KR20180105109A - Robot Cleaner - Google Patents

Abstract

A robot cleaner according to the present invention comprises: a first cleaning module including a left spin mop and a right spin mop provided in contact with a floor while rotating in the clockwise or counterclockwise direction when viewed from above; a second cleaning module provided in contact with the floor in front of the first cleaning module; and a body supported by the first cleaning module and the second cleaning module. A point receiving the greatest frictional force from the bottom of a lower side of the left spin mop is disposed in a left front side of a rotary center of the left spin mop. The point receiving the greatest frictional force from the bottom of a lower side of the right spin mop is disposed on a right front side of a rotary center of the right spin mop.

Description

Robot Cleaner {Robot Cleaner}

The present invention relates to a robot cleaner for mopping.

The robot cleaner is a device for cleaning by suctioning foreign matter such as dust from the floor or wiping off foreign substances on the floor while traveling on its own. Recently, a robot cleaner capable of performing mopping has been developed.

BACKGROUND ART [0002] As a conventional technique (Korean Patent Registration No. 10-1602790), a robot cleaner capable of moving by a mop surface is known. In the above-described conventional technique, the robot cleaner is provided with a first rotating member and a second rotating member, which fix a pair of rake surfaces arranged in the left-right direction, are inclined downward outward with respect to the vertical axis. The robot cleaner according to the related art moves as the first rotating member and the second rotating member rotate while only the rake face fixed to the first rotating member and the second rotating member is in contact with the floor.

Korean Registered Patent No. 10-1602790 (registered on March 7, 2016)

A first object of the present invention is to raise the frictional force between the mop and the bottom surface for effective wiping and running of the robot cleaner.

There is a problem in that the stability in the forward and backward directions is deteriorated due to the structure in which the above-mentioned prior art is supported at two points by a pair of left and right mops. A second object of the present invention is to solve such a problem and improve the stability in the lateral direction and the longitudinal direction of the robot cleaner.

The above-mentioned prior art is a robot cleaner that moves by a pair of rotating rake surfaces on the left and right sides. As the frictional forces generated by a pair of rotating rake surfaces frequently change, there is a problem that straight running is difficult. When straight running is difficult, there is a problem that the area overflowing without sweeping becomes large on a floor surface requiring straight straight running such as near a wall surface. A third object of the present invention is to solve such a problem.

In order to solve the second problem, if the robot cleaner is supported by more than two support points, the load is distributed to the plurality of support points. In this case, there is a problem that the frictional force due to the operation of the support points of a plurality of support points decreases with load dispersion, and thus the running performance (movement performance) of the robot cleaner can be reduced. A fourth object of the present invention is to solve such a problem and to improve the running performance while securing stability.

A fifth object of the present invention is to provide a device capable of performing a combination of a wet wiping and a dry wiping (dry wiping and / or suction wiping) to perform clean and efficient wiping.

In order to solve the first to fourth problems, the robot cleaner according to the present invention includes: a robot cleaner which rotates clockwise or counterclockwise when viewed from the upper side and includes a left spin motor and a right spin motor, A first cleaning module, a second cleaning module provided in contact with the floor in front of the first cleaning module, and a body supported by the first cleaning module and the second cleaning module. A point receiving the greatest frictional force from the bottom of the lower side of the right side spin mep is disposed in the left front side of the rotation center of the left spin mep, And is disposed on the right front side from the rotation center of spin dip.

In order to solve the first to fourth problems, the lower side of the left spin mep forms a downward tilt in the left front direction and the lower side of the right spin mep forms a downward tilt in the right front direction.

In order to solve the first problem, the robot cleaner may be configured to move the body by a rotation operation of the first cleaning module without a separate wheel.

In order to solve the second and third problems, the second cleaning module may be slidably in contact with the floor according to the movement of the body.

In order to solve the fifth problem, the robot cleaner may include a water supply module for supplying water to the first cleaning module. The first cleaning module may be provided to be wiped by the rotation. The second cleaning module may be slid along the floor according to the movement of the body, and may be provided to be wiped.

And a water tank for storing water supplied to the first cleaning module or the second cleaning module. In order to solve the fourth problem, the center of gravity of the water tank may be disposed behind the center of rotation of the lower side of the left spin water pump and the rotational center of the lower side of the right spin water pump.

And a battery for supplying power. In order to solve the fourth problem, the center of gravity of the battery may be arranged on the rear side of the rotational center of the lower side of the left spin mep and the rotational center of the lower side of the right spin mep.

In order to solve the fourth problem, the lower side of the left spin mep forms a lowest point in the left front side, and the lower side of the right side spin mop forms a lowest point in the right front side.

In order to solve the fourth problem, the center of gravity of the water tank may be disposed on the lower side of the lower side of the left spin water pump and on the rear side of the lowest point of the lower side of the right spin water pump.

In order to solve the fourth problem, the center of gravity of the battery may be disposed on the lower side of the lower side of the left spin mass and the lower side of the lower side of the lower side of the right spin mass.

In order to solve the fourth problem, the body may have a volume on the upper side of the first cleaning module larger than a volume on the upper side of the second cleaning module.

In order to solve the first problem, the first cleaning module may include a left rotation plate for fixing the mop portion of the left spin mass, and a left spin rotation axis fixed to the left rotation plate to rotate the left rotation plate. The first cleaning module may include a right rotation plate for fixing the mop portion of the right spin dip and a right spin rotation axis fixed to the right rotation plate to rotate the right rotation plate.

The first cleaning module may include a left tilting rotary shaft extending in a direction perpendicular to an inclining direction of the lower side of the left spin mep and a second tilting rotary shaft supporting the left spin rotary shaft and being rotatable within a predetermined range about the left tilting rotary shaft And a left tilting frame. The first cleaning module includes a right tilting rotary shaft extending in a direction perpendicular to an inclining direction of the lower side of the right spin mass and a second tilting rotary shaft rotatably supported within the predetermined range about the right tilting rotary shaft And a right tilting frame.

In order to solve the fourth problem, the left spin rotation axis may be arranged such that an upper end of the left spin rotation axis is tilted toward the left front with respect to a lower end, and a right spin rotation axis of the left spin rotation axis is inclined forward toward the lower end.

In order to solve the first problem, when viewed from the lower side, the inclined direction of the lower side of the left spin mass and the inclined direction of the lower side of the right spin mass form an acute angle less than 45 degrees with the left and right direction axes, respectively can do.

In order to solve the problems 1 to 3 and 5, the robot cleaner according to the present invention includes a left spin mass and a right spin mass which are rotated in a clockwise or counterclockwise direction when viewed from above, A second cleaning module provided in contact with the floor at a front side of the first cleaning module, a body supported by the first cleaning module and the second cleaning module, And a water supply module for supplying water to the water supply module. The first cleaning module is provided to be wet-wiped by the rotation, and the second cleaning module slides along the bottom according to the movement of the body and is provided for dry wiping. The robot cleaner may be provided to move the body by a rotation operation of the first cleaning module without a separate wheel. The lower side of the left spin mep may form a downward slope to the left as a whole, and the lower side of the right spin mep may form a downward slope to the right as a whole.

The efficiency of wiping can be improved by supporting the robot cleaner 100 using only the first cleaning module and the second cleaning module.

In addition, since the second cleaning module is provided so as to be in contact with the floor at the front of the first cleaning module while securing the stability of the robot cleaner in the left and right directions by the left spin mass and the right spin mass, The stability of the robot cleaner in the front-rear direction is also increased.

Specifically, on the basis of the supporting point of the first cleaning module, the second cleaning module prevents overturning of the robot cleaner to the front, and the overturning of the robot cleaner to the rear is prevented by the rake surface of the first cleaning module .

Further, since the second cleaning module provides the frictional force against the swinging in the left-right direction, there is an effect that the robot cleaner can perform straight straight running while moving by the frictional force of the rake face.

In addition, through the structure of the present invention, there is an effect that the first cleaning module, which is a support point for running, is load-balanced so as to have a relatively large load while securing the stability in the front-rear direction and the left-right direction of the robot cleaner.

Specifically, by receiving the greatest frictional force in the left front side of the left spin mass and receiving the greatest frictional force in the right front side of the right side of the right spin mass, two points (Pla, The weight ratio of the rear side with respect to the weight of the front side is increased with respect to the imaginary axis connecting the robot cleaner (Plb) (refer to FIG. 5). In this case, The ratio of the load transmitted to the first cleaning module with respect to the load increases so that the cleaning efficiency and the traveling efficiency of the first cleaning module 120 are increased.

The body may have a larger volume on the upper side of the first cleaning module than on the upper side of the second cleaning module so that a larger volume structure can be disposed on the upper side of the first cleaning module, It becomes easy to make the weight of the parts or the like disposed on the upper side of the first cleaning module larger than the weight of the parts or the like disposed on the upper side of the second cleaning module. As a result, the load transferred to the first cleaning module is increased to improve the running performance.

By arranging the center of gravity of the water tub or the center of gravity of the battery relatively rearward, the ratio of the load transmitted to the first cleaning module 120 to the load transmitted to the second cleaning module 130 is made larger .

By forming the acupressure angle of the lower side of the left spin mass (120a) and the lower side of the right spin mass (120b) to an acute angle less than 45 degrees with the left and right axis respectively, The angular velocity of the left spin mass and the rotational motion of the right spin mass can be relatively lowered.

Specifically, the linear velocity (the velocity in the tangential direction at one point of the rotating body) at the lowest point (Pla, Plb) according to the angular velocity of the left spin mass and the right spin mass is divided into a front-rear direction component and a left- When decomposing, the forward-backward component of the linear velocity can be made larger than the lateral component. The left and right direction frictional forces applied to the robot cleaner by the left and right components of the linear velocity at the lowest points Pla and Plb can be offset from each other when the left spin mass and the right spin mass rotate, Pla, Plb), the frictional force applied to the robot cleaner by the forward-backward component of the linear velocity moves the robot cleaner.

1 is a perspective view of a robot cleaner 100 according to an embodiment of the present invention.
2 is a perspective view of the robot cleaner 100 of FIG. 1 viewed from a different angle.
3 is an exploded perspective view of the body 110 and the second cleaning module 130 of FIG.
FIG. 4 is an exploded perspective view of the body 110 and the second cleaning module 130 of FIG. 3 viewed from different angles.
5 is a bottom view of the robot cleaner 100 of FIG.
6 is a front view of the robot cleaner 100 of FIG. 1. FIG.
7 is a side view (right side view) of the robot cleaner 100 of FIG.
8 is a perspective view showing a state in which the case 11 is removed from the robot cleaner 100 of FIG.
9 is a perspective view showing a state in which the water tank 151, the water tank opening / closing part 153, and the battery 160 are removed from the robot cleaner 100 of FIG.
FIG. 10 is an elevational view of the robot cleaner 100 of FIG. 9 viewed from above.
11 is a partial cross-sectional view of the robot cleaner 100 cut vertically along lines S1-S1 'in FIGS. 5 and 10. FIG.
12 is a cross-sectional view of the robot cleaner 100 cut along the line S2-S2 'of Figs. 5 and 10 in a vertical direction.
13 is a cross-sectional view of the robot cleaner 100 cut along the line S3-S3 'of FIG. 10 in a vertical direction.
14 is a perspective view showing a part of the first cleaning module 120 of FIG.
FIG. 15 is an exploded view of a mop part 121 according to an example attached to the first cleaning module 120 of FIG.

The expressions referring to the directions such as " previous (F) / after (R) / left (Le) / right (R) / upper (U) / lower 5, FIG. 6, FIG. 7, FIG. 8, and FIG. 10, but this is only for the purpose of clarifying the present invention. It is also possible to define different directions depending on where the reference is placed Of course it is.

The use of the term "first, second, third, etc." in front of the constituent elements mentioned below is intended to avoid confusion of the constituent elements mentioned above, and it is not limited to the order, importance, . For example, an invention including only the second component without the first component is also feasible.

The 'mop' mentioned below can be applied variously in terms of material such as cloth or paper material, and can be used repeatedly or disposably through washing.

1 to 10, a robot cleaner 100 according to an embodiment of the present invention includes a body 110 having a control unit 20. The robot cleaner 100 includes a first cleaning module 120 for supporting the body 110. The robot cleaner 100 includes a second cleaning module 130 for supporting the body 110. The body 110 is supported by the first cleaning module 120 and the second cleaning module 130.

The first cleaning module 120 is provided to be wiped in contact with the floor. The first cleaning module 120 is provided to be wiped by an operation of rotating clockwise or counterclockwise when viewed from above. The first cleaning module 120 includes a left spin mass 120a and a right spin mass 120b. The first cleaning module 120 is disposed below the body 110. The first cleaning module 120 is disposed on the rear side of the second cleaning module 130. The robot cleaner 100 may be provided to move the body 110 by the rotation of the first cleaning module 120 without a separate wheel.

The second cleaning module 130 may be provided to be wiped in contact with the floor. The second cleaning module 130 is disposed below the body 110. The second cleaning module 130 is disposed in front of the first cleaning module 120. In this embodiment, the second cleaning module 130 is provided so as to sweep the floor according to the movement of the body 110 and to wipe it. As another example, the second cleaning module may be provided with a mopping operation. As another example, the second cleaning module may be provided with a vacuum cleaning function. As another example, the second cleaning module may include a brush for sweeping the floor, and further, the brush may be rotatably provided. Since the second cleaning module 130 is provided in contact with the floor so as to support the body, the specific structure for cleaning the second cleaning module 130 may be modified.

The robot cleaner 100 includes a water supply module 150 for supplying water necessary for mopping. The water supply module 150 can supply water necessary for wiping the first cleaning module 120 or the second cleaning module 130. The water supply module 150 includes a water tank 151 for storing water to be supplied to the first cleaning module 120 or the second cleaning module 130. In this embodiment, the first cleaning module 120 is provided to perform wet cleaning (mopping while supplying water), and the water supply module 150 supplies water to the first cleaning module 120. Also, in this embodiment, the second cleaning module 130 is provided for dry wiping (wiping without water supply), and the water supply module 150 does not supply water to the second cleaning module 130. The water supply module 150 may be provided to supply water to the second cleaning module 130 instead of the first cleaning module 120, And may be provided to supply water to both the cleaning module 120 and the second cleaning module 130.

The robot cleaner 100 includes a battery 160 that supplies power for rotating the first cleaning module 120. In this embodiment, power is not supplied to the second cleaning module 130, but the present invention is not limited thereto.

Referring to Figs. 1 to 7, the robot cleaner 100 includes a case 11 which forms a wand. The case 11 forms an upper side, a front side, a rear side, a left side and a right side of the body 110. [ The robot cleaner 100 includes a base 13 forming a lower surface of the body 110. The first cleaning module 120 is fixed to the base 13. And the second cleaning module 130 is fixed to the base 13. A control unit 20, a water supply module 150 and a battery 160 are disposed in an inner space formed by the case 11 and the base 13. [ The robot cleaner 100 may include a handle 12 for raising the robot cleaner 100 by a user.

The robot cleaner 100 includes a water tank opening / closing unit 153 for opening and closing the water tank 151. The water tank opening / closing part 153 is disposed on the upper side of the body 110. The robot cleaner 100 includes a water level indicator 152 for displaying the water level of the water tank 151. The water level indicator 152 may be formed of a material that is exposed to the water level and may be provided to directly see the water level of the water tank 151 inside the body 110. The water level indicator 152 is disposed on the rear side of the body 110.

The robot cleaner 100 includes an obstacle detection sensor 16 for sensing an obstacle ahead. A plurality of obstacle detecting sensors 16a, 16b, and 16c may be provided. The obstacle detection sensor 16 is disposed on the front surface of the body 110. [

The robot cleaner 100 includes a cliff detection sensor 17 for detecting the presence or absence of a cliff on the floor in the cleaning area. A plurality of cliff detection sensors 17a and 17b may be provided. The cliff detection sensor 17 may detect the presence or absence of a cliff in front of the second cleaning module 130. The cliff detection sensor 17 is disposed in the lower front of the bumper 115.

The robot cleaner 100 includes a battery charging unit 18 for charging or discharging the battery 160 into the body 110. The robot cleaner 100 includes a power switch 19 for inputting ON / OFF of power supply. The robot cleaner 100 may include an input unit (not shown) that can input various instructions of the user. The robot cleaner 100 may include a communication module (not shown) for communicating with an external device.

The robot cleaner 100 includes a control unit 20 for controlling autonomous travel. The control unit 20 may process the detection signals of the obstacle detection sensor 16 or the cliff detection sensor 17. The control unit 20 may process a signal of the input unit or a signal input through the communication module. The control unit 20 includes a PCB 20 disposed inside the body 110. (See FIG. 8)

The body 110 includes a first portion 111 disposed on the upper side of the first cleaning module 120 and a second portion 112 disposed on the upper side of the second cleaning module 130. The volume of the body 110 on the upper side of the first cleaning module 120 is larger than the volume of the body 110 on the upper side of the second cleaning module. Specifically, the volume of the first portion 111 is formed to be larger than the volume of the second portion 112. The width in the front-rear direction, the width in the left-right direction, and the width in the up-and-down direction of the first portion 111 are respectively larger than the width in the front-rear direction, width in the widthwise direction, and width in the up- This makes it possible to place a more bulky configuration in the first portion 111 and to make the weight of the first portion 111 larger than the weight of the second portion 112. When the weight of the first part 111 is greater than the weight of the second part 112, the load transmitted to the first cleaning module 120 increases, thereby improving the driving performance.

The body 110 includes a bumper 115 for detecting an external impact, . The bumper (115) is disposed in front of the body (110). The bumper 115 is disposed forward of the second cleaning module 130. The bumper 115 is disposed above the second cleaning module 130.

The second cleaning module 130 may be detachably attached to the body 110. In this case, the body 110 includes a module seating part 119 on which the second cleaning module 130 is seated. The module seating portion 119 is disposed below the front portion of the body 110. The second cleaning module 130 includes a body seating part 132 on which the body 110 is seated. The body seating part 132 is disposed on the upper side of the second cleaning module 130. The module seating portion 119 and the body seating portion 132 are disposed at positions corresponding to each other (see FIGS. 3 and 4).

The second cleaning module 130 is coupled to the coupling portion 138 for coupling the body 110 and the second cleaning module 130. [ And the body 110 includes a coupling mating portion 118 corresponding to the mating portion 138. The engaging portion 138 and the engaging portion 118 are provided to be mutually engageable. The engaging portion 138 is disposed in the body seating portion 132. The coupling mating portion 118 is disposed in the module seating portion 119. A plurality of coupling portions 138a, 138b, and 138c may be provided, and a plurality of coupling corresponding portions 118a, 118b, and 118c may be provided correspondingly. One of the coupling portion 138 and the coupling mating portion 118 may include a magnet and the other may include a substance (magnet or metal) pulled by the magnet.

The robot cleaner 100 includes a guide protrusion 137 and a guide 117 for guiding the coupling between the body 110 and the second cleaning module 130. One of the guide protrusion 137 and the guide 117 is disposed in the body seating portion 132 and the other is disposed in the module seating portion 119. [ A plurality of guide projections 137a and 137b may be provided. A plurality of guides 117a and 117b may be provided. The guide 117 may form a groove or a hole into which the guide protrusion 137 is inserted. The first guide protrusion 137a protrudes upward from the second cleaning module 130. The second guide protrusion 137b protrudes upward from the second cleaning module 130 and has a module hole 130a passing through the center in a vertical direction. The first guide 117a is disposed on the body 110 and defines a groove into which the first guide protrusion 137a is inserted. The second guide 117b, Is formed in the body 110 and forms a groove into which the second guide projection 137b is inserted. The first end 110a of the passage is disposed in the second guide 117b to connect the module hole 130a and the air passage P110. A fan may be disposed on the air passage P110. The fan may apply pressure to the air to draw air through the module hole 130a.

The body 110 includes an air passage P110 passing through the inside of the body 110. [ The air passage P110 connects the first flow end 110a and the second flow end 110b. The flow path first end 110a and the flow path second end 110b form openings on the outer surface of the body 110. [ Air can be sucked from one of the first end 110a of the flow path and the second end 110b of the flow path, and air can be discharged to the other end. An arrow (A) in Fig. 4 shows the air flow direction according to one embodiment. The air may be sequentially passed through the module hole 130a and the first flow path end 110a from the lower side of the second cleaning module 130 and may be introduced into the air flow path P110. The air introduced into the air passage P110 may be discharged to the outside through the second end 110b of the passage. The lower surface between the first cleaning module 120 and the second cleaning module 130 is recessed upward to form a body gap 110c. The second end 110b of the flow path is disposed at a position facing the body gap 110c.

The second cleaning module 130 is disposed in contact with the floor in front of the first cleaning module 120. The second cleaning module 130 is slidably in contact with the floor according to the movement of the body 110. The second cleaning module 130 is slidably provided along the floor. The second cleaning module 130 is provided for dry wiping.

The second cleaning module 130 includes a lower surface 131 disposed on the lower side. The lower surface portion 131 may be formed in a shape in which the center of the front side is recessed toward the rear side.

5 and 7). In this case, the load of the body 110 is applied to the lower surface of the lower surface 131, And the mop portion M1. When the body 110 moves, the mop M1 can move along the floor and mop it.

Apart from the presence or absence of the rake portion M1 according to the embodiment, a rake fixing portion 134 for fixing the replacement rake to the second cleaning module 130 is provided. The rake fixing portion 134 may include Velcro. A plurality of mop fixing portions 134a, 134b, 134c, and 134d may be provided. A plurality of rake fixing parts 134a, 134b, 134c, and 134d are disposed in the body seating part 132. [ The user can fix the replacement mop to the mop fixing portion 134 while the second cleaning module 130 is wrapped with the replacement mop so that a part of the replacement mop is disposed between the bottom portion and the bottom portion 131 have. In another embodiment, the mop fastening part may include a hook for fixing the replacement mop.

The second cleaning module 130 includes a collecting unit 133 disposed in front of the lower surface 131. The collecting unit 133 forms a collecting space for collecting foreign substances. The collecting space is formed so that the front side and the bottom side are opened. The second cleaning module 130 includes a blocking portion 133a that defines a surface defining the collection space. The blocking portion 133a includes a rear blocking portion 133a1 forming a rear surface of the collection space and a side blocking portion 133a2 forming left and right side surfaces of the collection space. The second cleaning module 130 includes a collecting portion upper surface 133b forming the upper surface of the collecting space. The collector side surface 133b is disposed at a position higher than the lower surface 131. [ The module hole 130a is formed in the collector side 133b.

The second cleaning module 130 includes a collection assistance member 136 disposed in front of the collection part 133. [ The collecting assisting member 136 is formed protruding downward from the upper side 133b of the collecting portion. The collecting assisting member 136 makes it difficult for the foreign matter to flow out from the collecting unit 133 as compared with the case where the foreign matter is introduced into the collecting unit 133. A plurality of collection assistants 136a, 136b, 136c, and 136d may be formed to be spaced apart from each other in the left-right direction. The collection assistance member 136 may be formed of a flexible material. The collecting assisting member 136 is formed in a shape bent backward so that it is relatively bended when applied with a force in the backward direction and relatively not bent when applied with a force in the forward direction.

The replacement mop also wraps the collecting part 133 and the collecting assisting member 136 while the replacement mop is wrapped around the second cleaning module 130. The surface portion surrounding the collection portion 133 of the replacement mop can be easily recessed into the collection space. As a result, a relatively large volume of foreign matter can easily flow into the surface portion surrounding the collecting portion 133 of the replacement mop. The surface portion surrounding the collection portion 133 of the replacement mop is limited in fluidity in the forward direction by the collection assistance member 136. [ As a result, the foreign matter introduced into the portion for covering the collecting portion 133 of the replacement mop can not easily escape forward.

The first cleaning module 120 includes a left spin mask 120a and a right spin mask 120b that are rotated in a clockwise or counterclockwise direction when viewed from above, The first cleaning module 120 is provided to be wiped by the rotation of the left spin mass 120a and the right spin mass 120b. In the present description, among the components of the first cleaning module 120, a component having a 'left' before the name means a configuration for operating the left spin mep 120a, and a component 'right' Quot; means a configuration for operating the right spin memory 120b. If there is no distinction between 'left' and 'right' in the description of the components of the first cleaning module 120, the description may be applied to both 'left' and 'right'.

5, a point at which the rotational axis of the left spin dipper 120a intersects with a bottom surface of the left spin dip 120a is defined as a rotational center Osa of the left spin dip 120a, and a right spin dip 120a And the lower side of the left spin mass 120b intersect with each other is defined as a rotation center Osb of the right spin mass 120b. When viewed from the lower side, the clockwise direction of the rotation direction of the spin mass 120a is defined as a first forward direction w1f and the counterclockwise direction is defined as a first reverse direction w1r. When viewed from the lower side, the counterclockwise direction of the rotation direction of the spin mass 120b is defined as a second forward direction (w2f), and the clockwise direction is defined as a second reverse direction (w2r). The acute angle formed by the sloping direction of the lower side of the left spin mass 120a with the left and right axes and the slant direction of the lower side of the right spin mass 120b with the left and right axes, Is defined as an inclination angle (Ag1). The slope direction angle Ag1 of the left spin mass 120a and the slope direction angle Ag1 of the right spin mass 120b may be the same. 11, an angle formed by the lower side I of the left spin mass 120a with respect to the imaginary horizontal plane H and an imaginary horizontal plane H with respect to the imaginary horizontal plane H, And the angle formed by the lower side I is defined as the inclination angle Ag2.

When the left spin dipper 120a rotates, the point Pla, which receives the greatest frictional force from the bottom of the lower side of the left spin dipper 120a, is placed in the left front space at the rotation center Osa of the left spin dipper 120a do. The point Plb which receives the greatest frictional force from the bottom of the lower side of the right spin dipper 120b is positioned rightward in the rotation center Osb of the right spin dipper 120b when the right spin dipper 120b rotates do. It is possible to cause a load greater than another point on the lower face of the left spin mass 120a to be transmitted to the point Pla at the point Pla to generate the greatest frictional force at the point Pla. A load greater than the other point is transmitted to the ground Plb from the lower side of the right spin mass 120b to the ground so that the greatest frictional force can be generated at the point Plb.

In order to allow the point Pla to be the point of receiving the greatest frictional force from the bottom of the lower side of the left spin mass 120a, it can be variously implemented according to the following embodiments and the like.

In the first embodiment, the lower side of the left spin grating 120a may be arranged to be inclined downward from the rotation center Osa toward the point Pla. In this case, the point Pla becomes the lowest point Pla of the lower side of the left spin mass 120a.

A lower side of the spin mass plate 120a is horizontally arranged on the upper side of a lower rotary plate (not shown) for fixing the lower side surface of the left spin mass 120a, A spring (not shown) may be arranged along the rotational direction about the rotational axis. In this case, an upper rotating plate (not shown) for supporting the upper ends of the plurality of springs may be arranged to be inclined downward from the rotation center Osa toward the point Pla. When the upper rotating plate rotates, the plurality of springs also rotate, and each of the springs repeats the elastic compression and the elastic restoration. At this time, among the plurality of springs, the spring disposed in the direction of the point Pla is most compressed with respect to the center of rotation Os, and accordingly, the spring at the point Pla among the lower side of the left spin mass 120a You get the greatest frictional force from the bottom.

The first embodiment and the second embodiment can be applied in the same manner at the level of a person skilled in the art in order to make the point Plb the point of receiving the greatest frictional force from the bottom of the lower side of the right spin mep 120b . The following description will be made with reference to the first embodiment.

The lower surface of the left spin mass (120a) and the lower surface of the right spin mass (120b) are arranged obliquely. The inclination angle Ag2 of the left spin mass 120a and the inclination angle Ag2 of the right spin mass 120b form an acute angle. In this embodiment, the inclination angle Ag2 is about 3 to 6 degrees. The inclination angle Ag2 becomes a point where the frictional force becomes the highest point at the points Pla and Plb and the bottom side of the bottom part of the mop part 121 becomes the bottom side As shown in FIG.

The lower side of the left spin mass 120a forms a downward slope in the left front direction. And the lower side of the right spin mep 120b forms a downward slope in the right front direction. The lower side of the left spin mass 120a forms the lowest point Pla in the left front side. The lower side of the left spin mass 120a forms a peak Pha in the right rear side (the right side and the rear side direction). The lower surface of the right spin mass 120b forms the lowest point Plb in the right front direction. The lower side of the right spin mass 120b forms a peak Phb in the left rear direction (left and rear side directional direction). When the rear weight ratio is defined as the rear weight ratio with respect to the weight on the front side relative to the imaginary axis connecting the two lowest points Pla and Plb, , Plb are arranged in front. The ratio of the load transferred to the first cleaning module 120 disposed rearward relative to the load transmitted to the second cleaning module 130 disposed in front of the total load of the robot cleaner 100 increases as the rear weight ratio increases, Lt; / RTI > When the ratio of the load transferred to the first cleaning module 120 increases, there is an effect that the cleaning efficiency and the traveling efficiency of the first cleaning module 120 are increased.

5, in order to move the robot cleaner 100 forward, the left spin mass 120a is rotated at a predetermined rpm R1 in a first forward direction w1f and the right spin mass 120b is rotated at a predetermined rpm R1, And can be rotated to the rpm (R1) in the normal direction (w2f). In order to linearly move the robot cleaner 100 backward, the left spin pump 120a is rotated in the first reverse direction w1r at a predetermined rpm R2 and the right spin pump 120b is rotated in the second reverse direction w2r rpm (R2). In order to turn the robot cleaner 100 to the right, the left spin mass 120a is rotated at a predetermined rpm (R3) in a first normal direction (w1f) and the right spin mass 120b is rotated in a second reverse direction (w2r) Or iii) rotate in the second positive direction (w2f) to an rpm (R4) less than the rpm (R3). The left spin mass 120a is rotated in the first reverse direction w1r to rotate the right spin mass 120b in the second forward direction w2f to a predetermined rpm R5 to rotate the robot cleaner 100 leftward, Or iii) rotate in a first positive direction (w1f) to an rpm (R6) smaller than the rpm (R5).

The lower side of the left spin dipper 120a forms a downward slope to the left as a whole and the lower side of the right spin dip 120b forms a downward slope to the right as a whole. According to the embodiment, it is also possible that the inclination angle Ag1 is 0 degrees. According to the embodiment, the oblique direction of the lower side of the left spin multipass 120a forms an oblique direction angle Ag1 in the clockwise direction with respect to the left and right axes, and the right side spin weight 120b, It is also possible to form an oblique direction angle Ag1 in the counterclockwise direction with respect to the right and left directional axes. In order to distribute the load, in the present embodiment, the oblique direction of the lower side of the left spin mass 120a forms an oblique direction angle Ag1 in the counterclockwise direction with respect to the left and right axes, The slope direction of the lower side of the spin mask 120b forms a slope angle Ag1 in the clockwise direction with respect to the horizontal axis.

The slanting direction angle Ag1 of the left spin mass 120a and the slanting direction angle Ag1 of the right spin mass 120b form an acute angle. The lower side of the left spin mass 120a forms an acute angle in the counterclockwise direction with respect to the left and right axes and the lower side of the right spin mass 120b is inclined in the left and right axes Thereby forming an acute angle in a clockwise direction.

The oblique direction of the lower side of the left spin mass 120a and the oblique direction of the lower side of the right spin dip 120b form an acute angle less than 45 degrees with the left and right direction axes respectively. When the linear velocity (the velocity in the tangential direction at one point of the rotating body) at the lowest points Pla and Plb according to the angular velocity of the left and right spin masses 120a and 120b is decomposed into the forward and backward components and the left and right components, The longitudinal direction component of the linear velocity can be made larger than the lateral direction component. For example, when the left spin mass 120a rotates at a specific angular velocity in a first forward direction w1f and the right spin mass 120b rotates at the specific angular velocity in a second forward direction w2f, two lowest points Pla And Plb are offset from each other by the left and right directional components of the linear velocity of the robot cleaner 100. The left and right direction frictional forces applied to the robot cleaner 100 are canceled by the forward and backward components of the linear velocity at the lowest points Pla and Plb, The robot cleaner 100 moves forward. Therefore, by setting the angle of inclination (Ag1) to be less than 45 degrees, the angular velocity of the rotational motion of the left spin mass (120a) and the right spin mass (120b) for relatively moving the robot cleaner (100) There is an effect that can be.

The first cleaning module 120 includes a rake portion 121 disposed on the lower side of the left spin dipper 120a and the lower side of the right spin dipper 120b. The mop part 121 may be fixedly disposed on the left spin mep 120a and the right spin mep 120b and may be disposed interchangeably. The mop part 121 can be fixed to the left spin mep 120a and the right spin mop 120b so as to be detachable by a hook, a hook or the like. Referring to Fig. 15, the mop 121 may include a mop 121a and a spacer 121b. The mop 121a directly contacts the floor and is mopped. The spacer 121b is disposed between the rotary plate 122 and the mop 121a to adjust the position of the mop 121a. The spacer 121b can be detachably fixed to the rotary plate 122 and the mop 121a can be detachably fixed to the spacer 121b. It is needless to say that the mop part 121 composed of only the mop 121a without the spacer 121b can be realized.

12 to 14, the first cleaning module 120 includes a left rotation plate 122 for fixing the mop 121 of the left spin mep 120a and a left rotation plate 122 for fixing the mop portion 121 of the right spin dip 120b And a right rotation plate 122 for fixing the left and right rotation shafts 121 and 121 to each other. The rotary plate 122 may be formed of a circular plate-like member. And the rake portion 121 is fixed to the lower surface of the rotating plate 122. A spin rotation axis 128 is fixed to the center of the rotation plate 122. And a water supply hole 122a passing through the rotary plate 122 vertically is formed. The plurality of water supply holes 122a may be spaced apart from each other along the circumferential direction of the spin rotation axis 128. The water supply hole 122a is disposed at the center of the rotary plate 122. The water supply hole 122a is disposed at a position where the spin rotation axis 128 is avoided.

The first cleaning module 120 includes a water receiving portion 123 disposed above the rotating plate 122 to receive water. The water receiving portion 123 allows the water supplied to the upper side of the rotating plate 122 to collect in the upper center portion of the rotating plate 122 until the water passes through the water supplying hole 122a. The water receiving portion 123 protrudes upward from the upper surface of the rotary plate 122 and extends in the circumferential direction around the spin rotary shaft 128. The water receiving portion 123 may be formed as a ring-shaped rib. A water supply hole (122a) is disposed on the inner bottom surface of the water supply container (123). The water receiving portion 123 is disposed apart from the spin rotation shaft 128.

The first cleaning module 120 includes a motor 124 that provides a driving force for rotating the left spin mass 120a and the right spin mass 120b. The first cleaning module 120 includes a left motor 124 for providing power for rotating the left spin rotation axis 128 and a right motor 124 for providing power for rotating the right spin rotation axis 128 .

The first cleaning module 120 includes a tilting frame 125 that allows the inclination angle Ag2 to be changed according to the bottom condition. The tilting frame 125 can perform the suspension of the left spin mass 120a and the right spin mass 120b (functioning to mitigate vertical vibrations at the same time as weight support).

Referring to FIGS. 12 and 13, the first cleaning module 120 includes a left tilting frame 125 supporting the left spin rotation axis 128. The left tilting frame 125 is rotatable about a left tilting rotary shaft 126 within a predetermined range. The first cleaning module 120 includes a right tilting frame 125 that supports the right spin rotation axis 128. The right tilting frame 125 is rotatable about a right tilting rotary shaft 126 within a predetermined range. The tilting frame 125 can rotatably support the spin rotation shaft 128 by a bearing. For example, when the left spin mass 120a contacts the bottom of the partially recessed shape, the inclination angle Ag2 of the left spin mass 120a may be increased within a predetermined range by the left tilting frame 125. [ Conversely, when the right spin mass 120b contacts the bottom of the partially recessed shape, the inclination angle Ag2 of the right spin mass 120b can be increased within a predetermined range by the right tilting frame 125. [

The tilting frame 125 includes a frame base 125a forming a lower side. The spin rotation axis 128 is disposed so as to pass through the frame base 125a up and down. The tilting frame 125 includes a gear casing 125b which receives the drive transmitting portion 127 therein. The gear casing 125b is fixed to the upper side of the frame base 125a. The tilting frame 125 includes a water supply portion 125c for receiving water from the water supply module 150. [ The water supply unit 125c is supplied with water from the supply pipe 156. The water supply part 125c forms an opening on the upper side and the water flowing out of the supply pipe 156 flows into the first cleaning module 120 through the upper opening of the water supply part 125c. The water supply part 125c forms a flow path from the upper opening to the water supply part 123. The water supply portion 125c is disposed above the frame base 125a. The tilting frame 125 includes an elastic member first support portion 125d that supports one end of the elastic member 129. [ The other end of the elastic member is supported by the elastic member second supporting portion 13b disposed on the base 13. [ The elastic member first supporting portion 125d supports the lower end of the elastic member 129. [ The elastic member second supporting portion 13b supports the upper end of the elastic member 129.

The first cleaning module 120 includes a tilting rotary shaft 126 serving as a rotary shaft of the tilting frame 125. The first cleaning module 120 includes a left tilting rotary shaft 126 extending in a direction perpendicular to the slanting direction of the lower side of the left spin mass 120a. The first cleaning module 120 includes a right tilting rotary shaft 126 extending in a direction perpendicular to the slanting direction of the lower side of the right spin mass 120b. The tilting rotary shaft 126 may be disposed on a virtual horizontal plane. 10, the left tilting rotary shaft 126 extends from the right front to the left rear and the right tilting rotary shaft 126 extends from the left front to the rear right.

The first cleaning module 120 includes a drive transmitting portion 127 for transmitting the rotational force of the motor 124 to the spin rotational shaft 128. The drive transmitting portion 127 may include a plurality of gears and / or belts. 12, the drive transmitting portion 127 includes a first gear 127a fixed to the rotating shaft of the motor 124. [ The first gear 127a may be a worm gear. The drive transmitting portion 127 may include a second gear 127b that rotates in engagement with the first gear 127a. The drive transmitting portion 127 may include a third gear 127c that rotates in engagement with the second gear 127b. The third gear 127c is fixed to the spin rotation axis 128 so that the spin rotation axis 128 also rotates when the third gear 127c rotates. The second gear 127b includes a first gear portion 127b1 that forms a gear for meshing with the gear of the first gear 127a and a second gear portion 127b2 that forms a gear meshing with the gear of the third gear 127c. (127b2). The diameter of the first gear portion 127b1 may be larger than the diameter of the second gear portion 127b2. The reduction ratio of the rotation speed can be adjusted by changing the diameter of the first gear portion 127b1 and the diameter of the second gear portion 127b2.

The first cleaning module 120 includes a spin rotation axis 128 fixed to the rotation plate 122 and transmitting rotation force of the motor 124 to the rotation plate 122. The spin rotation axis 128 is disposed at the upper center of the rotation plate 122. The spin rotation axis 128 is fixed to the rotation centers Osa and Osb of the rotation plate 122. The spin rotation shaft 128 includes a gear fixing portion 128a for fixing the gear 127c. The gear fixing portion 128a is disposed at the top of the spin rotation shaft 128. [

The first cleaning module 120 includes a left spin rotation axis 128 fixed to the left rotation plate 122 to rotate the left rotation plate 122 and a right spin rotation axis 128 fixed to the right rotation plate 122 to rotate the right rotation plate 122, And a spin rotation axis 128.

The spin rotation axis 128 extends perpendicular to the rotation plate 122. The left spin spin shaft 128 is disposed perpendicular to the lower side of the left spin drum 120a and the right spin spin shaft 128 is disposed perpendicular to the lower side of the right spin drum 120b. The left spin spin shaft 128 and the right spin spin shaft 128 are also inclined with respect to the vertical axis since the lower side of the left spin drum 120a and the lower side of the right spin drum 120b are inclined with respect to the horizontal plane . The left spin rotation axis 128 is arranged such that its upper end is tilted to the left front with respect to the lower end. The right spin rotation axis 128 is arranged such that its upper end is inclined forward to the lower end. The tilted angle of the left spin rotation axis 128 with respect to the vertical axis can be changed according to the rotation about the tilting rotation axis 126 of the tilting frame 125. [ The tilted angle of the right spin rotation axis 128 with respect to the vertical axis can be changed according to the rotation about the tilting rotation axis 126 of the tilting frame 125. [

The first cleaning module 120 includes an elastic member 129 for applying an elastic force to the tilting frame 125. The elastic member 129 extends when the tilting frame 125 rotates downward, and decreases when the tilting frame 125 rotates upward. The resilient member 129 allows the tilting frame 125 to operate bufferably (elastically). The left elastic member 129 may be disposed on the left side of the left tilting frame 125. [ The right elastic member 129 may be disposed on the right side of the right tilting frame.

The base 13 is provided with an opening in which the tilting frame 125 is disposed. The tilting frame 125 is connected to the base 13 via a tilting rotary shaft 126. The tilting rotary shaft 126 is rotatably fixed to the base 13. The base 13 includes a limit that limits the rotation range of the tilting frame 125. [ The base 13 includes an upper limit 13a for limiting an upward rotation range of the tilting frame 125, . The upper left limit 13a is disposed on the left side of the left tilting frame 125 and is disposed in contact with the upper side of the left tilting frame 125. [ The upper right limit 13a is disposed on the right side of the right tilting frame 125 and is disposed in contact with the upper side of the right tilting frame 125. [ The base 13 includes a lower limit (not shown) in which the tilting frame 125 limits the downward rotation range. The lower limit is provided so as to be in contact with the lower surface of the tilting frame 125 or the lower surface of the motor 124 in a state where the tilting frame 125 is rotated to the maximum in the downward direction.

Referring to FIGS. 5, 7, 8, 9, 10 and 11, the water supply module 150 supplies water to the first cleaning module 120. 11, the water W filled in the water tank 151 and the flow direction WF of water are shown. 5 and 7, the center of gravity Mw of the water tank 151 is shown.

The center of gravity Mw of the water tank 151 means the center of gravity Mw of the water tank 151 and the water W in a state where the water tank 151 is filled with water. The center of gravity Mw of the water tray 151 is disposed on the rear side of the rotational center Osa of the lower side of the left spin mass 120a and the rotational center Osb of the lower side of the right spin mass 120b. The center of gravity Mw of the water reservoir 151 is disposed on the rear side from the lowest point Pl of the lower side of the left spin mass 120a and the lowest point Plb of the lower side of the right spin mass 120b. Since the water W has a relatively large specific gravity, the ratio of the load transmitted to the first cleaning module 120 to the load transmitted to the second cleaning module 130 can be further increased.

The water supply module 150 includes a pump 155 that pressurizes the water W in the water tank 151 to move it to the first cleaning module 120. The water supply module 150 includes a supply pipe 156 for guiding the movement of the water W from the water tank 151 to the first cleaning module 120. The supply pipe 156 includes a first supply pipe 156-1 for guiding the movement of the water W from the water tank 151 to the pump 155 and a second water supply pipe 156-1 for guiding the water W from the pump 155 to the first cleaning module 120 And a second supply pipe 156-2 for guiding the movement of the second supply pipe 156-2. The second supply pipe 156-2 guides the movement of the water W to the left branch pipe 156-2a and the right spin pipe 120b for guiding the movement of the water W to the left spin water pump 120a And a right branch pipe 156-2b.

Referring to FIG. 11, the water flow direction WF will be described as follows. When the pump 155 is driven, the water in the water tank 151 flows through the first supply pipe 156-1 and the second supply pipe 156-2 sequentially to the water supply part 125c of the first cleaning module 120 ≪ / RTI > The water flowing into the water supply part 125c passes through the tilting frame 125 and flows into the water supply part 123. The water introduced into the water receiving portion 123 flows into the center portion of the mop 121 through the water supply hole 122a. The water flowing into the center of the mop part 121 moves to the edge of the mop part 121 by the centrifugal force resulting from the rotation of the mop part 121. [

Referring to FIGS. 5, 7 and 8, the battery 160 supplies power to the robot cleaner 100. 5 and 7, the center of gravity Mb of the battery 160 is shown.

The center of gravity Mb of the battery 160 is disposed on the rear side of the rotational center Osa of the lower side of the left spin mass 120a and the rotational center Osb of the lower side of the right spin mass 120b. The center of gravity Mb of the battery 160 is disposed on the rear side from the lowest point Pla of the lower side of the left spin mass 120a and the lowest point Plb of the lower side of the right spin mass 120b. Since the battery 160 has a relatively large specific gravity, the load transmitted to the first cleaning module 120 with respect to the load transmitted to the second cleaning module 130 can be further increased.

100: robot cleaner 110: body
120: first cleaning module 120a: left spin mass
120b: right spin pump 130: second cleaning module
150: Water supply module 160: Battery
Mw: center of gravity of water tank Mb: center of gravity of battery
w1f: first forward direction (w1f) w1r: first reverse direction (w1r)
w2f: second forward direction (w2f) w2r: second reverse direction (w2r)
Pla, Plb: lowest point Pha, Phb: highest point
Ag1: Angle of incline Ag2: Angle of inclination
Osa: The center of rotation of the lower side of the left spinum
Osb: center of rotation of the lower side of the right spinum
A: Direction of air flow

Claims (18)

A first cleaning module including a left spin mass and a right spin mass which rotate in a clockwise direction or a counterclockwise direction when viewed from the upper side and come in contact with the floor;
A second cleaning module provided in contact with the floor in front of the first cleaning module; And
And a body supported by the first cleaning module and the second cleaning module,
Wherein the lower side of the left spin mug forms a downward slope in the left front direction and the lower side of the right spin mug forms a downward slope in the right front direction. The method according to claim 1,
And the body is moved by the rotation of the first cleaning module without a separate wheel. The method according to claim 1,
Wherein the second cleaning module is slidably in contact with the floor according to movement of the body. The method according to claim 1,
And a water supply module for supplying water to the first cleaning module,
Wherein the first cleaning module is provided to be wiped by the rotation,
Wherein the second cleaning module slides along the floor according to movement of the body and is provided to be wiped. The method according to claim 1,
And a water tank for storing water supplied to the first cleaning module or the second cleaning module,
Wherein the center of gravity of the water tub is disposed behind the center of rotation of the lower side of the left spin mep and the rotation center of the lower side of the right spin mop. The method according to claim 1,
And a battery for supplying power,
Wherein the center of gravity of the battery is disposed behind the center of rotation of the lower side of the left spin mep and the rotational center of the lower side of the right spin mop. The method according to claim 1,
The lower side of the left spin mep forms a lowest point in the left frontal plane,
And the lower side of the right spin mop forms a lowest point in the right front side. 8. The method of claim 7,
And a water tank for storing water supplied to the first cleaning module or the second cleaning module,
Wherein the center of gravity of the water tub is disposed on the rear side of the lowest point of the lower side of the left spin mep and the lowest point of the lower side of the right spin mop. 8. The method of claim 7,
And a battery for supplying power,
Wherein the center of gravity of the battery is disposed on the lower side of the lower side of the left spin mep and behind the lowest point of the lower side of the right spin mop. The method according to claim 1,
Wherein a volume of the upper part of the first cleaning module is larger than a volume of the upper part of the second cleaning module. The method according to claim 1,
The first cleaning module includes:
A left rotating plate for fixing the mop portion of the left spin mep;
A left spin rotation axis fixed to the left rotation plate to rotate the left rotation plate;
A right side rotating plate for fixing the mop portion of the right spin mep; And
And a right spin rotation axis fixed to the right rotation plate to rotate the right rotation plate. 12. The method of claim 11,
The first cleaning module includes:
A left tilting rotary shaft extending in a direction perpendicular to a slanting direction of the lower side of the left spin mep;
A left tilting frame that supports the left spin rotation axis and is rotatable within a predetermined range about the left tilting rotation axis;
A right tilting rotary shaft extending in a direction perpendicular to an inclining direction of the lower side of the right spin mass; And
And a right tilting frame that supports the right spin rotation axis and is rotatable within a predetermined range about the right tilting rotation axis. 12. The method of claim 11,
Wherein the left spin rotation axis is arranged such that its upper end is inclined to the left front side with respect to the lower end,
Wherein the right spin rotation axis is arranged such that an upper end of the spin rotation axis is inclined forward to the lower end. The method according to claim 1,
Wherein the slanting direction of the lower side of the left spin mep and the slanting direction of the lower side of the right spin mep form an acute angle of less than 45 degrees with the left and right direction axes respectively when viewed from the lower side. A first cleaning module including a left spin mass and a right spin mass which rotate in a clockwise direction or a counterclockwise direction when viewed from the upper side and come in contact with the floor;
A second cleaning module provided in contact with the floor in front of the first cleaning module; And
And a body supported by the first cleaning module and the second cleaning module,
A point receiving the greatest frictional force from the bottom of the lower side of the left spin mep is disposed in a left front position at a rotational center of the left spin mep,
Wherein the point of the lower side of the right spin mep receiving the greatest frictional force from the bottom is disposed on the right front side of the rotation center of the right spin mep. A first cleaning module including a left spin mass and a right spin mass which rotate in a clockwise direction or a counterclockwise direction when viewed from the upper side and come in contact with the floor;
A second cleaning module provided in contact with the floor in front of the first cleaning module;
A body supported by the first cleaning module and the second cleaning module; And
And a water supply module for supplying water to the first cleaning module,
Wherein the first cleaning module is provided to be wet-wiped by the rotation,
Wherein the second cleaning module slides along the bottom according to movement of the body and is provided for dry wiping. 17. The method of claim 16,
And the body is moved by the rotation of the first cleaning module without a separate wheel. 17. The method of claim 16,
The lower side of the left spin mep forms a downward slope to the left as a whole,
Wherein the lower side of the right spin mug forms a downward slope to the right as a whole.

Images