KR20200117088A - Drive wheel lifting device for robot cleaner - Google Patents

Drive wheel lifting device for robot cleaner Download PDF

Info

Publication number
KR20200117088A
KR20200117088A KR1020190038394A KR20190038394A KR20200117088A KR 20200117088 A KR20200117088 A KR 20200117088A KR 1020190038394 A KR1020190038394 A KR 1020190038394A KR 20190038394 A KR20190038394 A KR 20190038394A KR 20200117088 A KR20200117088 A KR 20200117088A
Authority
KR
South Korea
Prior art keywords
wheel
lifting
elevating
driving
robot cleaner
Prior art date
Application number
KR1020190038394A
Other languages
Korean (ko)
Other versions
KR102170415B1 (en
Inventor
황재호
Original Assignee
주식회사 아이포바인
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 아이포바인 filed Critical 주식회사 아이포바인
Priority to KR1020190038394A priority Critical patent/KR102170415B1/en
Publication of KR20200117088A publication Critical patent/KR20200117088A/en
Application granted granted Critical
Publication of KR102170415B1 publication Critical patent/KR102170415B1/en

Links

Images

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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is an invention for a drive wheel lifting device for a robot cleaner, capable of smoothly crossing obstacles as well as preventing a main body from being caught by the obstacles by vertically lifting a lifting support from a wheel driving part by a lifting operation part and varying the protruding height of a wheel member from the main body. The disclosed drive wheel lifting device for a robot cleaner comprises: a wheel member provided to protrude from a main body; a wheel driving part providing rotational force to the wheel member so that the wheel member rotates in contact with the ground; a lifting support provided in the main body so that the wheel driving part is fitted to be lifted; and a lifting operation part for adjusting the protruding height of the wheel member from the main body by vertically lifting the lifting support from the wheel driving part.

Description

로봇 청소기용 구동휠 승강장치{DRIVE WHEEL LIFTING DEVICE FOR ROBOT CLEANER}Drive wheel lifting device for robot vacuum cleaner {DRIVE WHEEL LIFTING DEVICE FOR ROBOT CLEANER}

본 발명은 로봇 청소기용 구동휠 승강장치에 관한 것으로서, 더욱 상세하게는 승강작동부에 의해 승강지지대가 휠구동부로부터 수직하게 승강되어 본체에서 휠부재의 돌출 높이를 가변시킴으로써, 본체가 장애물에 걸림 방지될 뿐만 아니라 장애물을 원활하게 넘어갈 수 있는 로봇 청소기용 구동휠 승강장치에 관한 것이다.The present invention relates to a driving wheel lifting device for a robot cleaner, and more particularly, by a lifting operation part, the lifting support is vertically elevated from the wheel driving part to change the protruding height of the wheel member from the main body, thereby preventing the main body from being caught in an obstacle. It relates to a drive wheel elevating device for a robot cleaner capable of smoothly crossing an obstacle as well as being used.

일반적으로, 진공청소기는 팬의 구동에 의해 발생되는 흡입력으로 청소면의 이물질을 흡입하여 청소를 수행하는 장치로서, 흡입력을 발생시키는 청소기 본체와, 청소기 본체로부터 연장되어서 청소면의 이물질을 흡입하기 위한 흡입노즐과, 이 흡입노즐과 청소기 본체를 연결하기 위한 연결관을 포함한다.In general, a vacuum cleaner is a device that suctions foreign substances on a cleaning surface with a suction force generated by the driving of a fan to perform cleaning, and includes a cleaner body generating suction power and a suction nozzle extending from the cleaner body to suck foreign substances on the cleaning surface. And, a connection pipe for connecting the suction nozzle and the cleaner body.

이러한, 진공청소기는 청소하는 장소나 위치에 따라 청소의 효율성을 높일 수 있도록 흡입노즐의 형태가 다양하게 제작된다.The vacuum cleaner is manufactured in various shapes of suction nozzles so as to increase the efficiency of cleaning according to the cleaning location or location.

최근에는 사용자의 조작 없이 청소 영역을 주행하면서 바닥에 쌓인 먼지 등을 자동으로 청소하는 로봇 청소기의 사용이 점진적으로 증가하고 있는 추세이다.In recent years, the use of robot cleaners that automatically cleans dust accumulated on the floor while driving through a cleaning area without user's manipulation is gradually increasing.

로봇 청소기(Robot Cleaner)는 제어수단의 명령에 의해 센서를 이용하여 청소영역 및 장애물들을 감지하고, 그 청소구역을 주행하며 자동으로 청소를 하며, 기기의 내부에 구비되어 있는 배터리의 전원이 소진되면 소정위치에 별도로 마련되어 있는 충전대로 이동하여 충전을 하며, 충전을 마친 다음에는 다시 청소를 하던 본래의 위치로 복귀하여 청소를 하는 기기이다.The robot cleaner detects the cleaning area and obstacles using a sensor according to the command of the control means, and automatically cleans the cleaning area while driving, and when the power of the battery installed inside the device is exhausted. It is a device that recharges by moving to a charging station separately provided at a predetermined location, and returns to the original location where it was cleaned after charging is completed.

그러나 이와 같은 종래의 로봇 청소기는 주행하면서 청소하는 영역에 카펫이나 문턱 등과 같은 장애물이 나타나면 주행이 어려울 뿐만 아니라, 카펫의 경우 본체가 카펫에 접촉되어 주행하지 못하는 경우가 빈번하게 발생하는 문제점이 있다.However, in such a conventional robot cleaner, when obstacles such as a carpet or a threshold appear in an area to be cleaned while driving, it is difficult to drive, and in the case of a carpet, there is a problem in that the main body is in contact with the carpet and thus cannot be driven.

따라서, 이를 개선할 필요성이 요청된다.Therefore, there is a need to improve this.

관련 배경기술로는 대한민국 공개특허공보 제10-2013-0035389호(2013.04.09. 공개, 명칭: 로봇 청소기)가 있다.As a related background technology, there is Korean Laid-Open Patent Publication No. 10-2013-0035389 (published on April 9, 2013, name: Robot Cleaner).

본 발명은 상기와 같은 필요성에 의해 창출된 것으로서, 승강작동부에 의해 승강지지대가 휠구동부로부터 수직하게 승강되어 본체에서 휠부재의 돌출 높이를 가변시킴으로써, 본체가 장애물에 걸림 방지될 뿐만 아니라 장애물을 원활하게 넘어갈 수 있는 로봇 청소기용 구동휠 승강장치를 제공하는데 그 목적이 있다.The present invention is created by the necessity as described above, and the lifting support is vertically elevated from the wheel drive unit by the lifting operation unit to vary the protruding height of the wheel member from the main body, so that the main body is prevented from being caught in the obstacle as well as the obstacle. An object of the present invention is to provide a driving wheel lifting device for a robot cleaner that can smoothly pass.

상기와 같은 목적을 달성하기 위하여 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치는 본체에 돌출 가능하게 구비되는 휠부재와, 상기 휠부재가 지면에 접한 상태로 회전되도록 상기 휠부재에 회전력을 제공하는 휠구동부와, 상기 휠구동부가 승강 가능하게 끼워지도록 상기 본체에 구비되는 승강지지대 및 상기 휠구동부로부터 상기 승강지지대를 수직하게 승강시켜 상기 본체에서 상기 휠부재의 돌출 높이를 조절하는 승강작동부를 포함하는 것을 특징으로 한다.In order to achieve the above object, a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention includes a wheel member provided to be protruding from a main body, and a rotational force on the wheel member so that the wheel member rotates in contact with the ground. A lifting operation for adjusting the protruding height of the wheel member from the main body by vertically elevating the lifting support provided in the main body so that the wheel driving part and the wheel driving part are fitted so as to be elevating and descending. It is characterized by including wealth.

상기 승강작동부는 상기 승강지지대에 걸리도록 상기 휠구동부에 구비되어 탄성적인 당김력을 통해 지면에 대한 상기 휠부재의 접지력을 향상시키는 태엽스프링 및 상기 태엽스프링이 복원 가능하게 감기도록 상기 휠구동부를 가압하여 상기 승강지지대를 상승시키는 가압구동부를 포함한다.The lifting operation part is provided on the wheel driving part so as to be caught on the lifting support, and the mainspring spring improves the gripping force of the wheel member with respect to the ground through an elastic pulling force, and the wheel driving part pressurizes the wheel driving part so that the mainspring spring can be restored to be wound. It includes a pressure driving unit for raising the lifting support.

상기 가압구동부는 상기 승강지지대에 구비되는 보호케이스와, 상기 보호케이스에 구비되어 회전력을 발생하는 가압모터와, 상기 가압모터에 회전 가능하게 연결되는 가압웜스크류와, 상기 가압웜스크류에 맞물리도록 상기 승강지지대에 회전 가능하게 구비되는 가압웜휠기어 및 상기 가압웜휠기어의 회전시 상기 휠구동부가 상기 승강지지대에서 승강되도록 안내하는 승강안내부를 포함한다.The pressure drive unit includes a protective case provided in the lifting support, a pressure motor provided in the protective case to generate rotational force, a pressure worm screw rotatably connected to the pressure motor, and the pressure worm screw. And a pressurized worm wheel gear rotatably provided on the lifting support and an lifting guide part for guiding the wheel driving part to be raised and lowered from the lifting support when the pressurized worm wheel gear is rotated.

상기 승강안내부는 상기 휠구동부의 하우징에 구비되는 걸림돌기와, 상기 걸림돌기를 가압하도록 상기 가압웜휠기어에 돌출 형성되는 가압부재 및 상기 걸림돌기에 끼워지도록 상기 승강지지대에 형성되어 상기 가압부재가 상기 걸림돌기를 가압시 상기 승강지지대가 상승되도록 안내하는 가이드홈부를 포함한다.The lifting guide part is formed on the lifting support so as to be fitted with the locking protrusion provided in the housing of the wheel driving part, a pressing member protruding from the pressing worm wheel gear to press the locking protrusion, and the pressing member pressing the locking protrusion When the lifting support includes a guide groove for guiding to rise.

상기 승강지지대는 상기 휠구동부로부터 승강시 유동방지부에 의해 유동 방지되고, 상기 유동방지부는 상기 휠구동부의 하우징에 돌출 형성되는 슬라이드부재 및 상기 슬라이드부재가 슬라이드 이동 가능하게 끼워지도록 상기 승강지지대에 형성되는 슬라이드홈부를 포함한다.The lifting support is prevented from being flowed by a flow prevention part when lifting from the wheel driving part, and the flow prevention part is formed on the lifting support so that the slide member protruding from the housing of the wheel driving part and the slide member are fitted to be slidably moved. It includes a slide groove.

본 발명에 따른 로봇 청소기용 구동휠 승강장치는 승강작동부에 의해 승강지지대가 휠구동부로부터 수직하게 승강되어 본체에서 휠부재의 돌출 높이를 가변시키는 구조를 가짐에 따라 휠부재가 본체의 저면으로 돌출되어 본체와 지면의 이격 거리를 증가시킴으로써, 본체가 장애물에 걸림 방지될 뿐만 아니라 장애물을 원활하게 넘어갈 수 있는 효과를 가진다. The driving wheel lifting device for a robot cleaner according to the present invention has a structure in which the lifting support is vertically raised from the wheel driving part by the lifting operation part to change the protruding height of the wheel member from the main body, so that the wheel member protrudes to the bottom of the main body. By increasing the separation distance between the main body and the ground, the main body is prevented from being caught in the obstacle and has the effect of smoothly crossing the obstacle.

또한, 본 발명은 휠부재가 지면에서 주행하는 도중에 승강지지대의 승강시 유동방지부에 의해 유동이 방지되기 때문에 휠부재는 주행 경로를 유지한 상태로 지면에 접하여 안정적으로 회전될 수 있는 효과가 있다.In addition, the present invention has the effect that the wheel member can be stably rotated in contact with the ground while maintaining the driving path because the flow prevention unit prevents the flow when the wheel member is elevating the elevator support while driving on the ground. .

도 1은 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치를 도시한 평면도이다.
도 2는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치의 요부를 도시한 사시도이다.
도 3은 도 1의 A-A선 단면도이다.
도 4는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치의 요부를 도시한 분해 사시도이다.
도 5는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치에서 휠구동부를 도시한 분해사시도이다.
도 6은 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치에서 승강안내부의 작동 상태를 도시한 작동도이다.
도 7은 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치에서 태엽스프링의 작동 상태를 도시한 작동도이다.1 is a plan view showing a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention.
2 is a perspective view showing a main part of a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention.
3 is a cross-sectional view taken along line AA of FIG. 1.
4 is an exploded perspective view showing a main part of a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention.
5 is an exploded perspective view showing a wheel driving unit in a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention.
6 is an operation diagram showing an operating state of the lifting guide in the driving wheel lifting device for a robot cleaner according to an embodiment of the present invention.
7 is an operation diagram showing an operating state of a spring in the driving wheel lifting device for a robot cleaner according to an embodiment of the present invention.

이하, 첨부된 도면들을 참조하여 본 발명에 따른 로봇 청소시용 구동휠 승강장치의 바람직한 실시예를 설명한다. 이 과정에서 도면에 도시된 선들의 두께나 구성요소의 크기 등은 설명의 명료성과 편의상 과장되게 도시되어 있을 수 있다.Hereinafter, a preferred embodiment of a driving wheel lifting device for cleaning a robot according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description.

또한, 후술되는 용어들은 본 발명에서의 기능을 고려하여 정의된 용어들로서 이는 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 그러므로 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 할 것이다.In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

도 1은 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치를 도시한 평면도이고, 도 2는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치의 요부를 도시한 사시도이며, 도 3은 도 1의 A-A선 단면도이고, 도 4는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치의 요부를 도시한 분해 사시도이며, 도 5는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치에서 휠구동부를 도시한 분해 사시도이고, 도 6은 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치에서 승강안내부의 작동 상태를 도시한 작동도이며, 도 7은 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치에서 태엽스프링의 작동 상태를 도시한 작동도이다.1 is a plan view showing a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention, Figure 2 is a perspective view showing a main part of the driving wheel lifting device for a robot cleaner according to an embodiment of the present invention, and FIG. Is a cross-sectional view taken along line AA of FIG. 1, and FIG. 4 is an exploded perspective view showing a main part of a driving wheel lifting device for a robot cleaner according to an embodiment of the present invention, and FIG. 5 is a drive for a robot cleaner according to an embodiment of the present invention. An exploded perspective view showing the wheel driving unit in the wheel lifting device, Figure 6 is an operation diagram showing the operating state of the lifting guide in the driving wheel lifting device for a robot cleaner according to an embodiment of the present invention, Figure 7 is It is an operation diagram showing an operating state of a spring spring in the drive wheel lifting device for a robot cleaner according to an embodiment.

본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치는 도 1 내지 도 7에서 도시된 바와 같이 본체(100), 휠부재(200), 휠구동부(300), 승강지지대(400) 및 승강작동부(500)를 포함한다.A driving wheel lifting device for a robot cleaner according to an embodiment of the present invention includes a main body 100, a wheel member 200, a wheel drive unit 300, a lifting support 400, and a lifting operation as shown in FIGS. 1 to 7 Includes part 500.

본체(100)는 휠부재(200)가 돌출 가능하게 수용되는 공간과, 승강지지대(400)가 고정 가능하게 설치되는 공간을 제공한다. 이때, 본체(100)에는 휠부재(20)가 승강 가능하게 돌출되는 제1관통홀부(110)와 휠구동부(300)가 출몰 가능하게 승강되는 제2관통홀부(120)가 상호 연통 가능하게 형성된다. 물론, 본체(100)의 형상은 다양한 형태로 변경 실시될 수 있다.The main body 100 provides a space in which the wheel member 200 is protruded and accommodated, and a space in which the lifting support 400 is fixedly installed. At this time, in the main body 100, a first through-hole portion 110 through which the wheel member 20 protrudes to be elevated and a second through-hole portion 120 through which the wheel drive unit 300 is elevated to be raised and lowered are formed to communicate with each other. do. Of course, the shape of the main body 100 may be changed in various forms.

휠부재(200)는 본체(100)의 제1관통홀부(110)에 돌출 가능하게 구비된다. 이러한 휠부재(200)는 휠구동부(300)로부터 회전력을 전달받아 지면에 접하여 회전하는 역할을 수행한다.The wheel member 200 is provided so as to protrude from the first through hole portion 110 of the body 100. The wheel member 200 receives rotational force from the wheel driving unit 300 and rotates in contact with the ground.

그리고, 휠구동부(300)는 휠부재(200)가 지면에 접한 상태로 회전되도록 휠부재(200)에 회전력을 제공한다. 이때, 휠구동부(300)는 승강지지대(400)가 슬라이드 승강 가능하게 끼워지는 하우징(310)과, 하우징(310)에 지지되어 회전력을 발생하는 회전모터(320)와, 회전모터(320)에 회전 가능하게 연결되는 회전웜스크류(330) 및 회전웜스크류(330)에 맞물리도록 하우징(310)에 회전 가능하게 지지되어 휠부재(200)를 회전시키는 회전웜휠기어(340)를 포함한다.In addition, the wheel driving unit 300 provides rotational force to the wheel member 200 so that the wheel member 200 rotates in contact with the ground. At this time, the wheel drive unit 300 includes a housing 310 in which the lifting support 400 is slidably inserted, a rotation motor 320 supported by the housing 310 to generate a rotational force, and a rotation motor 320. It includes a rotating worm screw 330 that is rotatably connected and a rotating worm wheel gear 340 which is rotatably supported by the housing 310 so as to engage with the rotating worm screw 330 to rotate the wheel member 200.

즉, 회전모터(320)에 전원이 공급되어 회전력이 발생하면 회전웜스크류(330)는 회전웜휠기어(340)를 회전시키고, 회전웜휠기어(340)는 휠부재(200)를 회전시키기 때문에 휠부재(200)는 회전모터(320)에서 발생하는 회전 방향에 따라 정방향 또는 역방향으로 회전될 수 있다.That is, when power is supplied to the rotating motor 320 and a rotating force is generated, the rotating worm screw 330 rotates the rotating worm wheel gear 340, and the rotating worm wheel gear 340 rotates the wheel member 200. The member 200 may be rotated in a forward direction or a reverse direction according to a rotation direction generated by the rotation motor 320.

승강지지대(400)는 휠구동부(300)에 승강 가능하게 끼워지도록 본체(100)에 구비된다. 이러한 승강지지대(400)는 본체(100)의 제2관통홀부(120)와 연통 가능하게 배치되어 승강시 휠구동부(300)가 제2관통홀부(120)로 출몰되는 경로를 제공하는 역할을 수행한다.The lifting support 400 is provided in the main body 100 so as to be fitted to the wheel driving part 300 so as to be able to move up and down. This lifting support 400 is disposed to be able to communicate with the second through hole 120 of the main body 100, and serves to provide a path through which the wheel driving unit 300 appears and exits to the second through hole 120 during elevation. do.

이때, 승강지지대(400)에는 휠부재(200)를 커버하는 휠커버부(410)가 착탈 가능하게 구비될 수 있다. 이에 따라, 휠부재(200)가 지면에 접한 상태로 회전하는 과정에서 이물질이 본체(100)의 내부로 유입되는 것을 방지할 수 있다.In this case, a wheel cover part 410 covering the wheel member 200 may be detachably provided on the lifting support 400. Accordingly, while the wheel member 200 rotates in contact with the ground, foreign matter may be prevented from flowing into the interior of the main body 100.

아울러, 승강지지대(400)는 휠구동부(300)로부터 승강시 유동방지부(600)에 의해 유동 방지될 수 있다. 이러한 유동방지부(600)는 휠구동부(300)에 구비된 하우징(310)의 둘레면에 돌출 형성되는 슬라이드부재(610) 및 슬라이드부재(610)가 슬라이드 가능하게 끼워지도록 승강지지대(400)에 형성되는 슬라이드홈부(620)를 포함한다. 이로써, 휠부재(200)가 지면에서 주행하는 도중에 승강지지대(400)가 승강시 유동방지부(600)에 의해 휠구동부(300)의 유동이 방지되기 때문에 휠부재(200)는 주행 경로를 유지한 상태로 지면에 접하여 안정적으로 회전될 수 있게 된다.In addition, the elevating support 400 may be prevented from flowing by the flow preventing unit 600 when elevating from the wheel driving unit 300. This flow preventing part 600 is mounted on the lifting support 400 so that the slide member 610 and the slide member 610 protruding from the circumferential surface of the housing 310 provided in the wheel driving part 300 are slidably fitted. It includes a slide groove portion 620 is formed. As a result, the wheel member 200 maintains a driving path because the flow of the wheel drive unit 300 is prevented by the flow prevention unit 600 when the lifting support 400 is elevated while the wheel member 200 is traveling on the ground. It can be rotated stably by touching the ground in one state.

한편, 승강작동부(500)는 휠구동부(300)로부터 승강지지대(400)를 수직하게 승강시켜 본체(100)에서 휠부재(200)의 돌출 높이를 조절하는 것으로서, 태엽스프링(510) 및 가압구동부(520)를 포함한다.On the other hand, the lifting operation unit 500 is to adjust the protruding height of the wheel member 200 from the main body 100 by vertically lifting the lifting support 400 from the wheel driving unit 300, the spring 510 and pressing It includes a driving unit 520.

여기서, 태엽스프링(510)은 승강지지대(400)에 걸리도록 휠구동부(300)에 구비되어 탄성적인 당김력을 통해 지면에 대한 휠부재(200)의 접지력을 향상시킨다.Here, the spring 510 is provided in the wheel driving unit 300 so as to be caught on the lifting support 400 to improve the gripping force of the wheel member 200 with respect to the ground through an elastic pulling force.

이를 위해, 태엽스프링(510)의 일측은 휠구동부(300)에 고정 결합되고, 태엽스프링(510)의 타측은 감겨진 형태로 승강지지대(400)에 걸림 가능하게 수용된다. 이때, 승강지지대(400)에는 태엽스프링(510)이 감겨지는 부위를 수용하도록 수용홈부(420)가 형성된다. To this end, one side of the mainspring spring 510 is fixedly coupled to the wheel driving unit 300, and the other side of the mainspring spring 510 is received so as to be hooked to the lifting support 400 in a wound form. At this time, the lifting support 400 is formed with a receiving groove 420 to accommodate a portion of the winding spring 510 is wound.

이로써, 휠부재(200)는 본체(100)의 하중과 태엽스프링(510)의 당김력이 지면 측으로 작용하기 때문에 지면에 대한 접지력이 향상되어 주행시 미끄럼이 방지될 수 있게 된다. Accordingly, since the load of the main body 100 and the pulling force of the spring 510 act toward the ground, the wheel member 200 improves the gripping force to the ground so that slipping during driving can be prevented.

그리고, 가압구동부(520)는 태엽스프링(510)이 복원 가능하게 감기도록 휠구동부(300)를 가압하여 승강지지대(400)를 상승시킨다.In addition, the pressure driving unit 520 increases the lifting support 400 by pressing the wheel driving unit 300 so that the spring spring 510 can be wound so that it can be restored.

구체적으로, 가압구동부(520)는 승강지지대(400)에 구비되는 보호케이스(521)와, 보호케이스(521)에 구비되어 회전력을 발생하는 가압모터(522)와, 가압모터(522)에 회전 가능하게 연결되는 가압웜스크류(523)와, 가압웜스크류(523)에 맞물리도록 승강지지대(400)에 회전 가능하게 구비되는 가압웜휠기어(524) 및 가압웜휠기어(524)의 회전시 휠구동부(300)가 승강지지대(400)에서 승강되도록 안내하는 승강안내부(525)를 포함한다.Specifically, the pressure drive unit 520 is provided in the protective case 521 provided in the lifting support 400, the pressure motor 522 provided in the protective case 521 to generate a rotational force, and rotated by the pressure motor 522 A pressurized worm screw 523 that is connected so as to be possible, and a pressurized worm wheel gear 524 rotatably provided on the lifting support 400 so as to engage with the pressurized worm screw 523, and a wheel driving part when the pressurized worm wheel gear 524 rotates It includes an elevating guide 525 for guiding the elevating 300 in the elevating support 400.

이때, 승강안내부(525)는 휠구동부(300)의 하우징(310)에 구비되는 걸림돌기(525a)와 걸림돌기(525a)를 가압하도록 가압웜휠기어(524)에 돌출 형성되는 가압부재(525b) 및 걸림돌기(525a)에 끼워지도록 승강지지대(400)에 형성되어 가압부재(525b)가 걸림돌기(525a)를 가압시 승강지지대(400)가 수직하게 상승되도록 안내하는 가이드홈부(525c)를 포함한다.At this time, the lifting guide 525 is a pressing member 525b protruding from the pressing worm wheel gear 524 to press the locking protrusion 525a and the locking protrusion 525a provided in the housing 310 of the wheel driving unit 300 ) And a guide groove (525c) formed in the lifting support 400 so as to be fitted into the stopping protrusion (525a), and guiding the lifting support 400 to vertically rise when the pressing member (525b) presses the stopping protrusion (525a). Include.

즉, 휠구동부(300)가 본체(100)에서 돌출되도록 가압모터(522)에 회전력이 발생되면 가압부재(525b)는 가압웜휠기어(524)의 회전 방향을 따라 함께 회전되고, 가이드홈부(525c)는 걸림돌기(525a)에 끼워진 상태에서 태엽스프링(510)이 감기도록 슬라이드 상승하게 된다. That is, when a rotational force is generated in the pressing motor 522 so that the wheel driving unit 300 protrudes from the main body 100, the pressing member 525b is rotated together along the rotational direction of the pressing worm wheel gear 524, and the guide groove 525c ) Slides upward so that the mainspring spring 510 is wound in a state inserted into the locking protrusion 525a.

반대로, 휠구동부(300)가 본체(100)에 삽입되도록 가압모터(522)에 회전력이 발생되면 가압부재(525b)는 가압웜휠기어(524)의 회전 방향을 따라 함께 회전되고, 가이드홈부(525c)는 걸림돌기(525a)에 끼워진 상태에서 본체(100)의 자중에 의해 태엽스프링(510)이 풀리도록 슬라이드 하강한다.Conversely, when a rotational force is generated in the pressing motor 522 so that the wheel driving unit 300 is inserted into the main body 100, the pressing member 525b is rotated together along the rotation direction of the pressing worm wheel gear 524, and the guide groove 525c ) Slides down so that the mainspring spring 510 is released by the weight of the main body 100 in a state inserted into the locking protrusion 525a.

이하에는 상기한 구조를 갖는 본 발명의 일 실시예에 따른 로봇 청소기용 구동휠 승강장치의 작용 및 효과를 설명하면 다음과 같다.Hereinafter, the operation and effect of the driving wheel lifting device for a robot cleaner according to an embodiment of the present invention having the above structure will be described.

먼저, 로봇 청소기를 이용하기 위해 휠구동부(300)의 회전모터(320)을 작동시키면 휠부재(200)가 구동 가능하게 회전된다. 이에 따라, 본체(100)가 휠부재(200)의 주행 방향을 따라 이동하면서 지면의 이물질을 흡입하게 된다.First, when the rotary motor 320 of the wheel driving unit 300 is operated to use a robot cleaner, the wheel member 200 is rotated to be driven. Accordingly, while the main body 100 moves along the driving direction of the wheel member 200, it sucks foreign substances on the ground.

그리고, 로봇 청소기가 주행하는 도중에 휠부재(200)에 장애물이 접촉되면 가압모터(522)가 회전력을 발생하여 승강작동부(500)를 작동시킨다.In addition, when an obstacle comes into contact with the wheel member 200 while the robot cleaner is traveling, the pressure motor 522 generates a rotational force to operate the lifting operation unit 500.

즉, 가압모터(522)가 회전력을 발생하여 가압웜스크류(523)가 함께 회전하면, 이에 연결된 가압웜휠기어(524)가 회전된다. 그러면 가압웜휠기어(524)에 구비된 가압부재(525b)는 하우징(310)에 구비된 걸림돌기(525a)를 가압하고, 가이드홈부(525)는 걸림돌기(525a)에 끼워진 상태에서 태엽스프링(510)이 감기도록 길이 방향을 따라 상승한다. 이에 따라, 승강지지부(400)가 휠구동부(300)의 하우징(310)에 끼워진 상태로 수직하게 상승되기 때문에 휠구동부(300)에 회전 가능하게 지지된 휠부재(200)는 본체(100)에서 더욱 돌출되게 된다. That is, when the pressing motor 522 generates rotational force and the pressing worm screw 523 rotates together, the pressing worm wheel gear 524 connected thereto is rotated. Then, the pressing member 525b provided in the pressing worm wheel gear 524 presses the locking protrusion 525a provided in the housing 310, and the guide groove 525 is inserted into the locking protrusion 525a. 510) rises along the longitudinal direction to be wound. Accordingly, since the lifting support part 400 is vertically raised while being fitted in the housing 310 of the wheel driving part 300, the wheel member 200 rotatably supported by the wheel driving part 300 is in the main body 100 It becomes more protruding.

이로써, 본체(100)는 휠부재(200)의 돌출에 의해 지면에서 보다 이격됨으로써, 장애물에 걸리는 것을 방지되면서 이물질을 흡수할 수 있게 된다.As a result, the main body 100 is spaced apart from the ground by the protrusion of the wheel member 200, so that it is possible to absorb foreign matter while preventing it from being caught on an obstacle.

이후에는 본체(100)가 장애물을 완전하게 통과하면 가압모터(522)가 반대로 회전력을 발생하게 되고, 이에 의해 가압부재(525b)는 하우징(310)에 구비된 걸림돌기(525a)를 가압 해제하도록 회전되고, 가이드홈부(525)는 걸림돌기(525a)에 끼워진 상태에서 본체(100)의 자중에 의해 태엽스프링(510)이 풀리도록 길이 방향을 따라 하강한다. Thereafter, when the main body 100 completely passes through the obstacle, the pressing motor 522 generates a rotational force in the opposite direction, whereby the pressing member 525b releases the pressing protrusion 525a provided in the housing 310. It is rotated, and the guide groove 525 descends along the lengthwise direction so that the mainspring spring 510 is released by its own weight of the main body 100 while being fitted into the locking protrusion 525a.

이에 따라, 승강지지부(400)가 휠구동부(300)의 하우징(310)에 끼워진 상태로 수직하게 하강되기 때문에 휠구동부(300)에 회전 가능하게 지지된 휠부재(200)는 본체(100)에 돌출 가능하게 삽입되어 지면에서 본체(100)의 높이가 낮아지게 된다.Accordingly, since the lifting support part 400 is vertically lowered while being inserted into the housing 310 of the wheel driving part 300, the wheel member 200 rotatably supported by the wheel driving part 300 is attached to the main body 100. It is inserted so as to protrude so that the height of the main body 100 is lowered from the ground.

이와 같이 본 발명에 따른 로봇 청소기용 구동휠 승강장치는 로봇 청소기가 주행하는 도중에 카펫이나 문턱 등과 같은 장애물에 접촉시 휠부재(200)가 본체(100)의 저면으로 수직하게 돌출되어 본체(100)와 지면의 이격 거리를 증가시킴으로써, 카펫 등과 같은 장애물을 통과할 때 본체(100)가 장애물에 걸리는 것이 방지된다. As described above, in the driving wheel lifting device for a robot cleaner according to the present invention, when the robot cleaner contacts an obstacle such as a carpet or a threshold while the robot cleaner is traveling, the wheel member 200 protrudes vertically to the bottom of the main body 100 and By increasing the separation distance of the ground, the body 100 is prevented from being caught by the obstacle when passing through an obstacle such as a carpet.

본 발명은 도면에 도시된 실시예를 참고로 하여 설명되었으나, 이는 예시적인 것에 불과하며, 당해 기술이 속하는 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다.Although the present invention has been described with reference to the embodiments shown in the drawings, this is only illustrative, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand.

따라서, 본 발명의 진정한 기술적 보호범위는 특허청구범위에 의해서 정하여져야 할 것이다.Therefore, the true technical protection scope of the present invention should be determined by the claims.

100: 본체 110: 제1관통홀부
120: 제2관통홀부 200: 휠부재
300: 휠구동부 310: 하우징
320: 회전모터 330: 회전웜스크류
340: 회전웜휠기어 400: 승강지지대
410: 휠커버부 420: 수용홈부
500: 승강작동부 510: 태엽스프링
520: 가압작동부 521: 보호케이스
522: 가압모터 523: 가압웜스크류
524: 가압웜휠기어 525: 승강안내부100: main body 110: first through hole
120: second through hole portion 200: wheel member
300: wheel drive 310: housing
320: rotary motor 330: rotary worm screw
340: rotary worm wheel gear 400: lifting support
410: wheel cover part 420: receiving groove part
500: lifting operation part 510: spring
520: pressurized operation part 521: protective case
522: pressurized motor 523: pressurized worm screw
524: pressurized worm wheel gear 525: elevating guide

Claims (5)

본체에 돌출 가능하게 구비되는 휠부재;
상기 휠부재가 지면에 접한 상태로 회전되도록 상기 휠부재에 회전력을 제공하는 휠구동부;
상기 휠구동부가 승강 가능하게 끼워지도록 상기 본체에 구비되는 승강지지대; 및
상기 휠구동부로부터 상기 승강지지대를 수직하게 승강시켜 상기 본체에서 상기 휠부재의 돌출 높이를 조절하는 승강작동부;
를 포함하는 것을 특징으로 하는 로봇 청소기용 구동휠 승강장치.
A wheel member protruding from the main body;
A wheel driving unit that provides rotational force to the wheel member so that the wheel member rotates in contact with the ground;
An elevating support provided in the main body so that the wheel driving part is fitted to be elevating; And
An elevating operation unit vertically elevating the elevating support from the wheel driving unit to adjust the protruding height of the wheel member from the main body;
Driving wheel lifting device for a robot cleaner comprising a.
 제1항에 있어서,
상기 승강작동부는,
상기 승강지지대에 걸리도록 상기 휠구동부에 구비되어 탄성적인 당김력을 통해 지면에 대한 상기 휠부재의 접지력을 향상시키는 태엽스프링; 및
상기 태엽스프링이 복원 가능하게 감기도록 상기 휠구동부를 가압하여 상기 승강지지대를 상승시키는 가압구동부;
를 포함하는 것을 특징으로 하는 로봇 청소기용 구동휠 승강장치.
The method of claim 1,
The lifting operation unit,
A mainspring spring provided on the wheel driving unit so as to be caught on the elevating support and improving the grip of the wheel member with respect to the ground through an elastic pulling force; And
A pressure driving unit for raising the lifting support by pressing the wheel driving unit so that the mainspring spring can be wound to be restored;
Driving wheel lifting device for a robot cleaner comprising a.
 제2항에 있어서,
상기 가압구동부는,
상기 승강지지대에 구비되는 보호케이스;
상기 보호케이스에 구비되어 회전력을 발생하는 가압모터;
상기 가압모터에 회전 가능하게 연결되는 가압웜스크류;
상기 가압웜스크류에 맞물리도록 상기 승강지지대에 회전 가능하게 구비되는 가압웜휠기어; 및
상기 가압웜휠기어의 회전시 상기 휠구동부가 상기 승강지지대에서 승강되도록 안내하는 승강안내부;
를 포함하는 것을 특징으로 하는 로봇 청소기용 구동휠 승강장치.
The method of claim 2,
The pressure driving part,
A protective case provided on the lifting support;
A pressure motor provided in the protective case to generate a rotational force;
A pressure worm screw rotatably connected to the pressure motor;
A pressurized worm wheel gear rotatably provided on the lifting support so as to be engaged with the pressurized worm screw; And
An elevating guide unit for guiding the wheel drive unit to elevate in the elevating support when the pressurized worm wheel gear rotates;
Driving wheel lifting device for a robot cleaner comprising a.
 제3항에 있어서,
상기 승강안내부는,
상기 휠구동부의 하우징에 구비되는 걸림돌기;
상기 걸림돌기를 가압하도록 상기 가압웜휠기어에 돌출 형성되는 가압부재; 및
상기 걸림돌기에 끼워지도록 상기 승강지지대에 형성되어 상기 가압부재가 상기 걸림돌기를 가압시 상기 승강지지대가 상승되도록 안내하는 가이드홈부;
를 포함하는 것을 특징으로 하는 로봇 청소기용 구동휠 승강장치.
The method of claim 3,
The elevating guide unit,
A locking protrusion provided in the housing of the wheel driving unit;
A pressing member protruding from the pressing worm wheel gear to press the locking protrusion; And
A guide groove formed on the lifting support so as to be fitted into the locking protrusion to guide the lifting support to rise when the pressing member presses the locking protrusion;
Driving wheel lifting device for a robot cleaner comprising a.
 제1항에 있어서,
상기 승강지지대는 상기 휠구동부로부터 승강시 유동방지부에 의해 유동 방지되고,
상기 유동방지부는,
상기 휠구동부의 하우징에 돌출 형성되는 슬라이드부재; 및
상기 슬라이드부재가 슬라이드 이동 가능하게 끼워지도록 상기 승강지지대에 형성되는 슬라이드홈부;
를 포함하는 것을 특징으로 하는 로봇 청소기용 구동휠 승강장치.
The method of claim 1,
The elevating support is prevented from flowing by a flow preventing portion when elevating from the wheel driving unit,
The flow prevention part,
A slide member protruding from the housing of the wheel driving unit; And
A slide groove formed in the elevating support so that the slide member is slidably inserted;
Driving wheel lifting device for a robot cleaner comprising a.
KR1020190038394A 2019-04-02 2019-04-02 Drive wheel lifting device for robot cleaner KR102170415B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020190038394A KR102170415B1 (en) 2019-04-02 2019-04-02 Drive wheel lifting device for robot cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020190038394A KR102170415B1 (en) 2019-04-02 2019-04-02 Drive wheel lifting device for robot cleaner

Publications (2)

Publication Number Publication Date
KR20200117088A true KR20200117088A (en) 2020-10-14
KR102170415B1 KR102170415B1 (en) 2020-10-28

Family

ID=72846969

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020190038394A KR102170415B1 (en) 2019-04-02 2019-04-02 Drive wheel lifting device for robot cleaner

Country Status (1)

Country Link
KR (1) KR102170415B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230066698A (en) * 2021-11-08 2023-05-16 한경국립대학교 산학협력단 Independent wheel control drive system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3314468B2 (en) * 1993-08-04 2002-08-12 松下電器産業株式会社 Mobile work robot
KR20090028359A (en) * 2007-09-14 2009-03-18 삼성광주전자 주식회사 A wheel-driving assembly for a moving apparatus
KR20090129029A (en) * 2008-06-12 2009-12-16 주식회사 한울로보틱스 Driving apparatus of robot cleaner
KR20180068622A (en) * 2016-12-14 2018-06-22 주식회사 아이포바인 Robot cleaner
KR20180079068A (en) * 2016-12-30 2018-07-10 엘지전자 주식회사 Cleaner
KR101897732B1 (en) * 2016-12-30 2018-09-12 엘지전자 주식회사 Cleaner
KR20190094697A (en) * 2018-02-05 2019-08-14 엘지전자 주식회사 A cleaner

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3314468B2 (en) * 1993-08-04 2002-08-12 松下電器産業株式会社 Mobile work robot
KR20090028359A (en) * 2007-09-14 2009-03-18 삼성광주전자 주식회사 A wheel-driving assembly for a moving apparatus
JP2009066391A (en) * 2007-09-14 2009-04-02 Samsung Kwangju Electronics Co Ltd Wheel driving assembly of moving apparatus
KR20090129029A (en) * 2008-06-12 2009-12-16 주식회사 한울로보틱스 Driving apparatus of robot cleaner
KR20180068622A (en) * 2016-12-14 2018-06-22 주식회사 아이포바인 Robot cleaner
KR20180079068A (en) * 2016-12-30 2018-07-10 엘지전자 주식회사 Cleaner
KR101897732B1 (en) * 2016-12-30 2018-09-12 엘지전자 주식회사 Cleaner
KR20190094697A (en) * 2018-02-05 2019-08-14 엘지전자 주식회사 A cleaner

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230066698A (en) * 2021-11-08 2023-05-16 한경국립대학교 산학협력단 Independent wheel control drive system

Also Published As

Publication number Publication date
KR102170415B1 (en) 2020-10-28

Similar Documents

Publication Publication Date Title
KR101984575B1 (en) Robot Cleaner and Controlling Method for the same
KR102343100B1 (en) Cleaning robot and method for controlling the same
KR101984012B1 (en) Robot cleaner
KR101311295B1 (en) Wheel assembly for moving robot
KR100809740B1 (en) Suction brush capable of automatic height adjustment
KR102125334B1 (en) Robot cleaner and controlling method thereof
JP5156500B2 (en) Suction brush for vacuum cleaner
US11019970B2 (en) Appliance for vacuum cleaning
KR20070074145A (en) Cleaner
KR102095694B1 (en) Device for adjusting the height of the driving wheel for robot cleaner
KR102170415B1 (en) Drive wheel lifting device for robot cleaner
KR102022104B1 (en) Automatic cleaner
TWI612931B (en) Nozzle for vacuum cleaners for nursing floors
KR100572155B1 (en) Vacuum cleaner
US6357076B1 (en) Suction nozzle unit for vacuum cleaner
KR102015320B1 (en) Vacuum Cleaner
KR101411742B1 (en) Robot cleaner
JP6857803B2 (en) Self-propelled vacuum cleaner
KR102662322B1 (en) robotic vacuum
CN117915816A (en) Setting the position of at least one working member in a suction nozzle device
US20110289724A1 (en) Vacuum Cleaner
KR100562547B1 (en) Cord reel lever for vacuum cleaner
JPH0716190A (en) Automatic vacuum cleaner
CN112294180B (en) Suction nozzle for a vacuum cleaner and vacuum cleaner having a suction nozzle
KR20060075581A (en) Robot with threshold climbing apparatus

Legal Events

Date Code Title Description
GRNT Written decision to grant