KR20210015602A - Cleaner - Google Patents

Abstract

The present invention relates to a cleaner comprising: a body which includes an inserting unit opened toward a floor, is connected to the inserting unit, forms an installing space inside, and forms an appearance; and a sweep module which is detachably assembled in the installing space through the inserting unit. The sweep module includes: a dust housing having a collecting space for collecting a foreign substance of the floor and a storing space for storing the foreign substance of the collecting space, and an agitator which is assembled to be rotated in the dust housing and collects the foreign substance of the floor by being arranged in the collecting space. The agitator is arranged in the collecting space. The storing space is arranged in a front side of the collecting space. Since the collecting space is arranged in a back side of the storing space in a body close to a circle when viewed from a top view, the present invention minimizes interference of a structure body during rotation and maximizes a cleaning area through the agitator.

Description

Cleaner {Cleaner}

The present invention relates to a cleaner that mops, and relates to a cleaner capable of maximizing a cleaning area by the agitator in a structure in which an agitator and a dust housing are integrated.

A vacuum cleaner is a device for cleaning by inhaling foreign substances such as dust from the floor or wiping foreign substances from the floor. Recently, a cleaner capable of mopping has been developed. In addition, the robot cleaner is a device that cleans while traveling by itself.

Korean Patent Publication No. 10-1602790 (hereinafter referred to as prior art 1) describes a robot cleaner capable of running while performing wet cleaning using a wet cleaner.

In the prior art 1, the robot cleaner includes a pair of cleaners arranged in the left and right directions, and a driving unit that rotates the cleaners by providing a driving force.

However, prior art 1 can provide both wet cleaning and running through a pair of cleaners at the same time, but there is a problem in that foreign substances on the floor cannot be sucked.

Korean Patent Laid-Open Publication No. 10-2005-0034112 (hereinafter referred to as prior art 2) discloses a robot cleaner equipped with a dust bin and a mop.

However, the prior art 2 has a problem in that the operation structure is complex because a wheel and a motor, and a suction fan and a motor for inhaling dust must be separately provided to drive the robot cleaner.

In addition, in the case of the prior art, since the robot cleaner proceeds only with the frictional force of the spinmap, and the water level stored in the water tank is variable, it is difficult to effectively mop, and there is a problem in the driving force.

In particular, since it is very difficult to adjust the moving direction by friction with the rotating mop in the conventional wet robot, there is a disadvantage in that it is impossible to clean only by random driving and to run a pattern capable of meticulous cleaning.

In the case of Œm, the conventional technology has a disadvantage that it is difficult to thoroughly clean the corner of the floor or the area adjacent to the wall when only random driving is performed.

Korean Patent Publication No. 10-1602790 Korean Patent Application Publication No. 10-2005-0034112

The body of the vacuum cleaner must be circular or close to the circle so that it can be easily rotated in place, and when it is easy to rotate in place, the cleaner can easily escape from an obstacle area or corner. However, when the cleaner body is manufactured in a circular shape, the width of the edge data is limited to be smaller than the diameter of the body so that the edge data does not get caught by other obstacles when the body rotates. Accordingly, the present invention facilitates rotation of the body by making the width of the agitator smaller than the diameter of the body, and by disposing a storage space for storing foreign substances collected from the agitator in front of the agitator, the agitator protrudes from the body. It is an object to provide a vacuum cleaner that can maximize the width of the agitator and does not reduce the size of the area to be cleaned at once.

In the present invention, the body is manufactured in a circular shape, so that rotation of the cleaner is easy, and the rotation axis of the pair of spin mops is positioned eccentrically at the center of the body, and a part of the spin mops vertically overlaps the body An object is to provide a cleaner that can reduce friction between obstacles and spinmaps when the body is rotated, allow the body to rotate easily, and maximize the size of an area to be cleaned at a time.

An object of the present invention is to provide a cleaner capable of maximizing a cleaning area by an agitator in a structure in which an agitator and a dust housing are integrated.

An object of the present invention is to provide a cleaner that cleans foreign substances on the floor from the front of the mop module before the foreign substances come into contact with the mop module in a vacuum cleaner that performs driving and mopping by rotating a pair of mop modules.

An object of the present invention is to provide a cleaner in which a dust housing and an agitator are integrated.

An object of the present invention is to provide a cleaner capable of maximizing a cleaning area by an agitator in a shape having a circular appearance.

Another object of the present invention is to increase the frictional force between the mop and the floor regardless of the change in the water level of the tank for effective mopping and driving of the robot cleaner, and to enable pattern driving that enables meticulous cleaning through accurate driving. .

In the present invention, in a structure in which the agitator and the dust housing are integrated, the agitator can be arranged close to the center O of the body to maximize the left and right length of the agitator, thereby maximizing the cleaning area.

The present invention is characterized in that the edge data in which the circular shape is installed on the body is disposed at the rear of the storage space, and the entire edge data is disposed so as to be vertically overlapped with the body so that rotation is easy and the cleaning area is maximized.

In the present invention, in a vacuum cleaner that performs driving and mopping by rotating a pair of mop modules, the sweep module is disposed in front of the mop module to clean foreign matter on the floor from the front of the mop module before the foreign matter touches the mop module. The area of the collection space can be maximized by arranging a storage space in which foreign substances are stored in front of the collection space to be collected.

In the present invention, in a vacuum cleaner in which the center of the body (O) is disposed inside the map module, and the agitator is disposed in front of the center (O), the collection space in which the agitator is operated is disposed at the rear of the storage space, You can maximize the length of the agitator left and right.

The present invention includes a body having an insertion hole opened toward the bottom, communicating with the insertion hole, forming an installation space therein, and forming an exterior; A sweep module detachably assembled to the installation space through the insertion port, wherein the sweep module includes: a dust housing including a collection space for collecting foreign substances on the floor and a storage space for storing foreign substances in the collection space; And an agitator that is rotatably assembled to the dust housing and disposed in the collection space to collect foreign substances on the floor, wherein the agitator is disposed in the collection space, and the storage space is in front of the collection space. Is placed.

When viewed from a top view, the body is formed in a circular shape, and the collection space may be located in front of the center O of the body.

The left and right widths S2 of the collection opening may be longer than the front side width S1 of the storage space.

When viewed from a top view, a mop module including a pair of spin mops that contacts the floor while rotating in a clockwise or counterclockwise direction and moves the body; further includes, wherein the collection space is in front of the spin mops Can be located.

The diameter of the spinmap may be larger than the radius of the body.

Each of the spin maps may further include a respective spin shaft forming a rotation center, and a left and right width Aw of the agitator may be greater than an interval of each of the spin shafts and smaller than a left and right width W1 of the installation space. .

It may further include a partition disposed inside the dust housing, extending long in a horizontal direction, and partitioning the collection space and the storage space.

It is disposed inside the dust housing, further includes a storage opening to communicate the collection space and the storage space, foreign matter collected through the agitator may be moved to the storage space through the storage opening.

The storage opening may be disposed above the partition.

The dust housing includes: a housing assembly including the collection space and storage space disposed therein, and a collection opening surface that is opened toward the floor and communicates with the collection space; A partition disposed on the housing assembly and partitioning the collection space and the storage space; A storage opening disposed in either the housing assembly or the partition, and guiding foreign substances in the collection space to the storage space, wherein the collection space is disposed behind the partition, and the storage space is the partition It is disposed in front of, and the storage opening may be disposed above the partition.

The agitator may be disposed in a left-right direction of the collection space, and may be located behind the partition.

The partition may be formed to surround the front of the agitator.

The partition may include: a first partition part non-contact with the agitator; And a second partition part extending upward from the first partition part and contacting the agitator.

The center of curvature of the second partition part may be located inside the agitator.

A discharge surface formed to pass through the housing assembly and communicated with the storage space; It may further include a dust cover that covers the discharge surface and is detachably assembled with the housing assembly.

The discharge surface may be disposed toward the front.

The dust cover may include a front cover part disposed to face the discharge surface; A top cover part protruding from an upper edge of the front cover toward the housing assembly; A left cover part protruding from a left edge of the front cover toward the housing assembly; A right cover part protruding from a right edge of the front cover toward the housing assembly; And a bottom cover portion protruding from a lower edge of the front cover toward the housing assembly, and the left cover portion and the right cover portion may be disposed to be inclined toward the front.

In addition, the present invention is a body that forms at least a part of a circle whose outer surface has a radius having an error within a reference radius and a reference error range; And a sweep module installed under the body to collect foreign substances and completely vertically overlap with the body, wherein the sweep module includes an agitator configured to rotate to collect foreign substances on the floor; And a storage space for storing foreign substances collected from the agitator, wherein the storage space is disposed in front of the agitator.

In addition, the present invention is a circular body when viewed from the top; And a pair of spin mops rotatably installed under the body, contacting the floor, and moving the body, wherein the rotation axis of the pair of spin mops crosses the lower surface of the body, and the body And vertically overlapped, and the rotational axes of the pair of spinmaps are positioned eccentrically at the center of the body, and a portion of each spinmap is disposed to vertically overlap the body.

The ratio of the area where each spinmap vertically overlaps the body may be 85% to 95% of each spinmap.

Distances between the rotation axes of the pair of spinmaps and the center of the body may be the same.

In addition, the present invention is a body that forms at least a part of a circle whose outer surface has a radius having an error within a reference radius and a reference error range; A sweep module installed under the body to collect foreign substances and completely vertically overlap with the body; And a pair of spin mops rotatably installed under the body, contacting the floor, and moving the body, wherein the sweep module includes: an agitator rotating to collect foreign substances on the floor; And a storage space for storing foreign matter collected by the agitator, wherein the storage space is disposed in front of the agitator.

First, the present invention arranges the agitator close to the center O of the body in a structure in which the agitator and the dust housing are integrated, so that the agitator does not get caught in external obstacles when the body rotates, and the left and right lengths of the agitator are reduced. It can be maximized, thereby maximizing the cleaning area, and when the body is trapped in an obstacle, it can quickly escape and the body can easily rotate.

Second, according to the present invention, the body is manufactured in a circular shape, so that rotation of the cleaner is easy, and the rotation axis of the pair of spin mops is positioned eccentrically at the center of the body, and a part of each spin mop is vertically positioned with the body. Since they are arranged to be overlapped, there is an advantage that the rotation of the body is not disturbed by the shape of the spin mop when the body is rotated while maximizing the cleaning area to be cleaned by the spin mop at one time. That is, since a part of each spin mop is exposed to the outside of the body, the spin mop is circular even when the spin mop is exposed to the outside of the body, so when the body rotates, friction between the spin mops such as obstacles is reduced and the body rotates easily .

Third, the present invention has the advantage of maximizing the left and right length of the agitator by placing the agitator close to the center (O) of the body in a structure in which the agitator and the dust housing are integrated, thereby maximizing the cleaning area. have.

Fourth, in the present invention, in a vacuum cleaner that performs driving and mopping by rotating a pair of mop modules, the sweep module is disposed in front of the mop module to clean foreign matter on the floor from the front of the mop module before the foreign matter reaches the mop module. There is an advantage.

Fifth, the present invention has the advantage of maximizing the area of the collection space by arranging a storage space in which foreign substances are stored in front of a collection space in which foreign substances are collected.

Sixth, the present invention has the advantage of maximizing the left and right widths of the collection space by being in a body close to a circular shape when viewed from a top view, and by allowing the collection space to be disposed in front of the center O of the body.

Seventh, since the collection space is located in front of the spin mob, there is an advantage in that foreign matter can be collected through the sweep module before contacting the spin mop.

Eighth, in the present invention, since the collection space is arranged at the rear of the storage space in a body close to a circular shape when viewed from a top view, it is possible to minimize the interference of the structure body when rotating, as well as maximize the cleaning area through the agitator. There is an advantage.

Ninth, the present invention has the advantage of providing a storage space and a collection space through a partition that divides the interior of the dust housing.

Tenth, in the present invention, since the storage opening is disposed on the upper side of the partition, it is possible to minimize the movement of collected foreign substances back to the collection space.

Eleventh, since the dust housing is disposed in front of the housing assembly of the present invention, after the sweep module is separated, the dust housing is separated and foreign substances in the storage space can be conveniently disposed.

Twelfth, in the present invention, since the body is formed in a circular shape and the dry module does not protrude to the outside of the body, it is easy to freely rotate at any position in the cleaning area, and the width of the edge data can be kept large, so that the cleaning range is wide. In addition, there is an advantage of performing a mopping operation while collecting relatively large foreign matter.

1 is a perspective view of a cleaner according to a first embodiment of the present invention.
2 is a left side view of FIG. 1.
3 is a bottom perspective view of FIG. 1.
4 is a front cross-sectional view of FIG. 1.
5 is a perspective view of the sweep module shown in FIG. 3.
6 is a bottom perspective view of FIG. 5.
7 is a right cross-sectional view of FIG. 5.
8 is an exploded perspective view of the sweep module shown in FIG. 3.
9 is an exploded perspective view of the sweep module viewed from the right side of FIG. 8.
10 is a partially exploded perspective view of FIG. 5.
11 is a plan view of the cleaner from which the case is removed in FIG. 1.
12 is a bottom view of FIG. 11.
13 is a right cross-sectional view of FIG. 11.
14 is a plan cross-sectional view showing the interior of an installation space of the cleaner shown in FIG. 1;
15 is an enlarged perspective view of the first lever shown in FIG. 8.
16 is an enlarged perspective view of the second lever shown in FIG. 9.
17 is an enlarged perspective view of a second lever viewed from the left side of FIG. 16
18 is a partial exploded perspective view of a sweep module showing a coupling structure of the agitator shown in FIG. 5.
19 is an exploded perspective view showing the assembly structure of the driven coupler shown in FIG. 18;
20 is a perspective view as viewed from the left side of FIG. 19.
FIG. 21 is a right cross-sectional view illustrating the agitator of FIG. 18.
FIG. 22 is an exploded perspective view of a driving unit viewed from the left side of FIG. 18.
23 is a bottom view of FIG. 1 for explaining the center of gravity and the lowermost end of the spin mob according to the present invention.
24 is a plan view of the center of gravity of the present invention as viewed from above after removing the case from the body in FIG. 1.
25 is a bottom view for explaining a relationship between a center of gravity and other components of another embodiment of the present invention.

Expressions referring to directions such as “before (F)/back (R)/left (Le)/right (Ri)/up (U)/down (D))” mentioned below are based on the driving direction of the vacuum cleaner. Defined. This is for explaining with reference to the drawings so that the present invention may be clearly understood to the last, and directions may be defined differently depending on where the reference is placed.

For example, a direction parallel to an imaginary line connecting the central axis of the left spin map and the central axis of the right spin map is defined as a left-right direction, perpendicularly intersected with the left-right direction, and parallel with the central axis of the spin maps or an error angle A direction within 5 degrees of is defined as an up-down direction, and a direction perpendicular to the left and right direction and the up-down direction is defined as the front-rear direction. Of course, the front may mean the main traveling direction of the mobile robot or the main traveling direction of the pattern traveling of the mobile robot. Here, the main traveling direction may mean a vector sum value of directions traveling within a predetermined time.

The use of terms such as'first, second, third' in front of the elements mentioned below is only to avoid confusion of the elements to be referred to, and the order, importance, or master-slave relationship between elements, etc. Is irrelevant. For example, an invention including only the second component without the first component may be implemented.

The'mop' mentioned below may be variously applied in terms of materials such as fabric or paper, and may be used repeatedly through washing or disposable.

The present invention can be applied to a vacuum cleaner that a user manually moves or a robot cleaner that runs by himself. Hereinafter, the present embodiment will be described based on a robot cleaner.

1 is a perspective view of a cleaner according to a first embodiment of the present invention. 2 is a left side view of FIG. 1. 3 is a bottom perspective view of FIG. 1. 4 is a front cross-sectional view of FIG. 1.

1 to 4, a cleaner 1 according to an embodiment of the present invention includes a body 30 having a control unit. The cleaner 1 includes a mop module 40 that is provided to mop in contact with a floor (a surface to be cleaned). The cleaner 1 includes a sweep module 2000 provided to collect foreign substances on the floor.

The mop module 40 is disposed under the body 30 and may support the body 30. The sweep module 2000 is disposed under the body 30 and may support the body 30. In this embodiment, the body 30 is supported by the mop module 40 and the sweep module 2000. The body 30 forms the exterior. The body 30 is arranged to connect the mop module 40 and the sweep module 2000.

The map module 40 may form an exterior. The map module 40 is disposed under the body 30. The map module 40 is disposed behind the sweep module 2000. The mop module 40 provides a driving force for the movement of the cleaner 1. In order to move the cleaner 1, the mop module 40 is preferably disposed on the rear side of the cleaner 1.

The mop module 40 includes at least one mop part 411 provided to mop the floor while rotating. The map module 40 includes at least one spin map 41, and the spin map 41 rotates clockwise or counterclockwise when viewed from above. The spin mop 41 is in contact with the floor.

In this embodiment, the map module 40 may include a pair of spin maps 41a and 41b. The pair of spin mops 41a and 41b rotate clockwise or counterclockwise when viewed from the top, and mop the floor through the rotation. Among the pair of spin maps (41a, 41b), the spin map placed on the left side when viewed from the front of the vacuum cleaner is defined as the left spin map (41a), and the spin map placed on the right side is defined as the right spin map (41b). do.

The left spin map 41a and the right spin map 41b are rotated around respective rotation axes. The rotation shaft is disposed in the vertical direction. The left spin map 41a and the right spin map 41b may be rotated independently.

The left spin mop 41a and the right spin mop 41b each include a mop part 411, a rotating plate 412, and a spin shaft 414. The left spin map 41a and the right spin map 41b each include a water supply receiving portion 413.

The left spin map 41a and the right spin map 41b are rotatably installed under the body 30, contact the floor, and move the body 30.

The rotational axes (osa, osb) of the pair of spinmaps (see FIG. 23) intersect the lower surface of the body and vertically overlap the body, and the rotational axes (osa, osb) of the pair of spinmaps are the body It is located eccentrically at the center of the left spin map (41a) and a portion of the right spin map (41b) may be disposed to vertically overlap with the body 30.

Accordingly, the present invention has the advantage that the rotation of the body is not hindered by the shape of the spinmap during rotation of the body. That is, since a part of each spin mop is exposed to the outside of the body, the spin mop is circular even when the spin mop is exposed to the outside of the body, so when the body rotates, friction between the spin mops such as obstacles is reduced and the body rotates easily .

In other words, if the whole of the left spin map 41a and the right spin map 41b vertically overlaps the body 30, the rotation of the body 30 is easy, but the area itself that can be cleaned at a time becomes too small. , The left spinmap (41a) and the right spinmap (41b) are exposed to the outside of the body 30 to the extent that they do not interfere with the rotation of the body 30, and the left spinmap (41a) and the right spinmap (41b). Maximize the area that can be cleaned.

It is preferable that the ratio of the area where the left spinmap 41a and the right spinmap 41b vertically overlap the body 30 is 85% to 95% of each spinmap. Considering the relationship with the sweep module, it is preferable that the position at which each spinmap is exposed is between the side and the rear of the body 30. The distance between the rotation axes (osa, osb) of the pair of spinmaps and the center of the body 30 may be the same.

The sweep module 2000 may form an exterior. The sweep module 2000 is disposed in front of the mop module 40. In order to prevent foreign matters on the floor from first contacting the mop module 40, the sweep module 2000 is preferably disposed in front of the vacuum cleaner 1 in the traveling direction.

The sweep module 2000 is spaced apart from the map module 40. The sweep module 2000 is disposed in front of the mop module 40 and contacts the floor. The sweep module 2000 collects foreign substances on the floor. The sweep module 2000 is installed under the body 30.

The sweep module 2000 is disposed to completely overlap the body 30 vertically. Here, the meaning of completely overlapping means that the whole of the sweep module 2000 is vertically overlapped with the body 30 and that the sweep module 2000 is not exposed to the outside of the body 30 as viewed from above.

The sweep module 2000 contacts the floor and collects foreign substances located in front of the sweep module 2000 when the cleaner 1 moves. The sweep module 2000 is disposed under the body 30. The left and right widths of the sweep module 2000 are smaller than the left and right widths of the mop module 40.

The body 30 includes a case 31 forming an exterior and a base 32 disposed under the case 31.

The body 30 forms at least a part of a circle whose outer surface has a radius having an error within a reference radius and a reference error range. Here, having a radius having an error within the reference radius and the reference error range means that the circle is not a perfect circle, and the radius may vary within the error range for each central angle or for each region.

Specifically, the body 30 may have a circular shape of 50% or more when viewed from a vertical direction, and the remaining portion may be formed close to a circular shape in consideration of coupling with other parts. Of course, here, a circle does not mean a complete circle in a mathematical sense, but an engineering meaning circle with errors.

The case 31 forms a side surface and an upper side surface of the body 30. The base 32 forms a bottom surface of the body 30.

In this embodiment, the case 31 is formed in a cylindrical shape with an open bottom surface. When viewed from a top view, the overall shape of the case 31 is formed in a circular shape. Since the plane of the case 31 is formed in a circular shape, it is possible to minimize the radius of rotation during rotation.

The case 31 includes an upper wall 311 having an overall shape in a circular shape, and a side wall 312 integrally formed with the upper wall 311 and extending downward from the edge of the upper wall 311 do.

A part of the side wall 312 is formed by opening. An open portion of the side wall 312 is defined as a water tank insertion port 313, and a water tank 81 is detachably installed through the water tank insertion port 313. The water tank insertion port 313 is disposed at the rear based on the traveling direction of the cleaner. Since the water tank 81 is inserted through the water tank insertion port 313, the water tank insertion port 313 is preferably disposed close to the mop module 40.

The mop module 40 is coupled to the base 32. The sweep module 50 is coupled to the base 32. The control unit Co and the battery Bt are disposed in the inner space formed by the case 31 and the base 32. In addition, the mop driving unit 60 is disposed on the body 30. The water supply module 80 is disposed on the body 30.

The base 32 is formed along an outer edge of the base body 321 and the base body 321 covering the opened bottom of the case 31, and downward from the edge of the base body 321 It includes a protruding base guard 322 and an insertion hole 323 through which the base body 321 is vertically penetrated, and into which the sweep module 2000 is detachably inserted.

In particular, referring to FIGS. 1, 2 and 12, the front portion of the body 30 may protrude below the rear portion of the body 30 to which each spin map 41 is mounted. It is preferable that the height of the lower end of the front portion of the body 30 is positioned higher than the height of the lower end (lower end of the mop 411) of each spin mop 41 and lower than the upper end of the rotating plate 412. That is, the rear portion of the body 30 on which the spinmap 41 is disposed has a shape that is recessed upward from the lower surface compared to other portions.

As another example, a bumper (not shown) for sensing an external impact may be disposed at the front portion of the body 30. Specifically, when the bumper is disposed, the lower surface of the body is formed to have the same height, and a bumper disposed at the lower end of the front portion of the case 31 may be included. The bumper has a semicircular strip shape and is disposed along the outside of the front portion of the case 31. Both ends of the bumper are not perpendicular to the lower end of the rear portion of the body 30 and have an inclination.

When viewed from the front, the bumper covers at least a portion of each spinmap 41 and exposes at least a portion. Specifically, when viewed from the front, the bumper exposes part of both ends of each spinmap 41. Preferably, when viewed from the front, portions of both ends of each spinmap 41 are exposed to the sides of both ends of the bumper. Here, it is preferable that the ratio of the area to which each spinmap 41 is exposed is 85% to 95% of each spinmap.

In the present invention, since a part of each spinmap is exposed to the outside of the body, the spinmap is circular even when the spinmap is exposed to the outside of the body, so when the body rotates, friction between the spinmaps such as obstacles is reduced, so that the body can easily rotate. The cleaning area can be enlarged, but there is an area that the bumper cannot cover, so that the mop may be confined to the area that cannot be cleaned. Accordingly, in the present invention, the bumper is arranged only on the outer periphery of the front lower portion of the body in the form of a semicircular strip, and the bumper is manufactured to cover most of each spin mop 41 as viewed from the front, while maintaining a compact cleaner size, There is an advantage of being able to secure the size of the wet cloth, to quickly detect obstacles and carpets in the lower part of the square, and to prevent confinement of the wet cloth.

5 is a perspective view of the sweep module shown in FIG. 3. 6 is a bottom perspective view of FIG. 5. 7 is a right cross-sectional view of FIG. 5. 8 is an exploded perspective view of the sweep module shown in FIG. 3. 9 is an exploded perspective view of the sweep module viewed from the right side of FIG. 8. 10 is a partially exploded perspective view of FIG. 5.

5 to 10, the sweep module 2000 is detachably mounted to the body 30 through the insertion hole 323. The sweep module 2000 is located in front of the mop module 40 and collects foreign substances in front of the mop module 40. The sweep module 2000 is assembled detachably from the base 32. The sweep module 2000 is separated from the base 32 through a lever 2500 in a state assembled to the base 32.

An installation space 325 in which the sweep module 2000 is mounted is formed on the base 32. In this embodiment, a storage housing 326 that is assembled on the base 32 and disposed above the insertion hole 323 is further disposed to form the installation space 325.

The storage housing 326 protrudes upward from the base body 321.

The storage housing 326 is opened at the lower side to communicate with the insertion hole 323. The inner space of the storage housing 326 provides the installation space 325. The installation space 325 of the storage housing 326 corresponds to the shape of the sweep module 2000.

The sweep module 2000 includes a dust housing 2100 that is detachably assembled with the body 30 and stores foreign substances, an agitator 2200 that is rotatably assembled to the dust housing 2100, A driving unit 2300 installed on the body 30 and providing a rotational force to the agitator 2200, and disposed on the driving unit 2300, the rotational force of the driving unit 2300 is applied to the agitator 2200. A driving coupler 2320 that transmits, and a driven coupler 2220 disposed in the agitator 2200 and transmitting the rotational force of the driving coupler 2320 to the agitator 2200, and the dust housing 2100 And a lever 2500 for coupling or separating the driving coupler 2320 and the driven coupler 2220 by receiving an operating force.

The dust housing 2100 accommodates the agitator 2200. In addition, the dust housing 2100 stores foreign matter collected through rotation of the agitator 2200. That is, the dust housing 2100 not only provides an installation and operation structure for the agitator 2200, but also provides a storage space for foreign substances.

The dust housing 2100 includes a collection space 2102 for rotation of the agitator 2200 and a storage space 2104 for storing foreign substances. The dust housing 2100 is formed long in the left and right direction. The width of the dust housing 2100 is formed to be narrower than the width of the mop module 40.

The dust housing may be assembled by separately manufacturing a structure for the collection space 2102 and a structure for the storage space 2104. In this embodiment, the collection space 2102 and the storage space 2104 are disposed in the dust housing 2100, and a partition 2145 is disposed to partially divide the collection space 2102 and the storage space 2104. .

In this embodiment, the dust housing 2100 includes an upper housing 2110 providing an upper outer shape, a lower housing 2140 disposed below the upper housing 2110 and coupled to the upper housing 2110, and , And a dust cover 2150 detachably assembled with at least one of the upper housing 2110 and the lower housing 2140.

The upper housing 2110 and the lower housing 2140 are assembled to form a collection space 2102 and a storage space 2104. That is, the upper housing 2110 provides a partial space above the collection space 2102 and the storage space 2104, and the lower housing 2140 is the rest of the collection space 2102 and the storage space 2014 Provide space.

In this embodiment, the collection space 2102 is located at the rear of the storage space 2104.

That is, since the storage space 2104 is located in front of the collection space 2102, the dust cover 2150 is located in front of the upper housing 2110.

Also, the storage space 2014 may be disposed in front of the agitator 2200. The body of the vacuum cleaner must be circular or close to the circle so that it can be easily rotated in place, and when it is easy to rotate in place, the cleaner can easily escape from an obstacle area or corner. However, when the cleaner body is manufactured in a circular shape, the width of the edge data is limited to be smaller than the diameter of the body so that the edge data does not get caught by other obstacles when the body rotates. Accordingly, the present invention facilitates rotation of the body by making the width of the agitator smaller than the diameter of the body, and by disposing a storage space for storing foreign substances collected from the agitator in front of the agitator, the agitator protrudes from the body. It is not possible to maximize the width of the agitator and not to reduce the size of the area to be cleaned at once.

The storage space 2104 is located in front of the center O of the body. The shape of the storage space 2104 is not limited, but a shape for securing a large storage capacity is preferable while being positioned eccentrically from the center in the circular body. For example, the width of the front end of the storage space 2104 may be narrower than the width of the rear end of the storage space 2104. In the storage space 2104, a surface close to the center of the body may have a wider width than a surface relatively far from the center of the body.

The upper housing 2110 and the lower housing 2140 are integrally assembled. The upper housing 2110 and the lower housing 2140 assembled integrally are defined as a housing assembly 2001.

The dust cover 2150 is detachably assembled with the housing assembly. When the dust cover 2150 is separated from the housing assembly, the storage space 2104 is exposed to the outside. By separating the dust cover 2150, foreign matter stored in the storage space 2104 may be discarded.

The upper housing 2110 provides an upper surface, a left upper surface, a right upper surface, and a rear surface of the dust housing 2100. The upper housing 2110 forms the upper side of the collection space 2102 and the storage space 2104. The upper housing 2110 provides a collection space 2102 and an upper portion of the storage space 2104.

The upper housing 2110 is formed by being integrally connected with a first upper housing part 2112 forming an upper wall of the storage space 2104 and the first upper housing part 2112, and the collection space ( A second upper housing portion 2114 forming the upper and rear walls of 2102, and a third upper housing portion 2116 providing a part of the left wall of the collection space 2102 and the storage space 2104, and , And a fourth upper housing part 2118 providing a part of the right wall of the collection space 2102 and the storage space 2104.

There is no particular limitation on the shape of the first upper housing part 2112. However, since the second upper housing 2114 accommodates the agitator 2200, it corresponds to the shape of the agitator 2200.

At least a portion of the second upper housing 2114 has a center of curvature formed on the axis of rotation of the agitator 2200. At least a part of the second upper housing 2114 is formed in an arc shape.

In this embodiment, the second upper housing portion 2114 has a radius of curvature R1 greater than the diameter of the agitator 2200. It is preferable that the outer edge of the agitator 2200 is in contact with the inner side of the second upper housing 2114).

The foreign matter collected through the contact between the agitator 2200 and the second upper housing 2114 may be moved to the collection space 2104 along the inner surface of the second upper housing 2114. When the agitator 2200 and the second upper housing 2114 are separated from each other, the foreign matter collected by the agitator 2200 may fall back to the floor.

A collection opening 2101 is formed in the lower housing 2140. The collection opening surface 2101 is exposed toward the bottom, and the agitator 2200 penetrates the collection opening surface 2101 and protrudes downward from the collection opening surface 2101.

The collection opening 2101 is disposed behind the storage space 2102.

The lower housing 2140 is disposed under the upper housing 2110 and is spaced apart from the upper housing 2110 to form a storage opening surface 2103. In this embodiment, the lower housing 2140 and the upper housing 2110 are spaced apart in the vertical direction.

The lower housing 2140 includes a first lower housing part 2142 forming a lower wall of the storage space 2104 and having a collection opening surface 2101 through which foreign substances are collected, the collection space 2102, and A third lower housing part 2146 providing the rest of the left wall of the storage space 2104, and a fourth lower housing part 2148 providing the rest of the collection space 2102 and the right wall of the storage space 2104, and And a partition 2145 formed integrally with the first lower housing part 2142 and partitioning the collection space 2102 and the storage space 2104.

In this embodiment, the first lower housing part 2142, the third lower housing part 2146, the fourth lower housing part 2148, and the partition 2145 are integrally manufactured. Unlike the present embodiment, any one of the first lower housing unit 2142, the third lower housing unit 2146, the fourth lower housing unit 2148, or the partition 2145 may be separately manufactured and then assembled.

The left wall 2011 of the housing assembly 2001 is provided through assembly of the third lower housing 2146 and the third upper housing 2116. The right wall 2012 of the housing assembly 2001 is provided through the assembly of the fourth lower housing part 2148 and the fourth upper housing part 2118.

The left rotation axis of the agitator 2200 penetrates the left wall 2011 of the housing assembly, and the right rotation axis of the agitator 2200 penetrates the right wall 2012 of the housing assembly.

The partition 2145 protrudes upward from the first lower housing part 2142. The left and right lengths of the partition 2145 correspond to the left and right lengths of the agitator 2200. The left and right lengths of the partition 2145 are longer than the left and right lengths of the agitator 2200.

The partition 2145 protrudes upward from the first lower housing 2142, forms the collection opening 2101, divides the collection space 2102 and the storage space 2104, and the A first partition part 2145a non-contact with the agitator 2200, extending upward from the first partition part 2145a, partitioning the collection space 2102 and the storage space 2104, and the agitator And a second partition portion 2145b in contact with the 2200.

The first partition part 2145a protrudes upward from the first lower housing part 2142. The collection opening 2101 is formed between the first partition 2145a and the rear end 2140b of the first lower housing 2142.

A length L1 of the collection opening 2101 in the front-rear direction is smaller than the diameter of the agitator 2200. Since the front-rear length L1 of the collection opening surface 2101 is smaller than the diameter of the agitator 2200, the agitator 2200 cannot be drawn out through the collection opening surface 2101.

The agitator 2200 is mounted on the upper side of the lower housing 2140, and the lower end of the agitator 2200 protrudes out of the collection opening surface 2101, and contacts the bottom.

The first partition part 2145a is not in contact with the agitator 2200.

However, the second partition part 2145b may contact the agitator 2200.

The second partition portion 2145b is formed in an arc shape. The center of curvature of the second partition part 2145b may be located on the rotation axis Ax of the agitator 2200. The radius of curvature R2 of the second partition part 2145b may be equal to or smaller than the diameter of the agitator 2200.

The second partition part 2145b may be a curved surface facing the agitator 2200. The upper end 2147a of the second partition part 2145b is positioned higher than the rotation axis Ax of the agitator 2200.

The upper end 2147a of the second partition part 2145b protrudes rearward than the first partition part 2145a.

The upper end 2147a of the second partition part 2145b may be sharply formed. An inclined surface 2147b is formed on the upper end 2147a of the second partition part 2145b. The inclined surface 2147b separates foreign substances attached to the surface of the agitator 2200 and guides the foreign substances to the collection space 2104.

When the upper housing 2110 and the lower housing 2140 are assembled, a discharge surface 2105 opened toward the front is formed. The discharge surface 2105 is formed on the front surface of the housing assembly 2001, and the dust cover 2150 opens and closes the discharge surface 2105.

The dust cover 2150 is disposed in front of the housing assembly 2001 and covers the discharge surface 2105. Foreign matter in the storage space 2104 may be discharged out of the sweep module 2000 through the discharge surface 2105.

The dust cover 2150 is detachably assembled with the housing assembly 2001. In this embodiment, the dust cover 2150 and the housing assembly 2001 are assembled through mutual engagement. The mutual jam can be released by the user's manipulation force.

In order to mutually engage the dust cover 2150 and the housing assembly 2001, a protrusion 2151 is disposed in one of the dust cover 2150 and the housing assembly 2001, and a locking groove 2152 in the other Is formed.

In this embodiment, a locking groove 2152 is formed in the dust cover 2150 and a protrusion 2151 is formed in the housing assembly 2001.

The number of locking grooves 2152 corresponds to the number of protrusions 2151. A plurality of protrusions 2151 are disposed. The protrusions 2151 are disposed on the upper housing 2110 and the lower housing 2140, respectively.

In this embodiment, two protrusions 2151 are disposed on the upper housing 2110, and two protrusions 2151 are disposed on the lower housing 2140 as well.

When distinction is necessary, the protrusions disposed on the upper housing 21110 are referred to as upper protrusions 2151a and 2151b, and the protrusions disposed on the lower housing 2140 are referred to as lower protrusions 2151c and 2151d.

The upper protrusions 2151a and 2151b protrude upward from the upper side of the upper housing 2110. The lower protruding portions 2151c and 2151d protrude downward from the bottom surface of the lower housing 2140.

Upper engaging grooves 2152a and 2152b corresponding to the upper protrusions 2151a and 2151b in the dust cover 2150 and lower engaging grooves 2152c and 2152d corresponding to the lower protrusions 2151c and 2151d Is formed.

The dust cover 2150 includes a front cover portion 2153 disposed to face the discharge surface 2105, a top cover portion 2154 protruding from an upper edge of the front cover 2153 toward the housing assembly, and the A left cover part 2155 protruding from the left edge of the front cover 2153 toward the housing assembly, a right cover part 2156 protruding from the right edge of the front cover 2153 toward the housing assembly, and the front cover And a bottom cover part 2157 protruding from the lower edge of 2153 toward the housing assembly.

The dust cover 2150 has a concave insertion space from the rear to the front side. The left cover portion 2155 and the right cover portion 2156 are disposed to be inclined toward the front.

The upper engaging grooves 2152a and 2152b are formed in the top cover part 2154. Lower engaging grooves 2152c and 2152d are formed in the bottom cover part 2157. The upper engaging grooves 2152a and 2152b and the lower engaging grooves 2152c and 2152d are preferably disposed opposite to each other.

The upper engaging grooves 2152a and 2152b or the lower engaging grooves 2152c and 2152d may be formed in a groove or hole shape.

The housing assembly 2001 is inserted into the insertion space, and an insertion portion 2160 that is in close contact with the inner surface of the dust cover 2150 is formed. The insertion part 2160 is located in front of the upper housing 2110 and the lower housing 2140.

The insertion portion 2160 includes a top insertion portion 2164 forming an upper side of the discharge surface 2105 and protruding forward, and a left insertion portion forming the left side of the discharge surface 2105 and protruding forward ( 2165), a right insertion portion 2166 forming a right side of the discharge surface 2105 and protruding forward, and a bottom insertion portion 2167 forming a lower side of the discharge surface 2105 and protruding forward. do.

In this embodiment, the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 are connected. Unlike the present embodiment, the top insertion portion 2164, the left insertion portion 2165, the right insertion portion 2166, and the bottom insertion portion 2167 may be separated. The insertion part 2160 is formed to have a narrower cross section from the rear side to the front side.

The top insertion part 2164 is in close contact with the top cover part 2154, the left insertion part 2165 is in close contact with the left cover part 2155, and the right insertion part 2166 is in close contact with the right cover part ( In close contact with the 2156, the bottom insertion portion 2167 is in close contact with the bottom cover portion 2157.

In this embodiment, the upper protrusions 2151a and 2151b are formed in the top insertion part 2164. The lower protrusions 2151c and 2151d are formed in the bottom insertion part 2167.

The upper protrusions 2151a and 2151b are inserted from the lower side to the upper side of the upper engaging grooves 2152a and 2152b to form mutual engagement. The lower protrusions 2151c and 2151d are inserted from the upper side to the lower side of the lower engaging grooves 2152c and 2152d to form mutual engagement.

The dust cover 2150 or the insertion part 2160 is elastically deformed by the user's operating force pulling the dust cover 2150, and the mutual engagement can be released.

The agitator 2200 is disposed in the housing assembly 2001 and may be rotated within the housing assembly 2001.

The agitator 2200 may be disposed between the upper housing 2110 and the lower housing 2140. The agitator 2200 may be disposed on the upper housing 2110. In this embodiment, the agitator 2200 is disposed on the lower housing 2140 and can be rotated while being supported by the lower housing 2140.

The axis of rotation of the agitator 2200 is disposed in a left-right direction, and may be rotated forward or backward.

The housing assembly 2001 further includes a first journal 2010 and a second journal 2020 supporting the agitator 2200. The first journal 2010 is disposed on the left side of the housing assembly 2001, and the second journal 2020 is disposed on the right side of the housing assembly 2001.

The first journal 2010 and the second journal 2020 pass through the housing assembly 2001 in the left-right direction and communicate with the collection space 2102.

In this embodiment, the first journal 2010 and the second journal 2020 are formed in a cylindrical shape. Unlike the present embodiment, at least one of the first journal and the second journal may be formed in a semi-cylindrical shape. When the first journal and the second journal are formed in a semi-cylindrical shape, they are arranged to support the axis of rotation of the agitator 2200 from the lower side.

The dust housing 2100 is mounted in the installation space 325 of the base 32, and a lever 2500 for coupling or separating the base 32 and the dust housing 2100 is disposed.

11 is a plan view of the cleaner from which the case is removed in FIG. 1. 12 is a bottom view of FIG. 11. 13 is a right cross-sectional view of FIG. 11. 14 is a plan cross-sectional view showing the interior of an installation space of the cleaner shown in FIG. 1;

11 to 14, the sweep module 2000 further includes a housing elastic member 327 that provides an elastic force to the dust housing 2100. The housing elastic member 327 is disposed in the installation space 325.

The housing elastic member 327 is disposed on the base 32 and is specifically installed on the receiving housing 326. In this embodiment, the housing elastic member 327 is a leaf spring. In order to install the leaf spring-shaped housing elastic member 327, an installation structure for fitting and fixing the receiving housing 326 is disposed.

The housing elastic member 327 elastically supports the upper side of the dust housing 2100.

The storage housing 326 has an elastic member storage portion 328 protruding upwardly from the installation space 325. An elastic member storage space 328b in which the housing elastic member 327 is accommodated is formed below the elastic member storage part 328.

The elastic member receiving portion 328 further includes an elastic member opening surface 328a opened in the vertical direction. The elastic member opening surface (328a) is in communication with the elastic member storage space (328b) and the installation space (325).

In addition, an elastic member support portion 329 disposed below the elastic member storage space 328b and connected to the storage housing 326 is further disposed.

The elastic member support part 329 is positioned lower than the elastic member storage part 328.

The housing elastic member 327 is inserted between the elastic member storage part 328 and the elastic member support part 329, and the housing elastic member 327 is a receiving housing 326 through the elastic member opening surface 328a. It is exposed upwards.

The housing elastic members 327 are located on both sides of the elastic member support part 329.

The elastic member accommodating portion 328 extends long in the left and right direction, and the elastic member support portion 329 is disposed in the left and right direction.

The housing elastic member 327 extends from the first elastic part 327a located above the elastic member support part 329 and to one side (left in this embodiment) from the first elastic part 327a, and the A second elastic portion 327b disposed in the elastic member storage space 328b, and extending from the first elastic portion 327a to the other side (right side in this embodiment), and disposed in the elastic member storage space 328b It includes a third elastic portion (327c).

The second elastic portion 327b and the third elastic portion 327c are formed by bending each of the first elastic portion 327a.

The second elastic portion 327b and the third elastic portion 327c are located under the elastic member storage portion 328. The second elastic part 327b is disposed to be inclined toward the lower left side, and the third elastic part 327c is disposed to be inclined toward the lower right side.

When the dust housing 2100 is inserted into the installation space 325, the second elastic portion 327b and the third elastic portion 327c elastically support the upper side of the dust housing 2100.

And when the mutual engagement of the dust housing 2100 and the base 32 is released by the first lever 2510 and the second lever 2520, the second elastic portion 327b and the third elastic portion 327c Pushes the dust housing 2100 downward, and moves the dust housing 2100 out of the receiving housing 326.

Due to the elastic force of the housing elastic member 327, the user can easily separate the dust housing 2100 from the installation space 325.

Since the elastic member support part 329 supports the housing elastic member 327, it is possible to block the housing elastic member 327 from being separated into the installation space 325. Even when the dust housing 2100 is repeatedly mounted and removed, the housing elastic member 327 is firmly supported by the elastic member support part 329.

6, 7, 13, the arrangement of the collection space and storage space of the sweep module will be described in more detail with reference to FIGS.

The body 30 according to this embodiment is formed in a circular shape when viewed from a top view. In particular, the front of the body 30 (in front of the traveling direction) is formed in a circular shape. When the front (F) side of the body 30 is formed in a circular shape, a radius of rotation can be minimized.

In particular, in the present embodiment, the diameter M of each of the spin mops 41a and 41b moving the cleaner is formed larger than the radius of the body 30. As viewed from the top view, since the diameter M of the spin mops 41a and 41b is larger than the radius of the body 30, the center O of the body 30 is each spin mop 41a and 41b. It can be located between.

If the rotation radius of the body 30 can be minimized, the volume of the body 30 can be maximized within the same rotation radius, and accordingly, the internal volume of the body 30 can be made large. As the internal volume of the body 30 increases, the water tank 81 or the storage space 2104 may be formed larger.

The sweep module 2000 is located in front of the map module 40. In particular, the sweep module 2000 is positioned in front of the spin mops 41a and 41b, and the collection opening surface 2101 is positioned in front of the spin mops 41a and 41b. Since foreign matter must be swept over the floor through the collection opening surface 2101, each of the spinmaps 41a and 41b should not overlap the collection opening surface 2101. Due to this arrangement, the left and right widths W1 of the sweep module 2000 are smaller than the diameter of the body 30.

In this embodiment, the sweep module 2000 is disposed selectively and detachably in the installation space 325 formed on the base 32.

Therefore, a storage space 2104 and a collection space 2102 of the sweep module 2000 are disposed inside the installation space 325. The collection space 2102 is disposed on the rear side of the storage space 2104. When viewed from a top view, the collection space 2102 is disposed closer to the center O of the body 30 than the storage space 2104.

In this embodiment, the collection space 2102 and the storage space 2104 are disposed on the same plane.

In order to maximize the width of the agitator 2200 that determines the cleaning area, the agitator 2200 should be disposed close to the center O of the body 30.

Since the collection space 2102 is disposed closer than the center O of the body 30 formed close to a circle in a top view, the storage space 2104 is disposed in front of the collection space 2102.

In this embodiment, in a structure in which the mop module 40 is disposed at the rear side in the traveling direction of the cleaner, and the sweep module 2000 is disposed in front of the mop module 40, a storage space 2104 in which foreign substances are stored is collected. It is characterized in that it is located in front of the space 2102.

The agitator 2200 is disposed in the left-right direction and rotates in the front-rear direction. In order to minimize interference with the rotated agitator 2200, the front and rear length of the collection space 2102 should be equal to or greater than the diameter of the agitator 2200.

The maximum left and right width of the sweep module 2000 is defined as W1, and the minimum left and right width is defined as W2. The W1 may be the left and right widths of the first side cover 2170 and the second side cover 2180 of the collection housing 2100. The W2 may be the left and right widths of the front cover part 2153 of the dust cover 2150. The W2 is located in front of the W1.

When viewed from a top view, since the body 30 is formed close to a circle, the front side of the sweep module 2000 located in front of the center O may be formed in an arc shape.

Since the installation space 325 corresponds to the sweep module 2000, the maximum width on the rear side of the installation space 325 is equal to or greater than W1, and the maximum width on the front side is equal to or greater than W2.

Since the collection space 2102 and the storage space 2104 are disposed inside the sweep module 2000, they are formed smaller than W1.

The maximum width of the installation space 325 is defined as S1, and the minimum width is defined as S3. Since the collection space 2102 and the storage space 2104 are partitioned based on the partition 2145 of the collection housing 2100, the left and right widths of the partition 2145 are defined as S2.

The width S2 of the partition 2145 is smaller than the maximum width S1 of the installation space 325 and is larger than the minimum width S3 of the installation space 325.

Since the agitator 2200 is disposed in the collection space 2102, the left and right widths Aw of the agitator 2200 are smaller than the maximum width of the collection space 2102.

The left and right width Aw of the agitator is larger than the spacing of each of the spin shafts 414 and smaller than the left and right width W1 of the installation space.

Since the agitator 2200 is disposed in the collection space 2102, if the left and right widths of the collection space 2102 are maximized, the left and right widths Aw of the agitator 2200 can also be made large. By maximizing the left and right widths Aw of the agitator 2200, an area that can be cleaned at one time may be maximized.

In this embodiment, since the partition 2145 divides the collection space 2102 and the storage space 2014, the front side width S2 of the collection space 2102 is at the rear side of the storage space 2104. Same as width (S2).

Unlike the present embodiment, the width of the front side of the collection space 2102 and the width of the rear side of the storage space 2104 may be different. In this case, foreign matter collected from both ends of the agitator 2200 may not be moved to the storage space 2014.

In order to utilize the left and right widths Aw of the agitator 2200 to the maximum, the rear side width S2 of the storage space 2104 as in this embodiment is the front side width S2 of the collection space 2102 It is preferable to do the same. During manufacture, the rear side width S2 of the storage space 2104 may be slightly smaller due to the thickness of the collection housing 2100.

The left and right widths Aw of the agitator 2200 are smaller than the distance between the left wall 2-11 and the right wall 2012 of the collection housing 2100.

15 is an enlarged perspective view of the first lever shown in FIG. 8. 16 is an enlarged perspective view of the second lever shown in FIG. 9. 17 is an enlarged perspective view of the second lever viewed from the left side of FIG. 16

9 to 10 and 15 to 17, the lever 2500 is disposed between the base 32 and the dust housing 2100, and mutually engages the base 32 and the dust housing 2100 Can be formed. The lever 2500 forms mutual engagement with respect to the gravitational direction of the dust housing 2100 and prevents the dust housing 2100 from being separated from the base 32 downward.

A plurality of levers 2500 are disposed, and mutually engage each other at a plurality of locations of the dust housing 2100. In this embodiment, the lever 2500 includes a first lever 2510 and a second lever 2520 and is arranged in a left and right direction.

The first lever 2510 is disposed on the left side of the dust housing 2100, and the second lever 2520 is disposed on the right side of the dust housing 2100.

The operating mechanisms of the first lever 2510 and the second lever 2520 are the same, and only the operating directions are opposite.

The first lever 2510 disposed on the left is moved to the right to release the mutual engagement with the base 32, and the second lever 2520 disposed on the right is moved to the left to contact the base 32. Clear mutual jamming.

The sweep module 2000 includes a first lever 2510 disposed on one side of the housing assembly and disposed to be relatively movable in a left and right direction, and a first lever 2510 disposed on the other side of the housing assembly, and may be relatively moved in a left and right direction. A first lever elastic member 2541 disposed between the disposed second lever 2520 and the first lever 2510 and the dust housing 2100 and providing an elastic force to the first lever 2510, It further includes a second lever elastic member 2542 disposed between the second lever 2520 and the dust housing 2100 and providing an elastic force to the second lever 2520.

Since the configurations of the first lever 2510 and the second lever 2520 are the same, the structure will be described taking the first lever as an example.

In the present embodiment, the dust housing 2100 includes a first side cover 2170 and a second side cover 2180 that conceal the first lever 2510 and the second lever 2520, respectively.

Unlike the present embodiment, even if the first lever 2510 and the second lever 2520 are installed to be exposed to the outside of the dust housing 2100 without the first side cover 2170 and the second side cover 2180 It's okay. Unlike this embodiment, the first side cover 2170 may be disposed on the right side, and the second side cover 2180 may be disposed on the left side.

The first side cover 2170 is coupled to the left side of the housing assembly 2001. The first side cover 2170 corresponds to the left side shape of the housing assembly 2001. The first side cover 2170 shields the shaft member 2201 of the agitator 2200 from being exposed to the outside. The first side cover 2170 conceals most of the first lever 2510 and exposes only a configuration for mutual engagement with the base 32.

The first side cover 2170 includes a first side cover body 2173 in close contact with one side of the housing assembly 2001, and a through hole 2171 disposed through the first side cover body 2173 2172, a hook portion 2174 protruding from the first side cover body 2173 toward the housing assembly 2001 and hooked with the housing assembly 2001, and the first side cover body 2173 The journal coupling portion 2175 protruding toward the housing assembly 2001 and mutually coupled with the journal 2010 (first journal in this embodiment) and the first side cover body by a fastening member (not shown) It includes a fastening part 2176 for coupling the 2173 and the housing assembly 2001.

The fastening portion 2176 and the hook portion 2174 are disposed on opposite sides of the journal coupling portion 2175. A plurality of hook portions 2174 are disposed in the vertical direction.

The journal coupling part 2175 is inserted into the inner diameter of the first journal 2010.

The first lever 2510 is disposed between the housing assembly 2001 and the first side cover 2170 and is elastically supported by the first lever elastic member 2512, and A lower lever disposed between the housing assembly 2001 and the first side cover 2170, integrally formed with the upper lever body 2512, exposed outside the housing assembly 2001, and receiving a user's manipulation force. And a body 2514 and a lever engaging portion 2516 protruding from the upper lever body 2512 and disposed to pass through the through holes 2171 and 2172 of the first side cover 2170.

The upper lever body 2512 is disposed in a vertical direction, and the lower lever body 2514 is disposed in a horizontal direction.

The lower lever body 2514 is disposed to be exposed outside the dust housing 2100. The lower lever body 2514 is disposed under the upper lever body 2152. The lower lever body 2514 is exposed outside the bottom surface of the lower housing 2140.

In this embodiment, an operation part 2519 protruding downward from the lower lever body 2514 is further disposed. Since the manipulation unit 2519 extends long in the front-rear direction, it is easy to receive the user's left-right manipulation force.

The user may move the first lever 2510 by pushing the manipulation unit 2519 in the left and right directions.

The lever engaging portion 2516 protrudes outward from the upper lever body 2512 (the opposite side where the agitator is located). Since the lever engaging portions 2516 correspond to the number of through holes, in the present embodiment, the first lever engaging portions 2516a and the second lever engaging portions 2516b are disposed.

The lever engaging portions 2516 are structured to form mutual engagement in the direction of gravity and minimize mutual engagement in the direction opposite to gravity. Therefore, the upper side of the lever engaging portion 2516 is formed in a round shape or an inclined surface toward the lower side, and the lower side is formed in a flat surface.

When the levers 2510 and 2520 are moved, if they are not returned to the initial position, the sweep module 2000 may be separated from the original position because mutual engagement is not formed. To prevent this, the sweep module 2000 further includes a structure for guiding the horizontal movement of the first lever 2510.

The sweep module 2000 protrudes from one side (left side in this embodiment) of the dust housing 2100 toward the first lever 2510 and interferes with the first lever 2510 to change the moving direction. A first guide 2545 for guiding, and a first guide hole 2518 formed in the first lever 2510 and inserted into the first guide 2545 to guide the movement of the first guide 2545 And, a second guide protruding toward the second lever 2520 from the other side (right side in this embodiment) of the dust housing 2100 and interfering with the second lever 2520 to guide the moving direction ( 2547 and a second guide hole 2528 formed in the second lever 2520 and into which the second guide 2547 is inserted to guide the movement of the second guide 2547.

The first guide 2545 is formed in a moving direction of the first lever 2510, and the second guide 2547 is formed in a moving direction of the second lever 2520. Thus, the first guide 2545 and the second guide 2547 are formed in a horizontal direction. The first guide hole 2518 and the second guide hole 2528 are formed in a horizontal direction to correspond to the first guide 2545 and the second guide 2547.

The guide holes 2518 and 2528 may be disposed in either the upper lever body 2512 or the lower lever body 2514. In this embodiment, the guide holes 2518 and 2528 are formed to penetrate the upper lever body 2512 in the horizontal direction.

One end of the first lever elastic member 2541 is supported by the dust housing 2100 and the other end is supported by the first lever 2510. The first lever elastic member 2541 elastically supports the first lever 2510 toward the outside of the dust housing 2100.

The sweep module 2000 further includes a structure for preventing displacement of the lever elastic members 2451 and 2542.

In order to maintain the operating position of the first lever elastic member 2541, the sweep module 2000 is disposed on the first lever 2510 and the other end of the first lever elastic member 2541 is inserted. It further includes a position fixing part 2517 and a second position fixing part 2544 which is disposed on the dust housing 2100 and into which one end of the first lever elastic member 2451 is inserted.

In this embodiment, the first lever elastic member 2451 and the second lever elastic member 2542 are formed of a coil spring. In this embodiment, the first position fixing part 2517 is formed in a boss shape, and the second position fixing part 2544 is formed in a groove shape.

The first position fixing part 2517 is inserted into the first lever elastic member 2541, and the first position fixing part 2517 allows the first lever elastic member 2541 to move in the left and right directions. Allow. It is suppressed that the first lever elastic member 2541 is moved forward or backward or vertically.

The second position fixing part 2544 is formed in a groove shape, and the first lever elastic member 2541 is inserted. The second position fixing part 2544 allows the first lever elastic member 2451 to move in the left and right directions. It is suppressed that the first lever elastic member 2541 is moved forward or backward or vertically.

In this embodiment, the second position fixing part 2544 is disposed between the first journal 2010 and the first guide 2545. The second position fixing part 2544 is a 2-1 position fixing part 2544a formed concave in a lower part of the first journal 2010, and a concave part in an upper part of the first guide 2545. It includes a 2-2 position fixing part (2544b).

As viewed from the side, the 2-1 position fixing part 2544a and the 2-2 position fixing part 2544b are each formed in a curved surface, and the center of curvature is located inside the first lever elastic member 2451 do.

The radius of curvature of the 2-1st position fixing part 2544a and the 2nd-2nd position fixing part 2544b may be larger than the diameter of the first lever elastic member 2451.

When the first lever 2510 is moved toward the housing assembly 2001 by the user's operating force, the lever engaging portion 2516 eliminates mutual interlocking with the base 32. At this time, since the first lever elastic member 2541 elastically supports the first lever 2510, when the user's operating force is removed, the first lever 2510 is moved back to the first side cover 2170 , The lever engaging portion 2516 protrudes out of the through holes 2171 and 2172.

The sweep module 2000 is mounted on the base 32 through mutual engagement between the lever engaging portion 2516 and the base 32 protruding out of the through holes 2171 and 2172. remind

When the mutual engagement between the lever engaging portion 2516 and the base 32 is released, the sweep module 2000 may be separated from the base 32.

In this embodiment, since the first lever 2510 and the second lever 2520 are disposed on the left and right sides of the sweep module 2000, respectively, both the first lever 2510 and the second lever 2520 are engaged. It is only possible to remove the sweep module 2000 from the body 30.

The first lever 2510 provides mutual locking or releasing of the locking with the base 32, but the second lever 2520 provides not only the function of the first lever 2510 but also a connection structure with the driving unit 2300 do.

The second lever 2520 is disposed between the housing assembly 2001 and the second side cover 2180 and is elastically supported by the second lever elastic member 2542, and an upper lever body 2522, A lower lever disposed between the housing assembly 2001 and the second side cover 2180, formed integrally with the upper lever body 2522, exposed outside the housing assembly 2001, and receiving a user's manipulation force The body 2524, a lever engaging portion 2526 protruding from the upper lever body 2522 and disposed to pass through the through holes 2181 and 2182 of the second side cover 2180, and the lower lever It includes an operation part 2519 protruding downward from the body 2524.

When it is necessary to separate the lever engaging portion 2516 of the first lever and the lever engaging portion 2526 of the second lever, the lever engaging portion 2516 of the first lever is referred to as one lever engaging portion, and the second lever 2 The lever engaging part 2526 of the lever is called the other lever engaging part.

The lever engaging portion 2526 protrudes outward from the lower lever body 2522 (the opposite side where the agitator is located), and the lever engaging portion 2526 includes a first lever engaging portion 2526a and a second It includes a lever engaging portion (2526b).

The lever engaging portion 2526 forms a mutual engagement with a locking groove 3266 formed in the receiving housing 326 of the base 32.

Since the lever engaging portion 2526 is composed of a first lever engaging portion 2526a and a second lever engaging portion 2526b, correspondingly, the engaging groove 3266 is also a first locking groove 3266a and a second locking groove 3266a. A locking groove 3266b is disposed. The lever engaging portion 2516 of the first lever 2510 is also provided with a locking groove (not shown) having the same structure. The first locking groove 3266a and the second locking groove 3266b are formed in the sidewall 3262 of the receiving housing 326.

The first locking groove 3266a and the second locking groove 3266b are located below the driven coupler 2220 and the driving coupling 2320.

In this embodiment, one side and the other side of the sweep module 2000 form a mutual engagement in the direction of gravity through the engagement groove and the lever engagement portion.

Unlike the present embodiment, only the first lever 2510 in which the driven coupler is not disposed may be disposed to mutually engage the base 32 in a downward direction. The other side of the sweep module 2000 may be supported by the body 30 by a driving coupler 2320 and a driven coupler 2220 to be described later.

In this embodiment, the sweep module 2000 is detachably attached to the body 30 by means of one locking arc and one lever engaging portion, the other engaging groove and the other lever engaging portion, and the driving coupler 2320 and the driven coupler 2220. Are combined.

The second side cover 2180 passes through the second side cover body 2183 and the second side cover body 2183 in close contact with the other side (right side in this embodiment) of the housing assembly 2001. A through hole 2181 and 2182 disposed, a hook part 2184 protruding from the second side cover body 2183 toward the housing assembly 2001 and hooked with the housing assembly 2001, and a fastening member In order to transmit the driving force of the second side cover body 2183 and the housing assembly 2001 to the second side cover body 2187 and the driving part 2300 to the agitator 2200 (not shown) It includes an opening surface 2185 through which the configuration of the driving unit 2300 passes.

The opening surface 2185 is disposed in a horizontal direction. The first coupler 2310 of the driving unit 2300 to be described later is inserted through the opening surface 2185.

And the sweep module 2000 protrudes toward the second lever 2520 from the other side (right side in this embodiment) of the dust housing 2100 and interferes with the second lever 2520 to change the moving direction. A second guide 2547 for guiding, and a second guide hole 2528 formed in the second lever 2520 and inserted into the second guide 2547 to guide the movement of the second guide 2547 And, a third position fixing part 2527 disposed in the second lever 2520 and into which the other end of the second lever elastic member 2542 is inserted, and a third position fixing part 2527 disposed in the dust housing 2100, and the second lever It includes a fourth position fixing portion 2546 into which one end of the elastic member 2542 is inserted.

The agitator 2200 receives a rotational force from the agitator assembly 2210, which sweeps foreign substances on the floor into the collection space 2102 through rotation, and the driving part 2300, and the driving part 2300 and the agitator A driven coupler 2220 disposed to be relatively movable between the assemblies 2210, and disposed between the agitator assembly 2210 and the driven coupler 2220, providing elastic force to the driven coupler 2220, and the A coupling elastic member 2230 for pressing the driven coupler 2220 toward the driving part 2300 and the agitator assembly 2210 through the driven coupler 2220, and the driven coupler ( It includes a coupling stopper 2270 for preventing separation of the driven coupler 2220 by forming a mutual engagement with the 2220.

The agitator assembly 2210 is disposed in the collection space 2102, the agitator body 2240 rotated by receiving the rotational force of the driving unit 2300, and one side and the other side of the agitator body 2240 Each disposed, providing a rotation center of the agitator body 2240, a shaft member 2201 rotatably supported by the dust housing 2100, and installed on the outer peripheral surface of the agitator body 2240 and foreign matter A collection member 2250 for sweeping the inside of the collection space 2102, and a bearing 2260 installed on the dust housing 2100 and providing rolling friction to the shaft member 2201.

In this embodiment, the driven coupler 2220 is detachably assembled with the lever (the second lever 2520 in this embodiment) and the shaft member 2201, and is moved together with the lever. In this embodiment, the driven coupler 2220 may be released from the driving unit 2300 by the user's operating force applied to the second lever 2520.

The driven coupler 2220 may be moved in the direction of the shaft member 2201 and the coupling with the driving part 2300 may be released. The driven coupler 2220 may be moved relative to each other in the horizontal direction between the agitator assembly 2210 and the driving unit 2300.

The agitator body 2240 is disposed in the left and right directions. The agitator body 2240 is disposed inside the collection space 2102.

The collection member 2250 is formed along the outer circumferential surface of the agitator body 2240. The collection member 2250 protrudes radially outward from the outer peripheral surface of the agitator body 2240. The collection member 2250 is rotated together when the agitator body 2240 is rotated. The collection member 2250 may pass through the collection opening surface 2101 and contact the floor. The collection member 2250 may be composed of a plurality of brushes.

When the agitator assembly 2210 is rotated, the collection member 2250 comes into contact with the foreign material on the floor and moves the foreign material into the collection space 2102.

18 is a partial exploded perspective view of a sweep module showing a coupling structure of the agitator shown in FIG. 5. 19 is an exploded perspective view showing the assembly structure of the driven coupler shown in FIG. 18; 20 is a perspective view as viewed from the left side of FIG. 19. FIG. 21 is a right cross-sectional view illustrating the agitator of FIG. 18. FIG. 22 is an exploded perspective view of a driving unit viewed from the left side of FIG. 18.

16 to 18, the shaft member 2201 is disposed on one side and the other side of the agitator body 2240, respectively. The shaft member 2201 forms the center of rotation of the agitator assembly 2210.

The shaft member 2201 is disposed in a horizontal direction. The shaft member 2201 passes through the left and right sides of the collection space 2102.

In this embodiment, the shaft member 2201 penetrates the left wall 2011 and the right wall 2012 of the dust housing 2100. The shaft member 2201 may be integrally formed with the agitator body 2240.

In this embodiment, the shaft member 2201 is detachably assembled with the agitator body 2240. The shaft member 2201 and the agitator body 2240 form mutually engaging in the rotation direction of the agitator 2200 and separate in the direction of the rotation axis of the agitator 2200 (left and right directions in this embodiment). I can.

The agitator assembly 2210 and the shaft member 2201 are detachably assembled, and through this, only the agitator assembly 2210 can be replaced. That is, the agitator assembly 2210 may be separated from the dust housing 2100 while the shaft members 2201 are assembled to the dust housing 2100.

Since the agitator 2200 is a consumable part, it must be replaced periodically. Without disassembling the entire agitator 2200 through the coupling structure of the shaft member 2201 and the agitator body 2240, only the agitator body 2240 can be separated from the dust housing 2100. The shaft member 2201 and the agitator body 2240 maintain a mutually engaged state.

The shaft member 2201 includes a rotation shaft body 2202 that is mutually coupled with the agitator body 2240, and protrudes from the rotation shaft body 2202 toward the driving part 2300 and extends the rotation center of the edge tail 2200. Provided, the shaft portion 2203 coupled to the bearing 2260, and further protruding from the shaft portion 2203 toward the driving portion 2300, passing through the driven coupler 2220, and the coupling stopper 2270 It includes a coupling guide 2204 is coupled.

The rotating shaft body 2202 is formed in a disk shape. The shaft part 2203 protrudes from the rotation shaft body 2202 toward the driving part 2300.

The shaft portion 2203 is formed to be smaller than the diameter of the rotating shaft body 2202.

The shaft portion 2203 is formed in a cylindrical shape. The outer surface of the shaft portion 2203 is inserted into the bearing 2260. The shaft portion 2203 is inserted into and supported by the bearing 2260.

The coupling guide 2204 further protrudes from the shaft part 2203 toward the driving part 2300. The centers of curvature of the coupling guide 2204 and the shaft portion 2203 are located on the same center of rotation.

The diameter of the coupling guide 2204 is smaller than the diameter of the shaft portion 2203, and a first end 2205 is formed between the coupling guide 2204 and the shaft portion 2203 due to a difference in diameter.

One end of the coupling elastic member 2230 is supported on the first end 2205.

The coupling guide 2204 may further include a through part 2206 penetrating the driven coupler 2220. The coupling stopper 2270 is fixed to the through part 2206.

The driven coupler 2220 may be moved in a horizontal direction along the coupling guide 2204. Since the driven coupler 2220 is elastically supported by the coupling elastic member 2230, it remains in close contact with the driving unit 2300 when no external force is applied.

In this embodiment, the coupling guide 2204 is formed in a cylindrical shape, and the through part 2206 is formed in a polygonal column (hexagonal column in this embodiment).

The through part 2206 is inserted into the driven coupler 2220 and forms mutually engaging in the rotation direction of the agitator 2200.

On the other hand, the shaft member 2201 is formed with a key groove 2207 for mutual engagement with the agitator body 2240. The key groove 2207 is disposed on the opposite side of the shaft part 2203 with respect to the rotation shaft body 2202. The key groove 2207 is disposed on the agitator body 2240 side. The keyway 2207 may be formed in an irregular polygonal shape. The key groove 2207 may be opened in the radial direction of the rotation shaft.

A key 2247 inserted into the key groove 2207 is formed in the agitator body 2240. The key 2247 protrudes toward the shaft member 2201 or the driven coupler 2220.

The driven coupler 2220 includes a coupling body 2222 coupled with a lever 2520 (a second lever in this embodiment), and on one side (left side in this embodiment) of the coupling body 2222. It is formed concavely, the coupling guide 2204 is inserted, the coupling elastic member 2230 is inserted into the first guide groove 2224 and the first guide groove 2224 and the communication, the couple The second guide groove 2226 penetrating the ring body 2222 and into which the penetrating portion 2206 is inserted, and disposed between the first guide groove 2224 and the second guide groove 2226, the first The second end 2225 on which the end 2205 is supported, and a driving coupling formed concavely in the other side (right side in this embodiment) of the coupling body 2222 and coupled to the driving part 2300 ( 2220 includes a power transmission groove 2228 is inserted detachably.

The diameter of the first guide groove 2224 is larger than the diameter of the coupling elastic member 2230. The diameter of the coupling elastic member 2230 is larger than the diameter of the coupling guide 2204 and smaller than the diameter of the first guide groove 2224.

The first guide groove 2224 is formed in a circular hollow shape.

The second guide groove 2226 corresponds to the shape of the through part 2206, and in this embodiment, the side surface is formed in a hollow shape having a hexagonal shape.

The coupling body 2222 has a groove 2223 that is concave radially inward from the outer surface. The diameter of the groove 2223 is smaller than the diameter of the outer surface of the coupling body 2222.

The second lever 2520 is formed in the upper lever body 2522 and is inserted into the groove 2223 to form a coupling groove 2523 that is coupled to the driven coupler 2220.

The groove 2223 is orthogonal to the center of rotation of the agitator 2200.

The second lever 2520 may be coupled to or separated from the driven coupler 2220 in an up-down direction, and the driven couplers 2220 form mutually engaging in a left-right direction.

The second lever 2520 further includes a first extension part 2522a and a second extension part 2522b extending upward from the upper lever body 2522, and the first extension part 2522a and the first 2 The coupling groove 2523 is formed between the extension parts 2522b.

The first extension part 2522a and the second extension part 2522b are structures to be more rigidly assembled with the driven coupler 2220. The first extension part 2522a and the second extension part 2522b may contact one side surface 2223a and the other side surface 2223b of the groove 2223.

The coupling stopper 2270 passes through the driven coupler 2220 and is fastened to the through part 2206. The driven coupler 2220 may be moved in the left and right directions between the coupling stopper 2270 and the shaft member 2201.

The head 2272 of the coupling stopper 2270 interferes with the power transmission groove 2228 of the driven coupler 2220, and blocks the driven coupler 2220 from being separated to the right. The coupling part 2274 of the coupling stopper 2270 is inserted into the fastening groove 2207 of the through part 2206 to be fastened.

The drive coupling 2320 is inserted into the power transmission groove 2228 and is coupled to transmit rotational force. The power transmission groove 2228 may be formed in various shapes. In this embodiment, the power transmission groove 2228 is a hexagonal groove when viewed from the side.

The diameter of the power transmission groove 2228 is larger than the diameter of the second guide groove 2226. The power transmission groove 2228 and the second guide groove 2226 communicate with each other. The first guide groove 2224 is disposed to communicate with one side of the second guide groove 2226 and the power transmission groove 2228 is disposed to communicate with the other side.

The power transmission groove 2228 is opened toward the other side, and the first guide groove 2224 is opened toward one side.

When the driven coupler 2220 is coupled to the upper lever body 2522, the power transmission groove 2228 is located on the other side of the upper lever body 2522, and the first guide groove 2224 is the It is located on one side of the upper lever body (2522).

The second lever 2520 forms mutual engagement with the driven coupler 2220 in a direction orthogonal to the shaft member 2201. In addition, the lever engaging portion 2526 of the second lever 2520 forms a mutual engagement with the base 32.

When the driving coupler 2320 and the driven coupler 2220 are coupled to each other, the driven coupler 2220 protrudes outside the dust housing 2100. Specifically, the driven coupler 2220 passes through the opening surface 2185 of the second side cover 2180 and protrudes outward from the second side cover 218.

By the operation of the second lever 2520, the driven coupler 2220 may be the same as the opening surface 2185 or may be moved inward. When the driven coupler 2220 is the same as the outer surface of the dust housing 2100 or moved inward, interference with the base 32 can be prevented, and the dust housing 2100 can be easily separated.

Therefore, the moving distance of the second lever 2520 should be greater than the combined thickness of the driven coupler 2220 and the driving coupler 2320.

When the second lever 2520 is pressed toward the agitator 2200, the second lever 2520 is moved toward the agitator 2200, so that the lever engaging portion 2526 and the base 32 are mutually engaged. It is released, and the dust housing 2100 is in a state in which it can be separated from the base 32.

In addition, when the second lever 2520 is pressed toward the agitator 2200, the coupling elastic member 2230 is compressed, and the driven coupler 2220 may be moved toward the agitator 2200.

When the driven coupler 2220 is moved toward the agitator 2200 by the second lever 2520, the driven coupler 2220 and the driving unit 2300 are physically separated, and the dust housing 2100 is It is in a state that can be separated from the base (32).

Since the sweep module 2000 according to the present embodiment has a structure in which the agitator 2200 is installed therein, when it is separated from the base 32 of the dust housing 2100, it must be physically separated from the driving unit 2300.

The movement of the second lever 2520 not only releases the coupling of the dust housing 2100 and the base 32, but also releases the coupling with the driven coupler 2220 and the driving part 2300 at the same time.

Here, since the second lever 2520 is concealed inside the dust housing 2100 and only the operation unit 2529 is exposed to the outside, the coupling structure of the driven coupler 2220 is not exposed to the outside. In particular, since the second side cover 2180 shields most of the configuration of the second lever 2520, it is possible to minimize damage to the second lever 2520 due to an external impact or the like.

Even if the second lever 2520 is repeatedly used, since it moves only inside the dust housing 2100, separation or damage can be minimized.

In addition, since the side covers 2170 and 2180 conceal the levers 2510 and 2520 inside the dust housing 2100, it is possible to minimize foreign matters from entering the section of the levers 2510 and 2520. And, it is possible to secure reliability according to the operation.

And when the operating force applied to the second lever 2520 is removed, the driven coupler 2230 is moved to the other side by the elastic force of the coupling elastic member 2230.

At this time, the driven coupler 2230 is in a state penetrated through the shaft member 2201, and the coupling stopper 2270 is in a state coupled to the shaft member 2201, so that the driven coupler 2230 is a shaft member ( 2201) can be prevented from being separated. That is, the driven coupler 2230 may move the shaft member 2201 along the axial direction, but separation by the coupling stopper 2270 is blocked.

The drive unit 2300 includes a drive housing 2310 assembled to the body 30, a motor 2330 assembled to the drive housing 2310, and disposed inside the drive housing 2310, and the motor A power transmission assembly 2340 that is assembled with 2330 to receive rotational force, and a drive coupling 2320 that is coupled with the power transmission assembly 2340 and selectively engages with the driven coupler 2220.

Since the agitator 2200 is disposed inside the sweep module 2000 and the motor 2330 is disposed inside the body 30, the motor 2330 transmits a rotational force to the agitator 2200 The driving coupling 2320 and the driven coupler 2220 have a selectively separable structure. If the drive coupling 2320 and the driven coupler 2220 are not detachable, the dust housing 2100 cannot be separated from the body 30.

The drive housing 2310 may be fixed to the body 30, and in this embodiment, it is fixed to the base 32. The drive housing 2310 is a structure for installing the power transmission assembly 2340 and the motor 2330.

The drive housing 2310 may be formed in various shapes. In this embodiment, the drive housing 2310 conceals the power transmission assembly 2340 inside, and exposes only the motor 2330 and the drive coupling 2320 to the outside.

The drive housing 2310 is disposed in any one of the first drive housing 2312 and the second drive housing 2314, and the first drive housing 2312 and the second drive housing 2314 forming an outer shape. , A coupling installation part 2315 in which the drive coupling 2320 is disposed, and a motor shaft of the motor 2330 disposed in any one of the first drive housing 2312 and the second drive housing 2314 A hole 2316 through which (not shown) is passed is formed.

The power transmission assembly 2340 is disposed between the first drive housing 2312 and the second drive housing 2314.

In this embodiment, the first drive housing 2312 is disposed on one side (the agitator 2200 side), and the second drive housing 2314 is disposed on the other side (outer side).

In this embodiment, the coupling installation part 2315 is disposed on the first drive housing 2312. The drive coupling 2320 is disposed on the coupling installation part 2315 and is connected to the power transmission assembly 2340. The drive coupling 2320 may be rotated while being installed in the coupling installation part 2315.

The drive coupling 2320 corresponds to the shape of the power transmission groove 2228 of the driven coupler 2220. In this embodiment, the drive coupling 2320 has a hexagonal shape when viewed from the side. The driving coupling 2320 may be selectively engaged with the driven coupler 2220 through the opening surface 2185 of the second side cover 2180.

The drive coupling 2320 protrudes toward the second side cover 2180 rather than one side (left side) of the first drive housing 2312 in a state assembled to the drive housing 2310.

The rotation center of the drive coupling 2320 may be disposed in a left-right direction, and may coincide with the rotation center of the agitator 2200.

In this embodiment, the first drive housing 2312 has a space formed therein, and a power transmission assembly 2340 is rotatably installed in the space. The second dry housing 2314 has a shape of a cover covering the first dry housing 2312.

The drive housing 2310 further includes a first fastening part 2317 and a second fastening part 2318. The first fastening part 2317 and the second fastening part 2318 are disposed on the first drive housing 2312. The first fastening part 2317 and the second fastening part 2318 are formed to install fastening members in the vertical direction.

The motor shaft of the motor 2330 is disposed in a left and right direction. The motor 2330 may be disposed on one side or the other side of the drive housing 2310.

The motor 2330 is disposed toward the inside of the body 30 based on the drive housing 2310. By disposing the motor 2330 on the agitator 2200 side, the volume of the body 30 may be minimized.

In this embodiment, the motor axis direction Mx of the motor 2330 and the rotation axis Ax of the agitator 2200 are parallel. In this embodiment, the rotation center of the agitator 2200, the rotation center of the shaft member 2201, the center of the driven coupler 2220, and the drive coupling 2320 on the axis of rotation Ax of the agitator 2200 The center is located.

In this embodiment, the motor 2330 is located above the dust housing 2100. The motor 2330 is located at a rear side of the dust housing 2100. The motor 2330 is located above the installation space 325 and the storage housing 326 of the base 32.

The power transmission assembly 2340 includes a plurality of gears. The power transmission assembly 2340 may be implemented in various ways according to the number of rotations and torques that transmit the number and shape of the gears.

When the floors of the pair of spinmaps 41a and 41b provided symmetrically with respect to the center vertical line Po are disposed horizontally with a horizontal plane, the robot cleaner cannot stably travel, and driving control becomes difficult. Accordingly, in the present invention, each spin mop 41 is disposed so as to be inclined downwardly to the outer front. Hereinafter, the inclination and motion of the spinmap 41 will be described.

The central vertical line (Po) is a line that is parallel to the anteroposterior direction and passes through the geometric center (Tc) of the body. Of course, the central vertical line Po may be defined as a line passing through the geometric center Tc of the body while perpendicularly intersecting the virtual line connecting the central axis of the left spin map and the central axis of the right spin map.

Referring to FIG. 23, a point where the spin rotation axis Osa of the left spin map 41a and the lower side of the left spin map 41a intersect is shown, and the spin rotation axis Osb of the right spin map 41b and the right side A point where the lower side surfaces of the spinmap 41b intersect is shown. When viewed from the bottom, the clockwise direction of the rotational directions of the left spinmap 41a is defined as the first forward direction w1f and the counterclockwise direction is defined as the first reverse direction w1r. When viewed from the lower side, the counterclockwise direction of the rotational directions of the right spinmap 41b is defined as the second forward direction w2f and the clockwise direction is defined as the second reverse direction w2r. In addition, when viewed from the lower side,'the acute angle formed by the inclination direction of the lower side of the left spinmap (41a) (40a) with the left-right axis' and'the inclination direction of the lower side of the right spinmap (41b) (40b) are left and right. The acute angle formed with the direction axis' is defined as the inclined angle (Ag1a, Ag1b). The tilt direction angle Ag1a of the left spin maps 41a and 40a and the tilt direction angle Ag1b of the right spin maps 41b and 40b may be the same. In addition, referring to FIG. 6,'the angle formed by the lower side (I) of the left spinmap (41a) (40a) with respect to the virtual horizontal plane (H)' and'left spinmap (with respect to the virtual horizontal plane (H)) 41a) The angle formed by the lower side (I) of (40a) is defined as the inclination angle (Ag2a, Ag2b).

Of course, the right end of the left spin map 41a and the left end of the right spin map 41b may be in contact with each other or may be close to each other. Accordingly, it is possible to reduce the amount of space between the left spin mop 41a and the right spin mop 41b.

When the left spin mob 41a rotates, the point (Pla) that receives the greatest frictional force from the bottom of the lower side of the left spin mob 41a is disposed on the left side from the rotation center Osa of the left spin mob 41a. . A load larger than the other points is transmitted to the ground at the point Pla among the lower side of the left spinmap 41a, so that the greatest frictional force may be generated at the point Pla. In this embodiment, the point Pla is disposed in front of the left side of the rotation center Osa, but in another embodiment, the point Pla may be disposed exactly to the left or rear left of the rotation center Osa. .

When the right spin map 41b rotates, the point Plb that receives the greatest frictional force from the bottom of the lower side of the right spin map 41b is disposed on the right side at the rotation center Osb of the right spin map 41b. . A load greater than another point is transmitted to the ground at a point Plb among the lower side of the right spinmap 41b, so that the greatest frictional force may be generated at the point Plb. In this embodiment, the point Plb is disposed in front of the right side of the rotation center Osb, but in another embodiment, the point Plb may be disposed exactly on the right side or the right rear side based on the rotation center Osb. .

The lower side of the left spin mob 41a and the lower side of the right spin mop 41b are disposed to be inclined, respectively. The inclination angles Ag2a of the left spinmab 41a and the inclination angles Ag2a and Ag2b of the right spinmab 41b form an acute angle. As for the inclination angles (Ag2a, Ag2b), the point (Pla, Plb) where the frictional force is greatest is the point (Pla, Plb), but the lower overall area of the mop part 411 is according to the rotational motion of the left and right spin mops 41a and 41b. It can be set small enough to reach the floor.

The lower side of the left spin mob 41a as a whole forms a downward slope in the left direction. The lower side of the right spin mob 41b as a whole forms a downward slope in the right direction. Referring to FIG. 6, the lower side of the left spinmap 41a forms the lowest point Pla on the left side. The lower side of the left spinmap 41a forms the highest point Pha on the right side. The lower side of the right spinmap 41b forms the lowest point Plb on the right side. The lower side of the right spinmap 41b forms the highest point Phb on the left side.

Depending on the embodiment, it is also possible that the inclination direction angles Ag1a and Ag1b are 0 degrees. In addition, according to an embodiment, when viewed from the lower side, the inclination direction of the lower side of the left spinmap 41a and 120a forms an inclined angle Ag1a in a clockwise direction with respect to the left-right axis, and the right spinmap The inclination direction of the lower side of the (41b) (120b) may be implemented to form an inclined angle Ag1b in a counterclockwise direction with respect to the left and right axis. In this embodiment, when viewed from the lower side, the inclination direction of the lower side of the left spinmap 41a, 120a forms an inclined angle Ag1a in a counterclockwise direction with respect to the left-right axis, and the right spinmap ( 41b) The inclined direction of the lower side of 120b forms an inclined angle Ag1b in a clockwise direction with respect to the left-right axis.

The movement of the cleaner 1 is implemented by a friction force with the ground generated by the mop module 40.

The mop module 40 may generate a'forward moving friction force' to move the body 30 forward, or a'backward moving friction force' to move the body rearward. The map module 40 may generate a'left moment friction force' to rotate the body 30 left or a'right moment friction force' to rotate the body 30 right. The mop module 40 may generate a frictional force obtained by combining any one of a forward moving friction force and a rear moving friction force, and any one of a leftward moment friction force and a rightward moment friction force.

In order for the mop module 40 to generate a forward moving friction force, the left spin mob 41a is rotated in the first forward direction (w1f) at a predetermined rpm (R1) and the right spin mop 41b is rotated in the second forward direction (w2f). It can be rotated at rpm (R1).

In order for the mop module 40 to generate a backward moving friction force, the left spin mob 41a is rotated in the first reverse direction (w1r) at a predetermined rpm (R2) and the right spin mop 41b is rotated in the second reverse direction (w2r). It can be rotated at rpm (R2).

In order for the mop module 40 to generate a right-facing moment friction force, the left spin mob 41a is rotated at a predetermined rpm (R3) in the first forward direction (w1f), and the right spin mop 41b is rotated in the i second reverse direction (w2r). ), or ii stop without rotation, or iii rotate in the second forward direction (w2f) at an rpm (R4) less than rpm (R3).

In order for the mop module 40 to generate a left-facing moment friction force, the right spin mob 41b is rotated at a predetermined rpm (R5) in the second forward direction (w2f), and the left spin mop 41a is rotated in the i first reverse direction (w1r). ), or ii, it can be stopped without rotation, or iii, in the first forward direction (w1f), rotated at an rpm (R6) less than rpm (R5).

Hereinafter, the arrangement of each component for stable driving regardless of the water level in the water tank 81 will be described while improving the frictional force of the spin mops 41 disposed to the left and right, improving stability in the left and right directions and in the front and rear directions.

23 and 24, in order to expand the frictional force of the spin mob 41 and limit the occurrence of eccentricity in one direction when the mobile robot rotates, the mop motor 61 and the battery Bt ) May be disposed on the top of the spinmap 41.

Specifically, the left mop motor 61a may be disposed on the left spin mob 41a, and the right mop motor 61b may be disposed on the right spin mob 41b. That is, at least a part of the left mop motor 61a may vertically overlap with the left spin mob 41a. Preferably, the entire left mop motor 61a may be vertically overlapped with the left spin mob 41a. At least a portion of the right mop motor 61b may vertically overlap with the right spin mob 41b. Preferably, the whole of the right mop motor 61b may vertically overlap with the right spin mop 41b.

More specifically, the left mop motor 61a and the right mop motor 61b are a virtual central horizontal line connecting the spin rotation axis Osa of the left spin mob 41a and the spin rotation axis Osb of the right spin mop 41b. It can be arranged to be vertically overlapped with (HL). Preferably, the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b are between the spin rotation axis Osa of the left spin mob 41a and the right spin mop 41b. It may be disposed to vertically overlap with the virtual central horizontal line HL connecting the spin rotation axis Osb. Alternatively, the geometric center of the left mop motor 61a and the geometric center of the right mop motor 61b connect the spin rotation axis Osa of the left spinmab 41a and the spin rotation axis Osb of the right spinmab 41b. It may be disposed to be vertically overlapped with the virtual central horizontal line HL. Of course, the left mop motor 61a and the right mop motor 61b are arranged symmetrically with respect to the center vertical line Po.

Since the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b do not deviate from the top of each spin mop 41 and are arranged to be symmetrical to each other, the spin mop 41 While improving friction, driving performance and left and right balance can be maintained.

Hereinafter, the spin rotation axis Osa of the left spin map 41a is referred to as the left spin rotation axis Osa, and the spin rotation axis Osb of the right spin map 41b is referred to as the right spin rotation axis Osb.

Since the water tank 81 is disposed behind the central horizontal line HL, and the amount of water in the water tank 81 is variable, in order to maintain a stable front and rear balance regardless of the water level of the water tank 81, the left mop motor 61a May be arranged to be skewed to the left from the left spin rotation axis Osa. The left mop motor 61a may be arranged to be skewed toward the left front direction from the left spin rotation axis Osa. Preferably, the geometric center of the left mop motor 61a or the center of gravity MCa of the left mop motor 61a is arranged to be skewed to the left from the left spin rotation axis Osa, or the geometric center of the left mop motor 61a Alternatively, the center of gravity MCa of the left mop motor 61a may be arranged to be skewed toward the left front direction from the left spin rotation axis Osa.

The right mop motor 61b may be disposed to be skewed in the right direction from the right spin rotation axis Osb. The right mop motor 61b may be arranged to be skewed toward the right forward direction from the right spin rotation axis Osb. Preferably, the geometric center of the right mop motor 61b or the center of gravity (MCb) of the right mop motor 61b is arranged to be skewed in the right direction from the right spin rotation axis Osb, or the geometric center of the right mop motor 61b Alternatively, the center of gravity MCb of the right mop motor 61b may be arranged to be skewed toward the right front direction from the right spin rotation axis Osb.

Since the left mop motor 61a and the right mop motor 61b apply pressure at a position that is skewed forward and outward from the center of each spin mob 41, the pressure is concentrated in the front and outside of each spin mop 41, The driving performance is improved by the rotational force of the spinmap 41.

The left spin rotation shaft Osa and the right spin rotation shaft Osb are disposed behind the center of the body 30. The center horizontal line HL is disposed behind the geometric center Tc of the body 30 and the center of gravity WC of the mobile robot. The left spin rotation axis Osa and the right spin rotation axis Osb are disposed to be spaced apart from the center vertical line Po by the same distance.

The left main joint 65a may be disposed on the left spin map 41a, and the right main joint 65b may be disposed on the right spin map 41b.

In this embodiment, a single battery Bt is installed. At least a portion of the battery Bt is disposed on the left spinmap 41a and the right spinmap 41b. A relatively heavy battery Bt is disposed on the spin map 41 to improve friction of the spin map 41 and reduce eccentricity caused by rotation of the mobile robot.

Specifically, a left part of the battery Bt may be vertically overlapped with the left spinmab 41a, and a right part of the battery Bt may be disposed to vertically overlap with the right spinmab 41b. The battery Bt may be disposed to vertically overlap the central horizontal line HL, and may be disposed to vertically overlap the central vertical line Po.

More specifically, the center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed on a central vertical line Po, and may be disposed on a central horizontal line HL. Of course, the center of gravity BC of the battery Bt or the geometric center of the battery Bt is disposed on the central vertical line Po, is disposed in front of the central horizontal line HL, and the geometric center of the body 30 ( Tc) can be disposed behind.

The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed in front of the water tank 81 or the center of gravity PC of the water tank 81. The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be located behind the center of gravity SC of the sweep module 2000.

Since one battery (Bt) is disposed in the middle between the left spinmap (41a) and the right spinmap (41b), and is disposed on the center horizontal line (HL) and the center vertical line (Po), the heavy battery (Bt) spins. When the mops 41 rotate, the center is held and weight is applied to the spin mops 41 to improve frictional force on the spin mops 41.

The battery Bt may be disposed at the same height (lower height) or on the same plane as the left mop motor 61a and the right mop motor 61b. The battery Bt may be disposed between the left mop motor 61a and the right mop motor 61b. The battery Bt is disposed in an empty space between the left mop motor 61a and the right mop motor 61b.

At least a portion of the water tank 81 is disposed on the left spin mob 41a and the right spin mob 41b. The water tank 81 may be disposed rearward than the center horizontal line HL, and may be disposed to vertically overlap the center vertical line Po.

More specifically, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on a central vertical line Po, and may be located in front of the central horizontal line HL. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the central vertical line Po, and may be disposed behind the central horizontal line HL. Here, that the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 is disposed behind the central horizontal line (HL) is the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 This means that the central horizontal line HL is positioned to be vertically overlapped with an area skewed rearward. Of course, the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 is positioned to be vertically overlapped with the body 30 without departing from the body 30.

The center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed behind the center of gravity BC of the battery Bt. The center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 may be located behind the center of gravity (SC) of the sweep module 2000.

The water tank 81 may be disposed at the same height (lower height) or on the same plane as the left mop motor 61a and the right mop motor 61b. The water tank 81 may be arranged so as to be biased to the rear in the space between the left mop motor 61a and the right mop motor 61b.

The sweep module 2000 is disposed in front of the spin mops 41, the battery Bt, the water tank 81, the mop driving unit 60 and the right mop motor 61b and the left mop motor 61a in the body.

The center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be positioned on a central vertical line Po, and may be disposed in front of the geometric center Tc of the body 30. The body 30 may have a circular shape when viewed from the top, and the base 32 may have a circular shape. The geometric center Tc of the body 30 means the center when the body 30 is circular. Specifically, when viewed from the top, the body 30 has a circular shape with a radius error of less than 3%.

Specifically, the center of gravity (SC) of the sweep module (2000) or the geometric center of the sweep module (2000) is located on the center vertical line (Po), the center of gravity (BC) of the battery (Bt), the water tank (81) The center of gravity (PC), the center of gravity (MCa) of the left mop motor 61a, the center of gravity (MCb) of the right mop motor (61b), may be disposed in front of the center of gravity (WC) of the mobile robot.

Preferably, the center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 is located in front of the front end of the central horizontal line HL and the spinmaps 41.

As described above, the sweep module 2000 may include a dust housing 2100 having a storage space 2104, an edge data 2200, and a sweep motor 2330.

The edge data 2200 is rotatably installed in the dust housing 2100 and disposed behind the storage space 2104, so that the edge data 2200 does not protrude outward from the body, and the left and right spinmaps 41b ( 41) to be able to maintain a suitable length to cover.

The rotation axis of the edge data 2200 is arranged parallel to the central horizontal line HL, and the center of the edge data 2200 is located on the virtual center vertical line Po. Accordingly, large foreign matter flowing into the spinmaps 41 is effectively removed by the edge data 2200. The rotation axis of the edge data 2200 is located in front of the geometric center Tc of the body 30. The length of the edge data 2200 is preferably longer than the distance of the left spin rotation axis Osb to the right spin rotation axis Osb. The axis of rotation of the edge data 2200 may be disposed adjacent to the front end of the spin map 41.

The dust housing 2100 may further include a left caster 58a and a right caster 58b contacting the floor at both ends. The left caster 58a and the right caster 58b are rolled in contact with the floor, and can move up and down by an elastic force. The left caster 58a and the right caster 58b support the sweep module 2000 and support a part of the body. The left caster 58a and the right caster 58b protrude from the bottom to the bottom of the dust housing 2100.

The left caster 58a and the right caster 58b are disposed on a line parallel to the center horizontal line HL, and may be disposed in front of the center horizontal line HL and the edge data 2200. The virtual line connecting the left caster 58a and the right caster 58b may be disposed in front of the center horizontal line HL, the edge data 2200, and the geometric center Tc of the body 30. Of course, the left caster 58a and the right caster 58b may be provided to be symmetrically left and right with respect to the center vertical line Po. The left caster 58a and the right caster 58b may be disposed to be spaced apart by the same distance from the center vertical line Po.

In a virtual rectangle connecting the left caster 58a, the right caster 58b, the right spin rotation axis Osb and the left spin rotation axis Osa in order, the geometric center of the body 30 (Tc), The center of gravity (WC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are arranged, and the battery (Bt) having a relatively heavy weight, the left spin axis of rotation (Osa), and Since the right spin rotation axis Osb is arranged close to the center horizontal line HL, the main load of the mobile robot is applied to the spinmaps 41, and the remaining minor loads are applied to the left caster 58a and the right caster 58b. It will be.

The sweep motor 2330 is located on the central vertical line Po, or when the sweep motor 2330 is disposed on one side based on the central vertical line Po, the pump 85 is disposed on the other side (refer to FIG. 19) to sweep The combined center of gravity of the motor 2330 and the pump 85 may be disposed on the central vertical line Po.

Therefore, the center of gravity of the moving robot, which is skewed forward, is maintained regardless of the water level of the water tank 81 disposed at the rear, thereby increasing the frictional force on the spin mop 41, while being close to the geometric center Tc of the body 30. Since the center of gravity (WC) of the mobile robot can be located at the position, stable driving is possible.

The center of gravity COC of the controller Co or the geometric center of the controller Co may be disposed in front of the geometric center Tc and the central horizontal line HL of the body 30. At least 50% or more of the controller Co may be disposed to vertically overlap the sweep module 2000.

The center of gravity (WC) of the mobile robot is located on the central vertical line (Po), is located in front of the center horizontal line (HL), is located in front of the center of gravity (BC) of the battery (Bt), and the water tank (81) It is located in front of the center of gravity (PC) of, and may be disposed behind the center of gravity (SC) of the sweep module 2000, and may be disposed behind the left caster 58a and the right caster 58b.

Each component is arranged symmetrically with respect to the central vertical line (Po) or by considering the weight of each other so that the center of gravity (WC) of the mobile robot is located on the central vertical line (Po). When the center of gravity (WC) of the mobile robot is located on the center vertical line (Po), there is an advantage of improving the stability in the left and right directions.

25 is a bottom view for explaining the relationship between the center of gravity and other components of another embodiment of the present invention.

Referring to FIG. 25, the embodiment of FIG. 25 will be described based on differences compared to the embodiment of FIG. 23. In FIG. 41, the configuration without special description is regarded as the same as in FIG. 23.

The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are virtual, in which the left caster 58a, the right caster 58b, the right spin rotation axis Osb, and the left spin rotation axis Osa are connected in order. It is located in the second square SQ2. The center of gravity (MCa) of the left mop motor, the center of gravity (MCb) of the right mop motor, and the center of gravity (PC) of the water tank may be located outside the virtual second square SQ2.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (BC) of the battery (Bt) are the left caster 58a, the right caster 58b, the right spin rotation axis Osb, and It is located in the second virtual rectangle SQ2 that sequentially connects the left spin rotation shaft Osa.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), and the center of gravity (SC) of the sweep module 2000 are the left caster 58a, the right caster 58b, and the right spin rotation axis Osb. And a second virtual rectangle SQ2 that sequentially connects the left spin rotation axis Osa.

In addition, the center of gravity (WC) of the mobile robot, the geometric center of the body (TC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are left caster (58a), right The caster 58b, the right spin rotation shaft Osb, and the left spin rotation shaft Osa are sequentially connected to each other in a virtual second rectangle SQ2.

The center of gravity (WC) of the mobile robot, the geometric center of the body (TC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are located in the second square (SQ2). , The center of gravity (MCa) of the left mop motor and the center of gravity (MCb) of the right mop motor are located outside the second square (SQ2), so that the mobile robot can stably travel and apply an appropriate friction force to the mop. .

The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are located in the second square (SQ2), and the center of gravity (MCa) of the left mop motor and the center of gravity (MCb) of the right mop motor are second. It is located outside the square SQ2, so that the mobile robot can stably travel and apply an appropriate friction force to the mop.

The center of gravity (WC) of the mobile robot and the geometric center (TC) of the body are the lowest point on the lower side of the left caster 58a, the right caster 58b, and the right spinmap 41b, and the bottom of the left spinmap 41a. It is located in the virtual first rectangle SQ1 in which the lowest points on the side are sequentially connected. The center of gravity MCa of the left mop motor and the center of gravity MCb of the right mop motor may be located outside the first square SQ1.

It is preferable that the ratio of the area where the left spinmap 41a and the right spinmap 41b vertically overlap the body 30 is 85% to 95% of each spinmap. Specifically, the angle A11 between the right end of the body and the line L11 connecting the right end of the right spinmab 41b and the vertical line VL connected parallel to the central vertical line Po at the right end of the body. ) May be 0 degrees to 5 degrees.

The length of the area exposed to the outside of the body of each spinmap 41 is preferably 1/2 to 1/7 of the radius of each spinmap 41. The length of the area exposed to the outside of the body of each spin map 41 may mean a distance from one end exposed to the outside of the body of each spin map 41 to a rotation axis of each spin map 41.

The distance between the geometric center TC at the end of the area exposed to the outside of the body of each spinmap 41 may be greater than the average radius of the body.

Considering the relationship with the sweep module, the position at which each spinmap is exposed is between the lateral side and the rear side of the body 30. That is, when each of the quadrants is sequentially positioned in a clockwise direction as viewed from below, a position at which each spinmap is exposed may be a 2/4 division or a 3/4 division of the body 30.

30: body 32: base
325: installation space 326: storage housing
327: housing elastic member 328: elastic member storage unit
2000: sweep module 2001: housing assembly
2100: dust housing 2110: upper housing
2140: lower housing 2150: dust cover
2170: first side cover 2180: second side cover
2200: agitator 2210: agitator assembly
2220: driven coupler 2230: coupling elastic member
2260: bearing 2270: coupling stopper
2300: drive unit 2320: drive coupler
2510: first lever 2520: second lever

Claims (25)

A body whose outer surface forms at least a part of a circle having a radius having an error within a reference radius and a reference error range; And
Includes; a sweep module installed under the body to collect foreign substances and completely overlapping with the body vertically,
The sweep module,
An agitator rotating to collect foreign substances on the floor; And
It includes a storage space for storing foreign substances collected from the agitator,
The storage space is a cleaner disposed in front of the agitator. The method according to claim 1,
The storage space is located in front of the center O of the body. The method according to claim 1,
The body has an insertion hole open toward the bottom, communicates with the insertion hole, and an installation space is formed therein,
The sweep module is a vacuum cleaner that is detachably assembled to the installation space through the insertion hole. The method according to claim 1,
The sweep module,
Further comprising a dust housing including a collection space and the storage space in which foreign matters on the floor are collected,
The agitator is rotatably assembled to the dust housing and disposed in the collection space to collect foreign substances on the floor. The method of claim 3,
A cleaner having a longer left and right width (S2) of the collection opening than the front side width (S1) of the storage space. The method according to claim 1,
It is rotatably installed in the lower portion of the body, in contact with the floor, further comprising a pair of spin mops for moving the body,
The storage space is a cleaner that is located in front of the spinmap. The method of claim 6,
A vacuum cleaner having a diameter of the spin mob larger than a radius of the body. The method of claim 6,
A portion of each spinmap is disposed to be vertically overlapped with the body,
The ratio of the area where each spin mob vertically overlaps the body is 85% to 95% of each spin mob. The method of claim 6,
Each of the spin mops further includes a respective spin shaft forming a center of rotation,
The vacuum cleaner has a left and right width Aw of the agitator that is larger than the spacing of each of the spin shafts and smaller than the left and right width W1 of the installation space. The method of claim 3,
The cleaner further comprises a partition disposed inside the dust housing, extending long in a left and right direction, and partitioning the collection space and the storage space. The method of claim 10,
It is disposed inside the dust housing, further comprises a storage opening to communicate the collection space and the storage space,
A cleaner in which foreign substances collected through the agitator are moved to the storage space through the storage opening. The method of claim 11,
A cleaner having the storage opening surface disposed above the partition. The method of claim 3,
The dust housing,
A housing assembly including the collection space and storage space disposed therein, and a collection opening surface that opens toward the floor and communicates with the collection space;
A partition disposed on the housing assembly and partitioning the collection space and the storage space;
Includes; a storage opening disposed in either the housing assembly or the partition and guiding foreign substances in the collection space to the storage space,
The collection space is disposed behind the partition, the storage space is disposed in front of the partition, and the storage opening surface is disposed above the partition. The method of claim 13,
The agitator is
A vacuum cleaner that extends in a left-right direction of the collection space and is located behind the partition. The method of claim 13,
The partition is formed to surround the front of the agitator. The method of claim 15,
The partition,
A first partition part non-contacting with the agitator; And
And a second partition unit extending upward from the first partition unit and contacting the agitator. The method of claim 16,
A vacuum cleaner in which a center of curvature of the second partition part is located inside the agitator. The method of claim 13,
A discharge surface formed to pass through the housing assembly and communicated with the storage space;
A dust cover that covers the discharge surface and is detachably assembled with the housing assembly. The method of claim 18,
The discharge surface is disposed to face the cleaner. The method of claim 18,
The dust cover may include a front cover part disposed to face the discharge surface; A top cover part protruding from an upper edge of the front cover toward the housing assembly; A left cover part protruding from a left edge of the front cover toward the housing assembly; A right cover part protruding from a right edge of the front cover toward the housing assembly; Including; a bottom cover portion protruding toward the housing assembly from the lower edge of the front cover,
The left cover part and the right cover part are disposed to be inclined toward the front. A body whose outer surface forms at least a part of a circle having a radius having an error within a reference radius and a reference error range; And
It is rotatably installed in the lower portion of the body, in contact with the floor, and includes a pair of spin mops to move the body,
The axis of rotation of the pair of spinmaps intersects the lower surface of the body and vertically overlaps the body,
The rotational axes of the pair of spinmaps are located eccentrically at the center of the body,
A portion of each spinmap is exposed to the outside of the body as viewed from the top.
vacuum cleaner. The method of claim 21,
The ratio of the area where each spin mob vertically overlaps the body is 85% to 95% of each spin mob. The method of claim 21,
A sweep module installed under the body to collect foreign substances and completely vertically overlapping with the body; further includes,
The sweep module,
An agitator rotating to collect foreign substances on the floor; And
It includes a storage space for storing foreign substances collected from the agitator,
The storage space is a cleaner disposed in front of the agitator. The method of claim 21,
A vacuum cleaner having the same distance between the rotation axes of the pair of spinmaps and the center of the body. A body whose outer surface forms at least a part of a circle having a radius having an error within a reference radius and a reference error range;
A sweep module installed under the body to collect foreign substances and completely vertically overlap with the body; And
It is rotatably installed in the lower portion of the body, in contact with the floor, and includes a pair of spin mops to move the body,
The sweep module,
An agitator rotating to collect foreign substances on the floor; And
It includes a storage space for storing foreign substances collected from the agitator,
The storage space is a cleaner disposed in front of the agitator.

Images