KR20020095272A - Moving robot for cleaning - Google Patents

Moving robot for cleaning Download PDF

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Publication number
KR20020095272A
KR20020095272A KR1020010033351A KR20010033351A KR20020095272A KR 20020095272 A KR20020095272 A KR 20020095272A KR 1020010033351 A KR1020010033351 A KR 1020010033351A KR 20010033351 A KR20010033351 A KR 20010033351A KR 20020095272 A KR20020095272 A KR 20020095272A
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KR
South Korea
Prior art keywords
storage box
brush
guide
temporary storage
motor
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KR1020010033351A
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Korean (ko)
Inventor
이정철
Original Assignee
이정철
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Priority to KR1020010033351A priority Critical patent/KR20020095272A/en
Publication of KR20020095272A publication Critical patent/KR20020095272A/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

PURPOSE: A movable cleaning robot is provided to maximize energy efficiency and to expand the life span of a battery by minimizing an electric energy loss. CONSTITUTION: A movable cleaning robot includes a body(100). A plurality of wheels(200) is installed at a lower portion of the body(100). A damping spring(29) is mounted on the wheels(200). A guide plate(2) formed with a guide slot(26) is coupled to a guide bracket(1). The guide plate(2) coupled to the guide bracket(1) is installed on the damping spring(29). A brush(8) rotated by a motor and a dust pan(25) are installed between guide plates(2). A temporal storing box(16) having a guide pin(22) inserted into the guide slot(26) is installed at both sides of the guide plate(2). A motor(6) having a gear(15) is installed on the body(100). A rack gear(14) is attached to an upper surface of the temporal storing box(16).

Description

청소용 이동 로봇{Moving robot for cleaning}Moving robot for cleaning}

본 발명은 가정이나 업소 등에서 청소시 사용하는 청소용 로봇에 관한 것으로, 특히 진공청소기와 같은 진공흡입식이 아닌 모터에 의한 브러쉬의 작동으로 쓰레기를 처리할 수 있도록 하므로서 전기에너지의 소모를 최소화하여 밧데리의 수명을 최대한 연장할 수 있어 장시간 사용이 가능하고 넓은 장소의 청소가 가능하여 보다 효율적인 사용이 가능한 청소용 이동 로봇에 관한 것이다.The present invention relates to a cleaning robot used for cleaning at home or a business, and in particular, it is possible to dispose of garbage by the operation of a brush by a motor rather than a vacuum suction type such as a vacuum cleaner, thereby minimizing the consumption of electric energy, the life of the battery The present invention relates to a mobile robot for cleaning, which can be used for a long time and can be cleaned in a large place, thereby enabling more efficient use.

종래의 이동로봇을 이용한 청소기는 이동체내에 진공청소기와 같은 진공흡입식 청소기를 내장시켜 내부에 장착된 밧데리로부터 전원을 인가받아 바닥면의 쓰레기를 흡입할 수 있도록 구성되어 있었다.The cleaner using a conventional mobile robot has a built-in vacuum suction type vacuum cleaner such as a vacuum cleaner in the moving body and is configured to suck power from the bottom by receiving power from a battery mounted therein.

그러나 상기와 같은 구성의 종래 청소용 이동 로봇은 진공 흡입장치의 작동에 의해 흡입력으로 쓰레기를 빨아들이도록 구성되어져 있어 전기에너지가 비교적 많이 소요되므로 내부에 장착된 밧데리의 수명을 단축시키게 되므로 장시간 및 넓은 장소에서의 사용에 큰 어려움이 있으며 밧데리의 교체에 따른 경제적인 부단이 큰 문제점이 있었다.However, the conventional cleaning mobile robot having the above configuration is configured to suck garbage with suction force by the operation of the vacuum suction device, which consumes a lot of electric energy, thereby shortening the life of the battery mounted therein. There is a big difficulty in using Esau, and there is a big problem in economical discomfort due to replacement of the battery.

본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서,The present invention has been made to solve the above problems,

이동체내에, 상하로 승강하고 내부에 모터와 브러쉬, 쓰레받이가 장착된 모듈을 설치하여 밧데리로부터 전원을 인가받아 모터를 작동시켜 브러쉬의 회전에 의해 쓰레기를 처리할 수 있도록 구성하므로서, 전기에너지의 소모량을 최소화하여 밧데리의 수명을 연장시켜 장시간 및 넓은 장소에서의 사용이 가능토록 하므로서 에너지 효율을 극대화 하고 경제적인 부담을 덜어 줄 수 있는 청소용 이동 로봇을 제공함에 본 발명의 목적이 있다.Power consumption of electric energy is provided by moving up and down in the moving body and installing a module equipped with a motor, a brush, and a tray inside to move the motor by applying power from the battery to operate the motor. It is an object of the present invention to provide a cleaning mobile robot that can maximize the energy efficiency and reduce the economic burden by minimizing the length of the battery to extend the life of the battery can be used for a long time and a wide place.

도 1 은 본 발명의 부분단면도.1 is a partial cross-sectional view of the present invention.

도 2 는 본 발명의 저면도.2 is a bottom view of the present invention.

도 3 은 본 발명의 작동상태를 도시한 작동설명도로서,3 is an operation explanatory diagram showing an operating state of the present invention,

도 3a 는 청소모듈의 상하승강 작동상태를 도시한 작동상태도이고,Figure 3a is an operating state diagram showing the up and down operating state of the cleaning module,

도 3b 는 청소모듈의 전후 작동상태를 도시한 작동상태도이다.Figure 3b is an operating state diagram showing the front and rear operating state of the cleaning module.

도 4 는 본 발명의 다른 실시예를 나타낸 부분단면도.Figure 4 is a partial cross-sectional view showing another embodiment of the present invention.

<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>

1 : 가이드 브라켓2 : 가이드판1: guide bracket 2: guide plate

4 : 감지스위치5 : 범퍼4: sensing switch 5: bumper

6 : 승강모터8 : 브러쉬6: lifting motor 8: brush

9 : 브러쉬풀리10 : 모터풀리9: brush pulley 10: motor pulley

11 : 타이밍밸트13 : 저장함11: timing belt 13: storage box

14 : 랙기어15 : 기어14 rack gear 15 gear

16 : 임시저장함17 : 기어16: Draft 17: Gear

18 : 샤프트19 : 모터18: shaft 19: motor

20 : 브라켓25 : 쓰레받이20 Bracket 25: dust tray

26 : 가이드홈27 : 돌기26: guide groove 27: protrusion

28 : 커버29 : 완충스프링28: cover 29: buffer spring

30 : 감지센서31 : 인장스프링30: detection sensor 31: tension spring

32 : 보조브러쉬32: auxiliary brush

100 : 본체200 : 바퀴100: main body 200: wheels

이하, 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1 은 본 발명의 부분단면도이고, 도 2 는 본 발명의 저면도이다.1 is a partial cross-sectional view of the present invention, Figure 2 is a bottom view of the present invention.

본체(100)하측에 모터에 의해 회전하고 완충스프링(29)이 설치된 다수의 바퀴(200)가 설치되어 이동되게 한 이동로봇에 있어서,In the mobile robot rotated by the motor under the main body 100 and a plurality of wheels 200 are installed to move the shock absorbing spring 29 is installed,

양측 바퀴(200)의 전측에는, 상하전후로 가이드홈(26)이 형성된 가이드판(2)을 가이드브라켓(1)과 결합하여 완충스프링(29)상에 각각 설치하고,On the front side of both wheels 200, the guide plate 2, the guide grooves 26 are formed in the up and down front and rear, respectively, is installed on the shock absorbing spring 29 by combining with the guide bracket 1,

양측 가이드판(2) 사이에는, 모터(19)에 의해 회전하는 브러쉬(8)와 착탈식 쓰레받이(25)가 설치되고 양측에 전기한 가이드홈(26)에 삽입되는 가이드핀(22)이 설치된 임시저장함(16)을 설치하되,Between the guide plates 2 on both sides, a temporary brush provided with a brush 8, which is rotated by a motor 19, and a removable dust sink 25, and guide pins 22 inserted into guide grooves 26, which are inserted at both sides, are provided. Install the bin (16),

임시저장함(16) 상부중앙에 회전축상에 기어(15)가 결합된 승강모터(6)를 본체(100)상에 설치하고, 임시저장함(16)의 양측 상면에 전기한 가이드홈(26)에 삽입되는 다수의 가이드핀(22)이 설치된 "」"형상의 랙기어(14)를 각각 부착설치하여 양측 랙기어(14)상에 전기한 승강모터(6)와 연동되는 샤프트(18)에 연결된 기어(15)를 각각 설치하여 랙기어(14)와 임시저장함(16)이 전후상하로 이동되게 하고,The elevating motor 6 having the gear 15 coupled to the rotary shaft at the upper center of the temporary storage box 16 is installed on the main body 100, and the guide grooves 26 are installed on both upper surfaces of the temporary storage box 16. Rack gears 14 of the " " shape, each having a plurality of guide pins 22 inserted therein, are attached to each other and connected to the shaft 18 interlocked with the elevating motor 6, which is mounted on both rack gears 14, respectively. Install the gears 15 so that the rack gear 14 and the temporary storage box 16 are moved back and forth and up and down,

임시저장함(16)의 후측 본체(100)상에, 전측상부가 슬라이딩되어 개폐되고 본체(100)에 인장스프링(31)으로 연결한 커버(28)를 구비한 저장함(13)을 설치하고, 저장함(13)의 상측의 본체(100)상에 스위치(21)(23)를 설치하되, 하나의 스위치(21)는 랙기어(14)의 상단에 브라켓(20)을 설치하여 이에 의해 작동되게 하고, 다른 스위치(23)는 저장함(13)의 커버(28) 상면 선단에 돌기(27)를 형성하여 이에 의해 작동되게 하고, 임시저장함(16)과 저장함(13)의 내부에 감지센서(30)를 각각 설치하여 구성한 것이다.On the rear main body 100 of the temporary storage box 16, a storage box 13 having a cover 28 connected to the main body 100 by a tension spring 31 is opened and stored by sliding the front upper part, and storing The switch 21, 23 is installed on the main body 100 on the upper side of the 13, but one switch 21 is installed by the bracket 20 on the top of the rack gear 14 to be operated by In addition, the other switch 23 forms a protrusion 27 on the top end of the cover 28 of the storage box 13 to be operated by the sensor, and the sensor 30 inside the temporary storage box 16 and the storage box 13. Each is installed and configured.

상기 구성에서 임시저장함(16)의 선단에 범퍼(5)를 설치하고 내측면에 장애물감지용 감지스위치(4)를 설치하거나, 도 4의 도시와 같이 브러쉬(8)와 동일축상의 전측에 브러쉬(8)와 면접되어 회전하는 보조브러쉬(32)를 설치하여 구성한 것이다.In the above configuration, the bumper 5 is installed at the tip of the temporary storage box 16 and the obstacle detecting switch 4 is installed on the inner surface, or the brush is located on the same side of the brush 8 as the brush 8 as shown in FIG. 4. The auxiliary brush 32 which rotates by being interviewed with (8) is provided and comprised.

도면중 미설명부호 9는 브러쉬풀리, 10은 모터풀리, 11은 타이밍밸트이다.In the drawings, reference numeral 9 denotes a brush pulley, 10 a motor pulley, and 11 a timing belt.

이하, 상기와 같은 구성의 작용을 설명한다.Hereinafter, the operation of the above configuration will be described.

본 발명 로봇을 이용하여 실내의 바닥을 청소코자 할 때에는 로봇에 본체 내부에 내장된 밧데리(도면에는 도시하지 않음)로부터 전원을 인가시켜 바퀴(200)를 구동시키는 모터(도면에는 도시하지 않음)와 승강모터(6), 브러쉬(8)회전 모터(19)와 스위치(21)(23), 감지센서(30)을 작동시킨다.When the floor of the room is to be cleaned using the robot of the present invention, a motor (not shown) for driving the wheels 200 by applying power from a battery (not shown) built in the main body to the robot and The lifting motor 6, the brush 8, the rotary motor 19, the switches 21, 23, and the sensing sensor 30 are operated.

이렇게 전원이 인가되면 모터(19)의 작동에 의해 부러쉬(8)가 회전하게 되고, 이와 동시에 승강모터(6)가 작동하여 승강모터(6)의 회전축상에 설치된 기어(17)가 회전하고, 기어(17)와 치합된 샤프트(18)의 기어(17)가 함께 회전하면서 샤프트(18) 양단에 설치되어 랙기어(14)와 치합된 기어(15)가 회전하면서 랙기어(14)를 도 3a의 도시와 같이 가이드판(2)의 가이드홈(26)을 따라 전측으로 이동시키면서 하강시키는 것이다.When the power is applied, the brush 8 is rotated by the operation of the motor 19. At the same time, the elevating motor 6 is operated to rotate the gear 17 installed on the rotating shaft of the elevating motor 6. The gear 17 of the shaft 18 engaged with the gear 17 rotates together and is installed at both ends of the shaft 18 so that the gear 15 engaged with the rack gear 14 rotates to assist the rack gear 14. As shown in 3a, it moves downward along the guide groove 26 of the guide plate 2 and moves downward.

이때, 랙기어(14)에 고정설치된 임시저장함(16)이 하강하게 되는 것이다.At this time, the temporary storage box 16 fixed to the rack gear 14 is to be lowered.

이와 같이 브러쉬(8)가 설치된 임시저장함(16)이 하강하여 지면에 브러쉬(8)와 쓰레받이(25)가 접촉되면 랙기어(14)의 상단에 설치된 브라켓(20)이 스위치(21)를 눌러 작동시키므로서 승강모터(6)의 작동을 정지시켜 임시저장함(16)의 하강을 정지시키는 것이다.As such, when the temporary storage box 16 installed with the brush 8 descends and the brush 8 and the dust sink 25 come into contact with the ground, the bracket 20 installed on the top of the rack gear 14 presses the switch 21. By stopping the operation of the lifting motor (6) by operating to stop the falling of the temporary storage box (16).

이와 같이 임시저장함(16)이 지면에 닿은 상태에서 로봇이 전진하면서 브러쉬(8)의 회전에 의해 쓰레기를 임시저장함(16)에 담는 것이다.As such, the robot 16 moves forward in the state in which the temporary storage box 16 is in contact with the ground, thereby storing the garbage in the temporary storage box 16 by the rotation of the brush 8.

임시저장함(16)에 쓰레기가 일정량이상 채워지게 되면 임시저장함(16) 내부에 설치된 감지센서(30)가 이를 감지하여 승강모터(6)를 역방향으로 회전되도록 작동시켜 랙기어(14)와 임시저장함(16)을 상승시킨다.When the garbage is filled in the temporary storage box 16 above a certain amount, the sensor 30 installed in the temporary storage box 16 detects this and operates the lifting motor 6 to rotate in the reverse direction to temporarily store the rack gear 14. Raise (16).

이렇게 상승한 임시저장함(16)은 도 3b의 도시와 같이 계속적인 승강모터(6)의 회전으로 랙기어(14)와 이에 부착된 임시저장함(16)이 저장함(13)측으로 이동하면서, 쓰레받이(25)가 정지된 상태에서 임시저장함(16)만이 후진하게 되어, 저장함(13)의 커버(28)를 후측으로 밀어 개방시키는 동시에 브러쉬(8)가 함께 후진하므로 임시저장함(16) 내부에 충전된 쓰레기를 저장함(13)에 저장하는 것이다.The raised storage box 16 is moved to the storage rack 13, the rack gear 14 and the temporary storage box 16 attached thereto by the continuous rotation of the lifting motor 6 as shown in Figure 3b, the tray 25 ), Only the temporary storage box 16 is reversed while the stop is stopped, and the cover 28 of the storage box 13 is pushed to the rear side and the brush 8 moves backward together, so that the garbage filled in the temporary storage box 16 is To store in the storage (13).

이와 같이 임시저장함(16)과 브러쉬(8)의 후진에 의해 저장함(13)의 커버(28)가 후진하여 개방되면서 임시저장함(16)내부의 쓰레기가 비워지는 동시에 커버(28)선단 상면에 돌설된 돌기(27)가 상부에 설치된 스위치(23)를 접촉시켜 작동시키므로서, 랙기어(14)의 후진을 멈추고 다시 전진 및 하강하여 전기한 바와 같은 청소상태로 임시저장함(16)과 브러쉬(8)를 이동시키고, 저장함(13)의 커버(28)는 인장스프링(31)의 탄발력으로 인해 전진하여 원래위치로 복귀되는 것이다.As the cover 28 of the storage box 13 is opened backward by the reversal of the temporary storage box 16 and the brush 8 as described above, the garbage inside the temporary storage box 16 is emptied and at the same time, the top surface of the cover 28 protrudes. The protrusions 27 are operated by contacting the switch 23 installed on the upper part, so that the rack gear 14 is stopped backward and then moved forwards and lowers and is temporarily stored in a cleaning state as previously described. ), And the cover 28 of the storage box 13 is advanced due to the elastic force of the tension spring 31 to return to the original position.

상기와 같은 작동을 반복하여 저장함(13)내에 쓰레기가 완전히 채워지면 내부에 설치된 감지센서(30)가 이를 감지하여 사용자에게 저장함(13)이 가득 채워졌음을 알려 저장함(13)을 비울 수 있도록 한 것이다.When the garbage is completely filled in the storage box 13 by repeating the above operation, the sensor 30 installed therein detects this and informs the user that the storage box 13 is full so that the storage box 13 can be emptied. will be.

저장함(13)에는 별도의 진동모터(도면에는 도시하지 않음)를 설치하여 쓰레기를 항상 후측으로 이동케 하므로서 많은 양의 쓰레기를 저장할 수 있도록 한 것이다.The storage box 13 is to install a separate vibration motor (not shown in the figure) so that the garbage is always moved to the rear side to be able to store a large amount of garbage.

한편, 상기와 같은 작동에 의해 청소를 하던 중 카펫 등의 장애물에 걸리게 되면 범퍼(5)와 감지스위치(4)가 설치된 경우 감지스위치(4)의 작동에 의해 랙기어(14)를 부분상승시켜 전진한 후 다시 랙기어(14)가 스위치(21)를 작동시킬 때까지 하강하여 로봇이 장애물위를 올라가 계속 청소를 할 수 있게되는 것이고,On the other hand, if the bumper (5) and the detection switch 4 is installed while the cleaning by the operation as described above, if the bumper (5) and the detection switch 4 is installed, the rack gear 14 by the operation of the detection switch 4 is partially raised After moving forward, the rack gear 14 descends until the switch 21 is operated so that the robot can climb on the obstacle and continue cleaning.

보조브러쉬(32)가 설치되어 있는 경우 보조브러쉬(32)가 바퀴의 역할을 하게되므로 장애물을 부르럽게 타고 넘을 수 있는 것이다.When the auxiliary brush 32 is installed, the auxiliary brush 32 serves as a wheel, so that it can ride over obstacles.

단, 보조브러쉬(32)가 설치되어 있는 경우 브러쉬(32)의 청소시 회전방향은 하나의 브러쉬(8)만 설치된 경우와 반대방향으로 회전되도록 하여야 한다.However, when the auxiliary brush 32 is installed, the rotation direction when cleaning the brush 32 should be rotated in the opposite direction than when only one brush 8 is installed.

상기와 같이 본 발명은 브러쉬(8)와 랙기어(14) 등의 기계적 구성에 의한 작동으로 청소를 할 수 있도록 하므로서 전기에너지의 소모량을 최소화 할 수 있는 것이다.As described above, the present invention can minimize the consumption of electric energy by allowing the cleaning by the operation of the mechanical configuration such as the brush (8) and the rack gear (14).

상기와 같이 본 발명은 이동체내에, 상하로 승강하고 내부에 모터와 브러쉬, 쓰레받이가 장착된 모듈을 설치하여 밧데리로부터 전원을 인가받아 모터를 작동시켜 브러쉬의 회전에 의해 쓰레기를 처리할 수 있도록 구성하므로서, 전기에너지의 소모량을 최소화하여 밧데리의 수명을 연장시켜 장시간 및 넓은 장소에서의 사용이 가능토록 하므로서 에너지 효율을 극대화 하고 경제적인 부담을 덜어 줄 수 있는 것이다.As described above, the present invention is configured to be able to handle garbage by rotating the brush by operating the motor by receiving power from the battery by installing a module equipped with a motor, a brush, and a tray inside and moving up and down in the moving body. Therefore, it minimizes the consumption of electrical energy to extend the life of the battery to be able to use for a long time and a large place to maximize the energy efficiency and can reduce the economic burden.

Claims (3)

본체(100)하측에 모터에 의해 회전하고 완충스프링(29)이 설치된 다수의 바퀴(200)가 설치되어 이동되게 한 이동로봇에 있어서,In the mobile robot rotated by the motor under the main body 100 and a plurality of wheels 200 are installed to move the shock absorbing spring 29 is installed, 양측 바퀴(200)의 전측에는, 상하전후로 가이드홈(26)이 형성된 가이드판(2)을 가이드브라켓(1)과 결합하여 완충스프링(29)상에 각각 설치하고,On the front side of both wheels 200, the guide plate 2, the guide grooves 26 are formed in the up and down front and rear, respectively, is installed on the shock absorbing spring 29 by combining with the guide bracket 1, 양측 가이드판(2) 사이에는, 모터(19)에 의해 회전하는 브러쉬(8)와 착탈식 쓰레받이(25)가 설치되고 양측에 전기한 가이드홈(26)에 삽입되는 가이드핀(22)이 설치된 임시저장함(16)을 설치하되,Between the guide plates 2 on both sides, a temporary brush provided with a brush 8, which is rotated by a motor 19, and a removable dust sink 25, and guide pins 22 inserted into guide grooves 26, which are inserted at both sides, are provided. Install the bin (16), 임시저장함(16) 상부중앙에 회전축상에 기어(15)가 결합된 승강모터(6)를 본체(100)상에 설치하고, 임시저장함(16)의 양측 상면에 전기한 가이드홈(26)에 삽입되는 다수의 가이드핀(22)이 설치된 "」"형상의 랙기어(14)를 각각 부착설치하여 양측 랙기어(14)상에 전기한 승강모터(6)와 연동되는 샤프트(18)에 연결된 기어(15)를 각각 설치하여 랙기어(14)와 임시저장함(16)이 전후상하로 이동되게 하고,The elevating motor 6 having the gear 15 coupled to the rotary shaft at the upper center of the temporary storage box 16 is installed on the main body 100, and the guide grooves 26 are installed on both upper surfaces of the temporary storage box 16. Rack gears 14 of the " " shape, each having a plurality of guide pins 22 inserted therein, are attached to each other and connected to the shaft 18 interlocked with the elevating motor 6, which is mounted on both rack gears 14, respectively. Install the gears 15 so that the rack gear 14 and the temporary storage box 16 are moved back and forth and up and down, 임시저장함(16)의 후측 본체(100)상에, 전측상부가 슬라이딩되어 개폐되고 본체(100)에 인장스프링(31)으로 연결한 커버(28)를 구비한 저장함(13)을 설치하고, 저장함(13)의 상측의 본체(100)상에 스위치(21)(23)를 설치하되, 하나의 스위치(21)는 랙기어(14)의 상단에 브라켓(20)을 설치하여 이에 의해 작동되게 하고, 다른 스위치(23)는 저장함(13)의 커버(28) 상면 선단에 돌기(27)를 형성하여 이에의해 작동되게 하고, 임시저장함(16)과 저장함(13)의 내부에 감지센서(30)를 각각 설치하여 구성함을 특징으로 하는 청소용 이동 로봇.On the rear main body 100 of the temporary storage box 16, a storage box 13 having a cover 28 connected to the main body 100 by a tension spring 31 is opened and stored by sliding the front upper part, and storing The switch 21, 23 is installed on the main body 100 on the upper side of the 13, but one switch 21 is installed by the bracket 20 on the top of the rack gear 14 to be operated by In addition, the other switch 23 forms a protrusion 27 at the tip of the upper surface of the cover 28 of the storage box 13 to be operated by it, and the sensing sensor 30 inside the temporary storage box 16 and the storage box 13. Cleaning robot, characterized in that installed by configuring each. 제 1 항에 있어서, 임시저장함(16)의 선단에 범퍼(5)를 설치하고 내측면에 장애물감지용 감지스위치(4)를 설치함을 특징으로 하는 청소용 이동 로봇.The cleaning robot according to claim 1, wherein a bumper (5) is installed at the tip of the temporary storage box (16) and an obstacle detecting switch (4) is installed on the inner surface. 제 1 항에 있어서, 브러쉬(8)와 동일축상의 전측에 브러쉬(8)와 면접되어 회전하는 보조브러쉬(32)를 설치하여 구성함을 특징으로 하는 청소용 이동 로봇.The cleaning robot according to claim 1, wherein an auxiliary brush (32) which is rotated by being interviewed with the brush (8) is provided on the front side on the same axis as the brush (8).
KR1020010033351A 2001-06-14 2001-06-14 Moving robot for cleaning KR20020095272A (en)

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GB2403402A (en) * 2003-06-30 2005-01-05 Samsung Kwangju Electronics Co Robotic cleaner with shock absorber
KR100777114B1 (en) 2006-10-26 2007-11-19 강삼태 Moving apparatus for intelligent robot
KR100963387B1 (en) * 2003-05-07 2010-06-14 엘지전자 주식회사 Wheel assembly for robot vacuum cleaner
KR101193673B1 (en) * 2010-06-21 2012-10-22 (주)마미로봇 Robot cleaner
CN106737752A (en) * 2017-01-20 2017-05-31 小煷伴（深圳）智能科技有限公司 A kind of remote monitoring robot

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Publication number Priority date Publication date Assignee Title
KR100963387B1 (en) * 2003-05-07 2010-06-14 엘지전자 주식회사 Wheel assembly for robot vacuum cleaner
GB2403402A (en) * 2003-06-30 2005-01-05 Samsung Kwangju Electronics Co Robotic cleaner with shock absorber
KR100777114B1 (en) 2006-10-26 2007-11-19 강삼태 Moving apparatus for intelligent robot
KR101193673B1 (en) * 2010-06-21 2012-10-22 (주)마미로봇 Robot cleaner
CN106737752A (en) * 2017-01-20 2017-05-31 小煷伴（深圳）智能科技有限公司 A kind of remote monitoring robot

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