the wheel motor assembly is coupled to the rotary shaft of the moving wheel so that the entire configuration of the wheel motor assembly is positioned behind the vertical extension line of the center of rotation of the wheel to place the center of gravity of the cleaner body at the rear, Respectively,
When the cleaner main body is in a stopped state, the bottom surface of the cleaner main body is inclined with respect to the ground,
Wherein the wheel motor assembly is driven to maintain a state in which the bottom surface and the ground surface of the cleaner body are rotated while the cleaner main body is in a running state, while maintaining a horizontal state without touching the ground surface.
The method according to claim 1,
Wherein the moving wheel is provided with a wheel gear that is coupled to the wheel motor assembly to transmit rotational power.
The method according to claim 1,
Wherein the cleaner main body includes upper and lower side portions which are separated from each other and form both side surfaces of the cleaner main body,
And the moving wheel is mounted on the side portion.
The method of claim 3,
And the wheel motor assembly is mounted on the side portion.
The method of claim 3,
And the sensing unit is mounted on the side portion.
The method of claim 3,
Wherein the sensing unit is spaced apart from the rotation axis of the moving wheel.
The method of claim 3,
The sensing unit and the user's body are mounted on the side portion,
Wherein the sensing unit is formed of one module and the package.
8. The method of claim 7,
The sensing unit and the user's body are mounted on the sensing unit fixing member,
Wherein the sensing part fixing member is formed with a fixing hook inserted and fixed to the sensing part fixing part formed on the side part.
The method of claim 3,
And a plurality of reinforcing ribs extending in the vertical direction are formed on the side portions.
The method according to claim 1,
Wherein the sensing unit includes a gyro sensor.
The method of claim 3,
A wheel gear is rotatably mounted on the side portion,
Wherein the wheel gear is mounted on the rotating shaft of the traveling wheel and rotated by the wheel motor assembly.
12. The method of claim 11,
The moving wheel,
A wheel gear mounting portion to which an engaging member engaged with the wheel gear is engaged;
And a wheel cap detachably provided on an outer side of the wheel gear mounting portion to shield the coupling member.
The method according to claim 1,
The wheel motor assembly includes:
A wheel motor;
A moving gear for transmitting the power of the wheel motor to the moving wheels;
And a wheel motor case for housing the wheel motor and the moving gear.
14. The method of claim 13,
Wherein the wheel motor is a bi-diesel motor.
14. The method of claim 13,
Wherein the wheel motor is provided at a lower portion of the wheel motor case and is disposed further downward than the moving gear.
14. The method of claim 13,
Wherein a wheel boss is formed on both sides of the cleaner main body,
Wherein the wheel motor case is formed with a case mounting groove which is recessed in a shape corresponding to the wheel boss and accommodates at least a part of the wheel boss at the rear of the wheel boss.
delete delete The method according to claim 1,
Wherein the driving unit drives the wheel motor assembly when an angle between the cleaner main body and the ground detected by the sensing unit becomes smaller than a stop state.
The method according to claim 1,
Wherein the controller stops the wheel motor assembly when the angle of the paper surface with respect to the cleaner main body detected by the detection unit becomes large.
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