KR20220084857A - Robot cleaner - Google Patents

Abstract

The present invention relates to a robot cleaner, comprising: a body, a bumper part coupled along an edge of the body, and a first sensor provided on the body and detecting a relative movement of the bumper part with respect to the body, wherein the bumper part a bumper provided to be movable relative to the body and a cam protruding from the bumper at a predetermined angle, wherein the cam includes an inclined surface formed at a predetermined angle with the bumper, wherein the bumper is positioned relative to the body It has the effect of returning the bumper to its original position when moving relative to it.

Description

Robot vacuum cleaner {ROBOT CLEANER}

The present invention relates to a robot cleaner, and more particularly, to a robot cleaner capable of running and cleaning the floor through a friction force between the mop and the floor by rotating the mop of the robot cleaner.

Recently, with the development of industrial technology, a robot vacuum cleaner that cleans while driving in an area that needs to be cleaned by itself without user manipulation has been developed. Such a robot vacuum cleaner includes a sensor capable of recognizing a space to be cleaned, a mop capable of cleaning the floor, and the like, and can run while wiping the floor surface of the space recognized by the sensor with a mop.

Among robot cleaners, there is a wet robot cleaner that can wipe the floor with a mop containing moisture in order to effectively remove foreign substances strongly attached to the floor. The wet robot vacuum cleaner has a water tank, and the water contained in the water tank is supplied to the mop, and the mop is configured to wipe the floor surface with moisture to effectively remove foreign substances strongly attached to the floor surface.

In the wet robot cleaner, the mop is formed in a circular shape, and it is rotated to come into contact with the floor to wipe the floor. In addition, a plurality of mops may be configured to run in a specific direction by using a friction force in contact with the floor surface while rotating.

On the other hand, the greater the frictional force between the mop and the floor surface, the stronger the mop can wipe the floor surface, so that the robot cleaner can effectively clean the floor surface.

Korean Patent Registration No. 10-1712867 discloses a robot cleaner equipped with a bumper and an impact sensor.

In the robot cleaner, a bent first elastic member and a seesaw-shaped second elastic member are installed in a disk-shaped robot cleaner body, and an arc-shaped bumper is provided on the front surface of the robot cleaner.

With this configuration, the first elastic member absorbs the front impact, the second elastic member absorbs the diagonal impact, and the first elastic member and the second elastic member are interlocked with each other to disperse the impact of each elastic member. It works.

However, the robot cleaner only has an effect of absorbing shock by the restoring force of the first elastic member and the second elastic member, and there is a limit in accurately guiding the bumper to the original position.

In addition, even if the position of the bumper is changed due to repeated impacts, there is a limit that a malfunction may occur because the user cannot recognize it.

In addition, when entering the surface to be cleaned (floor surface) made of carpet, etc., it is impossible to recognize and avoid it, so there is a limit that cleaning may be stopped or a malfunction may occur in the robot cleaner.

An object of the present invention is to provide a robot cleaner capable of returning the bumper to its original position when an impact is applied to the bumper.

Another object of the present invention is to provide a robot cleaner capable of improving the durability of the bumper by dispersing the impact applied to the bumper.

Another object of the present invention is to provide a robot cleaner capable of confirming whether or not the bumper returns to its original position after an impact is applied to the bumper.

Another object of the present invention is to provide a robot cleaner capable of recognizing and avoiding when a robot cleaner enters a floor surface on which a carpet is laid.

In order to achieve the above object, a robot cleaner according to the present invention includes a body having a space therein for accommodating a battery, a water tank and a motor; a first rotating plate coupled to the lower side of the first mop facing the bottom and rotatably disposed on the bottom of the body; a second rotating plate coupled to the lower side of the second mop facing the bottom and rotatably disposed on the bottom of the body; a bumper unit coupled along the edge of the body; and a first sensor provided on the body and sensing a relative movement of the bumper with respect to the body.

In this case, the bumper part is provided to be movable relative to the body; and a cam formed to protrude and extend from the bumper at a predetermined angle, wherein the cam includes an inclined surface formed at a predetermined angle with the bumper.

The inclined surface may be in contact with the first sensor and press the first sensor while moving together with the bumper when the bumper moves relative to the body.

The bumper unit may further include an elastic piece protruding from the bumper and elastically supporting the body.

The body may include a guide groove that accommodates the elastic piece and is supported in contact with the elastic piece.

The guide groove may include a first guide surface connected to the rim of the body and inclined at a predetermined angle from the rim; and a second guide surface connected to the first guide surface and inclined at a predetermined angle to the first guide surface.

The bumper unit may further include a stopper protruding from the bumper and limiting a movement range of the bumper.

The body may include a pole provided on the bottom surface and penetrating the stopper.

The stopper may include a pole receiving hole configured to receive the pole therein and limit a movement range of the pole.

The robot cleaner of the present invention may further include a leaf spring disposed between the bumper and the body, and applying a restoring force to the bumper when the bumper moves relative to the body.

In this case, the leaf spring may include a leaf spring body; a body coupling part extending from the leaf spring body in a direction perpendicular to the ground and coupled to the body; and a bumper contact portion extending from the leaf spring body in a direction parallel to the ground and being supported in contact with the bumper.

The robot cleaner of the present invention may further include a damper disposed between the bumper and the body, and contacting the bumper when the bumper moves relative to the body.

The robot cleaner of the present invention further includes a damper disposed between the bumper and the body and contacting the bumper when the bumper is moved relative to the body, wherein the damper includes the leaf spring body and the bumper. can be placed between them.

The bumper unit may include a blocker protrusion protruding from the bottom surface of the bumper.

The bumper unit may further include a guide rib including a climbing surface protruding from the bottom surface of the bumper at a predetermined angle.

The guide rib may include; a passage surface connected to the climbing surface and positioned closer to the bottom surface than the blocker projection.

At this time, when a frictional force is applied to the blocker projection, the bumper may be relatively moved with respect to the body.

In addition, when a frictional force is applied to the blocker protrusion, the rotation direction of the first rotating plate or the second rotating plate may be changed.

As described above, according to the robot cleaner according to the present invention, when the bumper moves relative to the body, there is an effect that the bumper can be returned to its original position through the guide structure.

In addition, a leaf spring and a damper are provided between the bumper and the body to disperse the shock applied to the bumper, thereby improving the durability of the bumper.

In addition, there is an effect of confirming whether the bumper has returned to its original position through the relative positions of the poles and the bumper provided on the body.

In addition, when a blocker protrusion is provided on the bottom surface of the bumper and the robot cleaner enters the floor surface on which a carpet is laid, frictional force is applied to the blocker protrusion and the bumper moves relative to the body, and the robot cleaner is equipped with a carpet, etc. It has the effect of avoiding the floor surface.

1 is a perspective view illustrating a robot cleaner according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a part of the robot cleaner shown in FIG. 1 by separating it.
FIG. 3 is a rear view illustrating the robot cleaner shown in FIG. 1 .
FIG. 4 is a diagram illustrating a part of the robot cleaner shown in FIG. 3 by separating it.
5 is a bottom view illustrating a robot cleaner according to an embodiment of the present invention.
6 is an exploded perspective view illustrating a robot cleaner.
7 is a cross-sectional view schematically illustrating a robot cleaner and its configurations according to an embodiment of the present invention.
8 is a perspective view illustrating an upper surface of a lower body in a robot cleaner according to an embodiment of the present invention.
FIG. 9 is a top view of FIG. 8 .
10 to 12 are perspective views illustrating a bumper unit in a robot cleaner according to an embodiment of the present invention.
13 is a partially enlarged view of the blocker protrusion and the guide rib in FIG. 11 .
14 is a bottom view for explaining a bumper part in a robot cleaner according to another embodiment of the present invention.
15 is a partial enlarged view of a blocker protrusion and a guide rib in a robot cleaner according to another embodiment of the present invention.
16 is a top view for explaining a state in which a bumper unit is coupled to a body in a robot cleaner according to an embodiment of the present invention.
17 is a partially enlarged view for explaining a state in which the cam and the first sensor are in contact in FIG. 16 .
18 is a partially enlarged view for explaining a state in which the elastic piece and the guide groove are coupled in FIG. 16 .
19 is a partially enlarged view for explaining a state in which the stopper is provided with a pole in FIG. 16 .
20 is a perspective view illustrating a leaf spring in a robot cleaner according to an embodiment of the present invention.
21 is a view for explaining a state in which the leaf spring and the damper are coupled to the lower body in the robot cleaner according to the embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and should be construed to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression may include the plural expression unless the context clearly dictates otherwise.

Unless defined otherwise, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary may be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, it is interpreted in an ideal or excessively formal meaning. it may not be

1 is a perspective view showing a robot cleaner 1 according to an embodiment of the present invention, FIG. 2 is a view showing some components separated from the robot cleaner 1 shown in FIG. 1, and FIG. 3 is It is a rear view showing the robot cleaner 1 shown in Fig. 1, Fig. 4 is a view showing some components separated from the robot cleaner 1 shown in Fig. 3, Fig. 5 is another embodiment of the present invention It is a bottom view showing the robot cleaner 1 according to, Figure 6 is an exploded perspective view showing the robot cleaner (1).

The robot cleaner 1 according to an embodiment of the present invention is placed on the floor and moved along the floor surface B to clean the floor. Accordingly, in the following description, the vertical direction is determined based on the state in which the robot cleaner 1 is placed on the floor.

And, based on the first rotating plate 10 and the second rotating plate 20, the side to which the first and second support wheels 120 and 130, which will be described later, are coupled to the front side will be described.

The 'lowest part' of each configuration described in the embodiment of the present invention may be the lowest part in each configuration when the robot cleaner 1 according to the embodiment of the present invention is placed on the floor and used, or It may be the part closest to the floor.

The robot cleaner 1 according to an embodiment of the present invention includes a body 100 , rotating plates 10 and 20 and mops 30 and 40 . In this case, the rotating plates 10 and 20 include a first rotating plate 10 and a second rotating plate 20 , and the mops 30 and 40 include a first mop 30 and a second mop 40 . .

The body 100 may form the overall appearance of the robot cleaner 1 or may be formed in the form of a frame. Each component constituting the robot cleaner 1 may be coupled to the body 100 , and some components constituting the robot cleaner 1 may be accommodated in the body 100 .

Specifically, the body 100 may be divided into a lower body 110 and an upper body 105 covering the lower body 110, and in a space formed by coupling the lower body 110 and the upper body 105 to each other. The parts of the robot cleaner 1 may be provided. As an example, the body 100 may accommodate the battery 220 , the water bottle 230 , and the motors 162 and 172 in an internal space (see FIG. 6 ).

In an embodiment of the present invention, the body 100 may be formed in a shape in which the width (or diameter) in the horizontal direction (direction parallel to X and Y) is larger than the height in the vertical direction (direction parallel to Z). The body 100 may help the robot cleaner 1 achieve a stable structure, and provide a structure advantageous for avoiding obstacles in the robot cleaner 1 moving (running).

When viewed from above or below, the body 100 may have various shapes, such as a circle, an oval, or a square.

The first rotary plate 10 may be coupled to the lower side of the first mop 30 facing the floor, and rotatably disposed on the bottom surface 112 of the lower body 110 .

The first rotating plate 10 is made to have a predetermined area, and is formed in the form of a flat plate or a flat frame. The first rotating plate 10 is generally laid horizontally, and thus, the horizontal width (or diameter) is sufficiently larger than the vertical height. The first rotating plate 10 coupled to the body 100 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).

The first rotating plate 10 may be formed in a circular plate shape, and the bottom surface of the first rotating plate 10 may have a substantially circular shape.

The first rotating plate 10 may be formed in a rotationally symmetrical shape as a whole.

The first rotating plate 10 may include a first central plate 11 , a first outer plate 12 , and a first spoke 13 .

The first central plate 11 is rotatably coupled to the body 100 while forming the center of the first rotating plate 10 . The first center plate 11 may be coupled to the lower side of the body 100 , and may be coupled to the body 100 while the upper surface of the first center plate 11 faces the bottom surface of the body 100 .

The rotation shaft 15 of the first rotation plate 10 may be formed along a direction passing through the center of the first central plate 11 . In addition, the rotation shaft 15 of the first rotating plate 10 may be formed along a direction orthogonal to the bottom surface B, or may achieve a predetermined inclination in a direction orthogonal to the bottom surface B.

The first outer plate 12 is formed to surround the first central plate 11 to be spaced apart from the first central plate 11 .

The first spokes 13 connect the first central plate 11 and the first outer plate 12 , and are provided in plurality and are repeatedly formed along the circumferential direction of the first central plate 11 . The first spokes 13 may be arranged at equal intervals, and a plurality of holes 14 penetrating up and down between the first spokes 13 are provided, and the liquid discharged from the water supply tube 240 to be described later. (eg, water) may be delivered toward the first mop 30 through this hole 14 .

In the robot cleaner 1 according to the embodiment of the present invention, the bottom surface of the first rotating plate 10 coupled to the body 100 may form a predetermined inclination with the bottom surface B, at this time the first rotating plate ( 10) of the rotation shaft 15 may form a direction perpendicular to the bottom surface (B) and a predetermined inclination.

In the robot cleaner 1 according to the embodiment of the present invention, the angle θ1 between the bottom surface of the first rotation plate 10 and the floor surface B is, the rotation shaft 15 of the first rotation plate 10 is the bottom surface It may be made equal to the angle θ2 formed with the direction perpendicular to (B). Accordingly, when the first rotating plate 10 rotates with respect to the body 100 , the bottom surface of the first rotating plate 10 may be formed to maintain the same angle as the bottom surface (B).

The second rotary plate 20 may be coupled to the lower side of the second mop 40 facing the bottom surface B, and may be rotatably disposed on the bottom surface 112 of the lower body 110 .

The second rotating plate 20 is made to have a predetermined area, and is formed in the form of a flat plate or a flat frame. The second rotating plate 20 is generally laid horizontally, and thus, the horizontal width (or diameter) is sufficiently larger than the vertical height. The second rotating plate 20 coupled to the body 100 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).

The second rotating plate 20 may have a circular plate shape, and the bottom surface of the second rotating plate 20 may have a substantially circular shape.

The second rotating plate 20 may be formed in a rotationally symmetrical shape as a whole.

The second rotation plate 20 may include a second center plate 21 , a second outer plate 22 , and a second spoke 23 .

The second center plate 21 is rotatably coupled to the body 100 while forming the center of the second rotation plate 20 . The second center plate 21 may be coupled to the lower side of the body 100 , and may be coupled to the body 100 while the upper surface of the second center plate 21 faces the bottom surface of the body 100 .

The rotation shaft 25 of the second rotation plate 20 may be formed along a direction penetrating the center of the second central plate 21 . In addition, the rotation shaft 25 of the second rotary plate 20 may be formed along a direction orthogonal to the bottom surface B, or may achieve a predetermined inclination in a direction orthogonal to the bottom surface B.

The second outer plate 22 is formed to surround the second central plate 21 to be spaced apart from the second central plate 21 .

The second spokes 23 connect the second center plate 21 and the second outer plate 22 , and are provided in plurality and are repeatedly formed along the circumferential direction of the second center plate 21 . The second spokes 23 may be arranged at equal intervals, and a plurality of holes 24 penetrating up and down between the second spokes 23 are provided, and the liquid discharged from the water supply tube 240 to be described later. (Water) may be transferred toward the second mop 40 through this hole 24 .

In the robot cleaner 1 according to the embodiment of the present invention, the bottom surface of the second rotating plate 20 coupled to the body 100 may form a predetermined inclination with the bottom surface B, in this case the second rotating plate 20 ) of the axis of rotation 25 may form a direction perpendicular to the bottom surface (B) and a predetermined inclination.

In the robot cleaner 1 according to the embodiment of the present invention, the angle θ3 between the bottom surface of the second rotation plate 20 and the floor surface B is, the rotation shaft 25 of the second rotation plate 20 is the bottom surface It may be made the same as the angle θ4 formed with the direction perpendicular to (B). Accordingly, when the second rotating plate 20 rotates with respect to the body 100 , the bottom surface of the second rotating plate 20 may be formed to maintain the same angle as the bottom surface (B).

In the robot cleaner 1 according to the embodiment of the present invention, the second rotating plate 20 may be made the same as the first rotating plate 10, or may be made symmetrically. If the first rotating plate 10 is located on the left side of the robot cleaner 1, the second rotating plate 20 may be located on the right side of the robot cleaner 1, and in this case, the first rotating plate 10 and the second rotating plate ( 20) can be symmetrical to each other.

The first mop 30 may be formed so that the lower surface facing the bottom surface (B) has a predetermined area. In addition, the first mop 30 is made in a flat form. The first mop 30 is formed in a form in which the width (or diameter) in the horizontal direction is sufficiently larger than the height in the vertical direction. When the first mop 30 is coupled to the body 100 side, the lower surface of the first mop 30 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).

The lower surface of the first mop 30 may form a substantially circular shape.

The first mop 30 may be formed in a rotationally symmetrical shape as a whole.

The first mop 30 may be made of various materials capable of wiping the bottom surface (B) while in contact with the bottom surface (B). To this end, the lower surface of the first mop 30 may be made of a fabric or a knitted fabric, a non-woven fabric, and/or a brush having a predetermined area.

In the robot cleaner 1 according to the embodiment of the present invention, the first mop 30 is detachably attached to the lower surface of the first rotating plate 10 , coupled to the first rotating plate 10 , and the first rotating plate 10 and made to rotate together. For example, the first mop 30 may be closely coupled to the bottom surface of the first outer plate 12 , and may be closely coupled to the bottom surfaces of the first central plate 11 and the first outer plate 12 .

The first mop 30 may be detachably attached to the first rotating plate 10 using various devices and methods. For example, at least a portion of the first mop 30 may be coupled to the first rotating plate 10 in a manner such as being caught on the first rotating plate 10 , fitting, or the like.

As another example, a separate device such as a clamp for coupling the first mop 30 and the first rotating plate 10 may be provided.

As another example, a pair of fastening devices coupled to and separated from each other (as a specific example of a fastening device, a pair of magnets that attract each other, a pair of velcro coupled to each other, or a pair coupled to each other One of the buttons (female buttons and single weights, etc. can be used) is fixed to the first mop 30 and the other side can be fixed to the first rotating plate 10 .

As the first mop 30 is coupled to the first rotary plate 10, the first mop 30 and the first rotary plate 10 may be coupled to each other in an overlapping form, and the center of the first mop 30 The first mop 30 may be coupled to the first rotating plate 10 so as to coincide with the center of the first rotating plate 10 .

The second mop 40 may be formed so that the lower surface facing the floor has a predetermined area. In addition, the second mop 40 is made in a flat form. The second mop 40 is formed in a form in which the width (or diameter) in the horizontal direction is sufficiently larger than the height in the vertical direction. When the second mop 40 is coupled to the body 100 side, the bottom surface of the second mop 40 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).

The lower surface of the second mop 40 may form a substantially circular shape.

The second mop 40 may be formed in a rotationally symmetrical shape as a whole.

The second mop 40 may be made of various materials capable of wiping the bottom surface (B) while in contact with the bottom surface (B). To this end, the lower surface of the second mop 40 may be made of a cloth made of a woven or knitted fabric, a non-woven fabric, and/or a brush having a predetermined area.

In the robot cleaner 1 according to the embodiment of the present invention, the second mop 40 is detachably attached to the lower surface of the second rotating plate 20, coupled to the second rotating plate 20, and the second rotating plate 20 and made to rotate together. The second mop 40 may be closely coupled to the lower surface of the second outer plate 22 , and may be closely coupled to the lower surface of the second center plate 21 and the second outer plate 22 .

The second mop 40 may be detachably attached to the second rotating plate 20 using various devices and methods. As an example, at least a portion of the second mop 40 may be coupled to the second rotating plate 20 in a manner such as being caught on the second rotating plate 20 or fitted.

As another example, a separate device such as a clamp for coupling the second mop 40 and the second rotating plate 20 may be provided.

As another example, a pair of fastening devices coupled to and separated from each other (as a specific example of a fastening device, a pair of magnets that attract each other, a pair of velcro coupled to each other, or a pair coupled to each other One of the buttons (female buttons and single weights), etc. can be used) is fixed to the second mop 40 and the other side can be fixed to the second rotary plate (20).

As the second mop 40 is coupled to the second rotary plate 20, the second mop 40 and the second rotary plate 20 may be coupled to each other in an overlapping form, and the center of the second mop 40 The second mop 40 may be coupled to the second rotating plate 20 so as to coincide with the center of the second rotating plate 20 .

The robot cleaner 1 according to the embodiment of the present invention may be made to go straight along the floor surface (B). For example, the robot cleaner 1 may go straight forward (X direction) when cleaning, or may go straight backward when it is necessary to avoid obstacles or cliffs.

In the robot cleaner 1 according to the embodiment of the present invention, the first rotating plate 10 and the second rotating plate 20 are each bottom surface so that the side closer to each other is more spaced apart from the floor surface B than the side farther away from each other. It can be inclined with (B). That is, the first rotating plate 10 and the second rotating plate 20 may be configured such that the side farther from the center of the robot cleaner 1 is located closer to the floor than the side closer to the center of the robot cleaner 1 . 3 and 4)

And at this time, the rotation shaft 15 of the first rotation plate 10 is perpendicular to the lower surface of the first rotation plate 10 , and the rotation shaft 25 of the second rotation plate 20 is on the lower surface of the second rotation plate 20 . It can be arranged vertically.

When the first mop 30 is coupled to the first rotary plate 10 and the second mop 40 is coupled to the second rotary plate 20, the first mop 30 and the second mop 40 are farther from each other. part of each is in stronger contact with the floor.

When the first rotary plate 10 is rotated, a frictional force is generated between the lower surface and the bottom surface (B) of the first mop (30). ), so that the first rotary plate 10 is moved against the floor surface B, and the robot cleaner 1 is able to move along the floor surface B.

In addition, when the second rotary plate 20 is rotated, a frictional force is generated between the lower surface and the bottom surface B of the second mop 40, and at this time, the point and direction of the frictional force is the rotation axis of the second rotary plate 20. Since it is away from (25), the second rotary plate 20 moves against the floor surface B, and again, the robot cleaner 1 can move along the floor surface B accordingly.

When the first rotating plate 10 and the second rotating plate 20 rotate in opposite directions at the same speed, the robot cleaner 1 may move in a linear direction, and may move forward or backward. For example, when viewed from above, when the first rotating plate 10 rotates counterclockwise and the second rotating plate 20 rotates clockwise, the robot cleaner 1 may move forward.

When only one of the first rotating plate 10 and the second rotating plate 20 rotates, the robot cleaner 1 may change the direction and rotate.

When the rotation speed of the first rotation plate 10 and the rotation speed of the second rotation plate 20 are different from each other, or when the first rotation plate 10 and the second rotation plate 20 rotate in the same direction, the robot cleaner (1) can move while changing direction, and can move in a curved direction.

The robot cleaner 1 according to an embodiment of the present invention includes a first support wheel 120 , a second support wheel 130 , and a first lower sensor 250 .

The first support wheel 120 and the second support wheel 130 may be made to contact the floor together with the first mop 30 and the second mop 40 .

The first support wheel 120 and the second support wheel 130 are spaced apart from each other, and each may be formed in the same shape as a conventional wheel. The first support wheel 120 and the second support wheel 130 may move while rolling in contact with the floor, and accordingly, the robot cleaner 1 may move along the floor surface (B).

The first supporting wheel 120 may be coupled to the bottom surface of the body 100 at a point spaced apart from the first rotating plate 10 and the second rotating plate 20, and the second supporting wheel 130 is also a first rotating plate ( 10) and the second rotating plate 20 may be coupled to the bottom surface of the body 100 at a spaced point.

When an imaginary line connecting the center of the first rotating plate 10 and the center of the second rotating plate 20 in a horizontal direction (a direction parallel to the floor surface B) is referred to as a connecting line L1, the second support The wheel 130 is located on the same side as the first support wheel 120 with respect to the connecting line L1, and at this time, the auxiliary wheel 140 to be described later is different from the first supporting wheel 120 based on the connecting line L1. located on the side

An interval between the first support wheel 120 and the second support wheel 130 may be made in a relatively wide form when considering the overall size of the robot cleaner 1 . More specifically, a state in which the first support wheel 120 and the second support wheel 130 are placed on the bottom surface B (the rotation shaft 125 and the second support wheel 130 of the first support wheel 120 ) of the rotation shaft 135 in a state parallel to the floor surface B), the first support wheel 120 and the second support wheel 130 stand up without falling sideways while supporting a portion of the load of the robot cleaner 1 It can be made to have enough spacing to be placed.

The first support wheel 120 may be located in front of the first rotation plate 10 , and the second support wheel 130 may be located in front of the second rotation plate 20 .

In the robot cleaner 1 according to the embodiment of the present invention, the overall center of gravity is toward the first mop 30 and the second mop 40 rather than the first support wheel 120 and the second support wheel 130 side. It is formed to be biased, and the support of the load of the robot cleaner 1 is made larger by the first mop 30 and the second mop 40 than the first support wheel 120 and the second support wheel 130 .

The first lower sensor 250 is formed on the lower side of the body 100, and is configured to detect a relative distance to the floor (B). The first lower sensor 250 may be formed in various ways within a range capable of detecting the relative distance between the point where the first lower sensor 250 is formed and the bottom surface (B).

The relative distance (which may be a vertical distance from the floor, or an inclined distance from the floor) detected by the first lower sensor 250 is a predetermined value with respect to the floor B. In the case of exceeding or exceeding the predetermined range, the bottom surface may be a case in which the upper extremity is lowered, and accordingly, the first lower sensor 250 may detect the cliff.

The first lower sensor 250 may be formed of an optical sensor, and may include a light emitting unit for irradiating light and a light receiving unit through which the reflected light is incident. The first lower sensor 250 may be an infrared sensor.

The first lower sensor 250 may be referred to as a cliff sensor.

The first lower sensor 250 is formed on the same side as the first support wheel 120 and the second support wheel 130 with respect to the connection line L1.

The first lower sensor 250 is positioned between the first support wheel 120 and the second support wheel 130 along the rim direction of the body 100 . In the robot cleaner 1, if the first support wheel 120 is located on the relatively left side and the second support wheel 130 is located on the relatively right side, the first lower sensor 250 is generally located in the middle.

The first lower sensor 250 is formed in front of the support wheels 120 and 130 .

As the first lower sensor 250 is formed on the lower surface of the body 100 , the sensing of the cliff by the first lower sensor 250 is not hindered by the first mop 30 and the second mop 40 . In addition, for the quick detection of the cliff located in front of the robot cleaner 1, the first lower sensor 250 is a point sufficiently spaced apart from the first rotation plate 10 and the second rotation plate 20 (also the second rotation plate 20). The first mop 30 and the second mop 40 and a point sufficiently spaced apart) may be formed. Accordingly, the first lower sensor 250 may be formed adjacent to the edge of the body 100 .

The robot cleaner 1 according to the embodiment of the present invention may be configured such that the operation is controlled according to the distance sensed by the first lower sensor 250 . More specifically, according to the distance sensed by the first lower sensor 250 , the rotation of any one or more of the first rotating plate 10 and the second rotating plate 20 may be controlled. For example, when the distance sensed by the first lower sensor 250 exceeds a predetermined value or out of a predetermined range, the rotation of the first rotating plate 10 and the second rotating plate 20 is stopped while the robot cleaner ( 1) is stopped, or the direction of rotation of the first rotating plate 10 and/or the second rotating plate 20 is switched while the moving direction of the robot cleaner 1 is changed.

In an embodiment of the present invention, the direction detected by the first lower sensor 250 may be inclined downward toward the edge of the body 100 . For example, when the first lower sensor 250 is a photosensor, the direction of the light irradiated by the first lower sensor 250 is not perpendicular to the floor B, but may be inclined toward the front. have.

Accordingly, the first lower sensor 250 can detect a cliff positioned further in front of the first lower sensor 250 and can detect a cliff positioned in the front of the body 100 relatively, and the robot cleaner (1) can be prevented from entering the cliff.

The robot cleaner 1 according to the embodiment of the present invention may change the direction to the left or right during cleaning, and may move in a curved direction, in which case the first mop 30, the second mop 40, the second mop The first support wheel 120 and the second support wheel 130 contact the floor and support the load of the robot cleaner 1 .

When the robot cleaner 1 moves while changing the direction to the left, the first support wheel 120 and the second support wheel 130 move to the cliff by the first lower sensor 250 before entering the cliff (F). (F) may be detected, and at least before the second support wheel 130 enters the cliff (F), the cliff (F) may be detected by the first lower sensor (250). When the detection of the cliff F by the first lower sensor 250 is made, the robot cleaner 1 includes a first mop 30 , a second mop 40 , a first support wheel 120 and a second The load is supported by the support wheel 130 , and at least, the load is supported by the first mop 30 , the second mop 40 and the second support wheel 130 .

When the robot cleaner 1 rotates to the right and moves, the first support wheel 120 and the second support wheel 130 move to the cliff F by the first lower sensor 250 before entering the cliff F. ) may be detected, and the cliff F may be detected by the first lower sensor 250 before at least the first support wheel 120 enters the cliff F. When the detection of the cliff F by the first lower sensor 250 is made, the robot cleaner 1 includes a first mop 30 , a second mop 40 , a first support wheel 120 and a second The load is supported by the support wheel 130 , and at least, the load is supported by the first mop 30 , the second mop 40 and the first support wheel 120 .

As described above, according to the robot cleaner 1 according to the embodiment of the present invention, the first support wheel 120 and the second support wheel even when the robot cleaner 1 moves straight as well as when the direction is changed. The cliff (F) can be detected by the first lower sensor before 130 enters the cliff (F), and the robot cleaner (1) can be prevented from falling to the cliff (F), and the robot cleaner ( It can prevent the overall balance of 1) from being broken.

The robot cleaner 1 according to an embodiment of the present invention includes a second lower sensor 260 and a third lower sensor 270 .

The second lower sensor 260 and the third lower sensor 270 are formed on the lower side of the body 100 on the same side as the first support wheel 120 and the second support wheel 130 with respect to the connection line L1. And it can be made to sense the relative distance to the floor (B).

As the second lower sensor 260 is formed on the lower surface of the body 100 , the detection of the cliff F by the second lower sensor 260 is detected by the first mop 30 and the second mop 40 . The second lower sensor 260 is formed to be spaced apart from the first mop 30 and the second mop 40 so as not to be disturbed by it. In addition, in order to quickly detect the cliff F located on the left or right side of the robot cleaner 1 , the second lower sensor 260 is provided from the first support wheel 120 or the second support wheel 130 . It may be formed at points spaced outward. The second lower sensor 260 may be formed adjacent to the edge of the body 100 .

The second lower sensor 260 may be formed opposite to the first lower sensor 250 with respect to the first support wheel 120 . Accordingly, the detection of the cliff F on either side of the first support wheel 120 is made by the first lower sensor 250, and the detection of the cliff F on the other side is detected by the second lower sensor ( 260), the detection of the cliff F in the vicinity of the first support wheel 120 can be made effectively.

As the third lower sensor 270 is formed on the lower surface of the body 100 , the detection of the cliff F by the third lower sensor 270 is detected by the first mop 30 and the second mop 40 . The third lower sensor 270 is formed to be spaced apart from the first mop 30 and the second mop 40 so as not to be disturbed by it. In addition, in order to quickly detect the cliff F located on the left or right side of the robot cleaner 1 , the second lower sensor 260 is provided from the first support wheel 120 or the second support wheel 130 . It may be formed at points spaced outward. The second lower sensor 260 may be formed adjacent to the edge of the body 100 .

The third lower sensor 270 may be formed opposite to the first lower sensor 250 with respect to the second support wheel 130 . Accordingly, the detection of the cliff F on either side of the second support wheel 130 is made by the first lower sensor 250, and the detection of the cliff F on the other side is performed by the second lower sensor ( 260), and the detection of the cliff F in the vicinity of the second support wheel 130 can be made effectively.

Each of the second lower sensor 260 and the third lower sensor 270 may be formed in various ways within a range capable of detecting a relative distance to the floor B. Each of the second lower sensor 260 and the third lower sensor 270 may be formed in the same manner as the above-described first lower sensor 250 , except for the positions where they are formed.

The robot cleaner 1 according to the embodiment of the present invention may be configured such that the operation is controlled according to the distance sensed by the second lower sensor 260 . More specifically, according to the distance sensed by the second lower sensor 260 , the rotation of any one or more of the first rotating plate 10 and the second rotating plate 20 may be controlled. For example, when the distance detected by the second lower sensor 260 exceeds a predetermined value or out of a predetermined range, the rotation of the first rotating plate 10 and the second rotating plate 20 is stopped while the robot cleaner ( 1) is stopped, or the direction of rotation of the first rotating plate 10 and/or the second rotating plate 20 is switched while the moving direction of the robot cleaner 1 is changed.

In addition, the robot cleaner 1 according to the embodiment of the present invention may be configured such that the operation is controlled according to the distance sensed by the third lower sensor 270 . More specifically, according to the distance sensed by the third lower sensor 270 , rotation of one or more of the first rotating plate 10 and the second rotating plate 20 may be controlled. For example, when the distance detected by the third lower sensor 270 exceeds a predetermined value or out of a predetermined range, the rotation of the first rotating plate 10 and the second rotating plate 20 is stopped while the robot cleaner ( 1) is stopped, or the direction of rotation of the first rotating plate 10 and/or the second rotating plate 20 is switched while the moving direction of the robot cleaner 1 is changed.

The distance from the connecting line (L1) to the second lower sensor 260 and the distance from the connecting line (L1) to the third lower sensor 270, the distance from the connecting line (L1) to the first support wheel 120 and the connecting line ( It may be made shorter than the distance from L1) to the second support wheel 130 .

In addition, the second lower sensor 260 and the third lower sensor 270 are the center of the first rotation plate 10 , the center of the second rotation plate 20 , the center of the first support wheel 120 , and the second support. It is located outside the rectangular vertical region having the center of the wheel 130 as each vertex.

When the second lower sensor 260 is positioned on the left side of the robot cleaner 1 , the third lower sensor 270 may be positioned on the right side of the robot cleaner 1 .

The second lower sensor 260 and the third lower sensor 270 may form a symmetry with each other.

The robot cleaner 1 according to the embodiment of the present invention can be rotated, and at this time, the first mop 30 , the second mop 40 , the first support wheel 120 and the second support wheel 130 are It contacts the floor and supports the load of the robot cleaner (1).

When the cliff F is located on the left side of the robot cleaner 1 and the robot cleaner 1 changes the direction or turns to the left, the first support wheel 120 and the second support wheel 130 move the cliff (F) The cliff F may be detected by the second lower sensor 260 before entering the road. When the detection of the cliff F by the second lower sensor 260 is made, the robot cleaner 1 includes a first mop 30 , a second mop 40 , a first support wheel 120 and a second The load is supported by the support wheel 130 .

In addition, when the cliff F is located on the right side of the robot cleaner 1 and the robot cleaner 1 changes the direction or rotates to the right, the first support wheel 120 and the second support wheel 130 slide off the cliff ( The cliff F may be detected by the third lower sensor 270 before entering F). When the detection of the cliff F by the third lower sensor 270 is made, the robot cleaner 1 includes the first mop 30 , the second mop 40 , the first support wheel 120 and the second The load is supported by the support wheel 130 .

As described above, according to the robot cleaner 1 according to the embodiment of the present invention, when the robot cleaner 1 changes direction or rotates to either side, the robot cleaner 1 prevents the robot cleaner 1 from falling to the cliff F This can be done, and it is possible to prevent the overall balance of the robot cleaner 1 from being broken.

The robot cleaner 1 according to the embodiment of the present invention may include an auxiliary wheel 140 together with the first support wheel 120 and the second support wheel 130 .

The auxiliary wheel 140 may be spaced apart from the first rotating plate 10 and the second rotating plate 20 and coupled to the lower side of the body 100 .

The auxiliary wheel 140 is located on the other side from the first support wheel 120 and the second support wheel 130 with respect to the connection line L1.

In the embodiment of the present invention, the auxiliary wheel 140 may be formed in the same shape as a conventional wheel, and the rotation shaft 145 of the auxiliary wheel 140 may be formed parallel to the bottom surface (B). The auxiliary wheel 140 may move while rolling in contact with the floor, and accordingly, the robot cleaner 1 may move along the floor surface (B).

However, in the embodiment of the present invention, the auxiliary wheel 140 is made so as not to contact the floor when the first mop 30 and the second mop 40 come into contact with the floor.

Based on the first rotating plate 10 and the second rotating plate 20, the first supporting wheel 120 and the second supporting wheel 130 are located at the front, and the auxiliary wheel 140 is located at the rear.

In the robot cleaner 1 according to the embodiment of the present invention, the first rotating plate 10 and the second rotating plate 20 are symmetrical (left-right symmetric) to each other, and the first supporting wheel 120 and the second supporting wheel ( 130) may be symmetrical (left-right symmetry) to each other.

In the robot cleaner 1 according to the embodiment of the present invention, in a state in which the first mop 30 is coupled to the first rotary plate 10 and the second mop 40 is coupled to the second rotary plate 20, the second The first support wheel 120 , the second support wheel 130 and the auxiliary wheel 140 do not prevent the first mop 30 and the second mop 40 from contacting the floor.

Accordingly, the first mop 30 and the second mop 40 are in contact with the floor, and mopping and cleaning can be made by the rotation of the first mop 30 and the second mop 40 . At this time, the first support wheel 120 , the second support wheel 130 , and the auxiliary wheel 140 may all be spaced apart from the floor, or the auxiliary wheel 140 may be spaced apart from the floor and the first support wheel 120 . And the second support wheel 130 may be made to contact the floor.

In the embodiment of the present invention, in a state in which the robot cleaner 1 is placed so that the first mop 30 and the second mop 40 contact the floor, the most of the first support wheel 120 from the floor surface B The height to the lower part and the height from the bottom surface (B) to the lowest part of the second support wheel 130 are made lower than the height from the bottom surface (B) to the lowest part of the auxiliary wheel 140 .

The robot cleaner 1 according to an embodiment of the present invention includes a first actuator 160 , a second actuator 170 , a battery 220 , a water tank 230 , and a water supply tube 240 .

The first actuator 160 is coupled to the body 100 to rotate the first rotating plate 10 .

The first actuator 160 may include a first case 161 , a first motor 162 , and one or more first gears 163 .

The first case 161 supports the components constituting the first actuator 160 , and is fixedly coupled to the body 100 .

The first motor 162 may be formed of an electric motor.

The plurality of first gears 163 are engaged with each other to rotate, connect the first motor 162 and the first rotation plate 10 , and use the rotational power of the first motor 162 to the first rotation plate 10 . transmit Accordingly, when the rotation shaft of the first motor 162 rotates, the first rotation plate 10 rotates.

The second actuator 170 is coupled to the body 100 to rotate the second rotating plate 20 .

The second actuator 170 may include a second case 171 , a second motor 172 , and one or more second gears 173 .

The second case 171 supports the components constituting the second actuator 170 , and is fixedly coupled to the body 100 .

The second motor 172 may be an electric motor.

The plurality of second gears 173 are engaged with each other to rotate, connect the second motor 172 and the second rotation plate 20 , and use the rotational power of the second motor 172 to the second rotation plate 20 . transmit Accordingly, when the rotation shaft of the second motor 172 rotates, the second rotation plate 20 rotates.

As such, in the robot cleaner 1 according to the embodiment of the present invention, the first rotating plate 10 and the first mop 30 may rotate by the operation of the first actuator 160 , and the second actuator 170 . By the operation of the second rotary plate 20 and the second mop 40 can be rotated.

In an embodiment of the present invention, the first actuator 160 may be disposed directly above the first rotating plate 10 . With this configuration, it is possible to minimize the loss of power transmitted from the first actuator 160 to the first rotating plate 10 . In addition, by applying the load of the first actuator 160 toward the first rotary plate 10, the first mop 30 can be sufficiently rubbed with the floor to make mopping.

Also, in the embodiment of the present invention, the second actuator 170 may be disposed directly above the second rotating plate 20 . With this configuration, it is possible to minimize the loss of power transmitted from the second actuator 170 to the second rotating plate 20 . In addition, by applying the load of the second actuator 170 toward the second rotary plate 20, the second mop 40 can be sufficiently rubbed against the floor to make mopping.

The second actuator 170 may form a symmetry (left and right symmetry) with the first actuator 160 .

The battery 220 is coupled to the body 100 to supply power to other components constituting the robot cleaner 1 . The battery 220 may supply power to the first actuator 160 and the second actuator 170 , and in particular, supplies power to the first motor 162 and the second motor 172 .

In an embodiment of the present invention, the battery 220 may be charged by an external power source, and for this, one side of the body 100 or the battery 220 itself is provided with a charging terminal for charging the battery 220 . can be

In the robot cleaner 1 according to the embodiment of the present invention, the battery 220 may be coupled to the body 100 .

The bucket 230 is made in the form of a container having an internal space so that a liquid such as water is stored therein. The bucket 230 may be fixedly coupled to the body 100 , or may be removably coupled from the body 100 .

In an embodiment of the present invention, the bucket 230 may be located above the auxiliary wheel 140 .

The water supply tube 240 is made in the form of a tube or pipe, and is connected to the water tank 230 so that the liquid inside the water tank 230 can flow through the inside. The water supply tube 240 is made such that the opposite end connected to the water tank 230 is located above the first rotary plate 10 and the second rotary plate 20, and accordingly, the liquid inside the water tank 230 is removed. 1 so that it can be supplied to the mop 30 and the second mop (40).

In the robot cleaner 1 according to the embodiment of the present invention, the water supply tube 240 may be formed in a form in which one tube is branched into two, and at this time, any one of the branched ends is on the upper side of the first rotating plate 10 . is located, and the other branched end may be located above the second rotating plate 20 .

In the robot cleaner 1 according to the embodiment of the present invention, a separate pump may be provided to move the liquid through the water supply tube 240 .

The center of gravity of the robot cleaner 1 is the center of the first rotating plate 10 , the center of the second rotating plate 20 , the center of the first supporting wheel 120 , and the center of the second supporting wheel 130 at each vertex It can be located inside the vertical area of the rectangle. Accordingly, the robot cleaner 1 is supported by the first mop 30 , the second mop 40 , the first support wheel 120 , and the second support wheel 130 .

In the robot cleaner 1 according to the embodiment of the present invention, each of the first actuator 160 , the second actuator 170 , the battery 220 and the water tank 230 is relatively heavy in the robot cleaner 1 . It can be achieved, the first actuator 160 and the second actuator 170 are located on or adjacent to the connecting line, the battery 220 is located in front of the connecting line, and the bucket 230 is located behind the connecting line, The overall center of gravity of the robot cleaner 1 can be located in the central part of the robot cleaner 1, so that the first mop 30 and the second mop 40 can be in stable contact with the floor .

In addition, since the first actuator 160, the second actuator 170, the battery 220, and the bucket 230 are each located on different areas in a plan view, a relatively flat body 100 and It is possible to form the robot cleaner 1, and it is possible to form the robot cleaner 1, which can easily enter the lower side of a shelf or table.

In addition, according to the robot cleaner 1 according to the embodiment of the present invention, when the robot cleaner 1 in which the liquid is sufficiently accommodated in the bucket 230 is initially driven, only the first mop 30 and the second mop 40 are the floor Each weight can be distributed so as to be cleaned while in contact with the first support wheel 120 and Cleaning may be performed while the first mop 30 and the second mop 40 are in contact with the floor together with the second support wheel 130 .

In addition, the robot cleaner 1 according to the embodiment of the present invention, regardless of whether the liquid inside the bucket 230 is exhausted, the first support wheel together with the first mop 30 and the second mop 40 ( 120) and the second support wheel 130 may be cleaned while in contact with the floor.

The robot cleaner 1 according to an embodiment of the present invention includes a second lower sensor 260 , a first support wheel 120 , a first lower sensor 250 , and a second along the rim direction of the body 100 . The support wheel 130 and the third lower sensor 270 may be arranged in order.

7 is a cross-sectional view schematically showing the robot cleaner 1 and its configurations according to another embodiment of the present invention.

The robot cleaner 1 according to an embodiment of the present invention may include a controller 180 , a bumper 190 , a first sensor 200 , and a second sensor 210 .

The controller 180 may be configured to control the operations of the first actuator 160 and the second actuator 170 according to preset information or real-time information. For the control of the controller 180 , the robot cleaner 1 may include a storage medium in which an application program is stored, and the controller 180 outputs information input to the robot cleaner 1 and output from the robot cleaner 1 . It may be made to control the robot cleaner 1 by driving an application program according to the information and the like.

The bumper unit 300 is coupled along the rim of the body 100 , and is configured to move relative to the body 100 . For example, the bumper unit 300 may be coupled to the body 100 to be reciprocally movable in a direction approaching the center of the body 100 .

The bumper unit 300 may be coupled along a portion of the rim of the body 100 , or may be coupled along the entire rim of the body 100 .

In the cleaner according to the embodiment of the present invention, the lowest part of the body 100 forming the same side as the bumper part 300 with respect to the connecting line L1 is higher than or equal to the lowest part of the bumper part 300 . can That is, the bumper 300 may be lower than or equal to the body 100 . Accordingly, an obstacle at a relatively low position may collide with the bumper unit 300 and may be detected by the bumper unit 300 .

The first sensor 200 may be coupled to the body 100 and may be configured to detect a movement (relative movement) of the bumper unit 300 with respect to the body 100 . The first sensor 200 may be formed using a microswitch, a photo interrupter, or a tact switch.

The controller 180 may control the robot cleaner 1 to avoid maneuver when the bumper part 300 of the robot cleaner 1 comes into contact with an obstacle, and according to information from the first sensor 200 , It may be configured to control the operation of the first actuator 160 and/or the second actuator 170 .

For example, when the bumper unit 300 comes into contact with an obstacle while the robot cleaner 1 is driving, the position where the bumper 190 comes into contact may be recognized by the first sensor 200 , and the control unit 180 . may control the operation of the first actuator 160 and/or the second actuator 170 so as to deviate from this contact position.

Also, the controller 180 may control the robot cleaner 1 to travel according to a previously input driving pattern.

For example, the robot cleaner 1 may travel in a straight line in a forward or backward direction, and may travel along a previously input virtual travel line. In addition, the robot cleaner 1 may set a virtual area on the floor surface B and repeatedly travel within the virtual area.

The second sensor 210 may be coupled to the body 100 and configured to detect a relative distance to an obstacle. The second sensor 210 may be a distance sensor.

When the distance between the robot cleaner 1 and the obstacle is less than or equal to a predetermined value, according to the information from the second sensor 210 , the controller 180 changes the traveling direction of the robot cleaner 1 or the robot cleaner 1 ) may control the operation of the first actuator 160 and/or the second actuator 170 so as to move away from the obstacle.

In addition, the control unit 180, according to the distance detected by the first lower sensor 250, the second lower sensor 260, or the third lower sensor 270, the robot cleaner 1 is stopped or the running direction is switched As much as possible, the operation of the first actuator 160 and/or the second actuator 170 may be controlled.

In the robot cleaner 1 according to the embodiment of the present invention, the frictional force between the first mop 30 and the bottom surface B generated when the first rotating plate 10 is rotated and the second rotating plate 20 is rotated By the frictional force between the generated second mop 40 and the bottom surface (B), movement (running) can be made.

In the robot cleaner 1 according to the embodiment of the present invention, the first support wheel 120 and the second support wheel 130 prevent the movement (running) of the robot cleaner 1 by friction with the floor. It may be made to the extent that it does not occur, and it may be made to such an extent that the load does not increase when the robot cleaner 1 moves (driving).

To this end, the width of the first support wheel 120 and the width of the second support wheel 130 may be made sufficiently small compared to the diameter of the first rotation plate 10 or the diameter of the second rotation plate 20 .

With this configuration, even if the first support wheel 120 and the second support wheel 130 come into contact with the floor together with the first mop 30 and the second mop 40 and the robot cleaner 1 is driven, the second The friction force between the first support wheel 120 and the floor surface (B) and the friction force between the second support wheel 130 and the floor surface (B) are, the friction force between the first mop 30 and the floor surface (B) and the second mop It is made very small compared to the friction force between (40) and the floor surface (B), and thus does not cause unnecessary power loss, and does not interfere with the movement of the robot cleaner (1).

The robot cleaner 1 according to the embodiment of the present invention has a stable four-point support by the first support wheel 120 , the second support wheel 130 , the first mop 30 and the second mop 40 . It is possible.

In the robot cleaner 1 according to the embodiment of the present invention, the rotation shaft 125 of the first support wheel 120 and the rotation shaft 135 of the second support wheel 130 may be made parallel to the connection line L1. have. That is, the position of the rotation shaft 125 of the first support wheel 120 and the rotation shaft 135 of the second support wheel 130 may be fixed (fixed in the left and right directions) on the body 100 .

The first support wheel 120 and the second support wheel 130 may come into contact with the floor together with the first mop 30 and the second mop 40, and at this time, linear movement of the robot cleaner 1 is performed. To this end, the first mop 30 and the second mop 40 may rotate in opposite directions at the same speed, the first support wheel 120 and the second support wheel 130 are the robot cleaner (1). It assists in the forward and backward linear movement.

The robot cleaner 1 according to the embodiment of the present invention may include an auxiliary wheel body 150 . At this time, the auxiliary wheel body 150 is rotatably coupled to the lower side of the body 100 , and the auxiliary wheel 140 is rotatably coupled to the auxiliary wheel body 150 .

That is, the auxiliary wheel 140 is coupled to the body 100 via the auxiliary wheel body 150 .

And the rotation shaft 145 of the auxiliary wheel 140 and the rotation shaft 155 of the auxiliary wheel body 150 may be formed to intersect each other, and the direction of the rotation shaft 145 of the auxiliary wheel 140 and the auxiliary wheel body ( The directions of the rotation shafts 155 of 150 may be orthogonal to each other. For example, the axis of rotation 155 of the auxiliary wheel body 150 may be directed in the vertical direction or slightly inclined in the vertical direction, and the axis of rotation 145 of the auxiliary wheel 140 may be directed in the horizontal direction.

In the robot cleaner 1 according to the embodiment of the present invention, the auxiliary wheel 140 is a robot cleaner when the robot cleaner 1 is not substantially used (the first mop 30 and the second mop 40 are the robot cleaners) When it is separated in (1)), it comes into contact with the floor surface (B), and in this state, if you want to move the robot cleaner 1, the direction in which the auxiliary wheel 140 is directed by the auxiliary wheel body 150 is It is freely deformed, and movement of the robot cleaner 1 can be made easily.

Meanwhile, FIGS. 8 and 9 are views for explaining the upper surface of the lower body in the robot cleaner according to the embodiment of the present invention, and FIGS. 10 to 12 show the bumper part in the robot cleaner according to the embodiment of the present invention. A diagram is shown for explanation, and FIGS. 16 to 19 are diagrams for explaining a state in which the bumper unit is coupled to the body in the robot cleaner according to the embodiment of the present invention.

The lower body 110 and the bumper part 300 of the robot cleaner 1 according to an embodiment of the present invention will be described with reference to FIGS. 6, 8 to 12, and 16 to 19 .

The lower body 110, the upper surface is combined with the upper body 105 to form a space that can accommodate the battery 220, the water bottle 230, and the motors 162, 172, the lower surface is The first rotating plate 10 , the second rotating plate 20 , the first supporting wheel 120 , the second supporting wheel 130 , and the auxiliary wheel 140 may be disposed.

On the lower surface of the lower body 110 of the present invention, a bottom surface 112 disposed toward the bottom surface B of the floor may be formed. In addition, the first rotating plate 10 and the second rotating plate 20 may be rotatably disposed on the bottom surface 112 .

The first rotating plate 10 and the second rotating plate 20 may be symmetrically disposed on the bottom surface 112 . Specifically, a pair of rotation shaft holes 113 may be symmetrically formed on the bottom surface 112 .

The rotation shaft 15 of the first rotation plate 10 may be engaged with the first gear 163 of the first actuator 160 through the rotation shaft hole 113 . In addition, the rotation shaft 25 of the second rotation plate 20 may penetrate the rotation shaft hole 113 to be meshed with the second gear 173 of the second actuator 170 .

Meanwhile, in the present invention, the lower body 110 may further include a virtual connection line L1 connecting the rotation shaft 15 of the first rotation plate 10 and the rotation shaft 25 of the second rotation plate 20 . At this time, since the rotation shaft 15 of the first rotation plate 10 and the rotation shaft 25 of the second rotation plate 20 each pass through the rotation shaft hole 113 , the connecting line L1 is a pair of rotation shaft holes 113 . ) may mean an imaginary line connecting them.

The distance C2 between the pair of rotation shaft holes 113 is preferably longer than twice the radius of the first rotation plate 10 or the second rotation plate 20 . With this configuration, the first rotating plate 10 and the second rotating plate 20 are rotatable without interfering with each other.

In addition, in the present embodiment, the bottom surface 112 may be inclined so as to be closer to the bottom surface B in the direction of each rotation shaft hole 113 with respect to the middle point of the pair of rotation shaft holes 113 . With this configuration, portions of the first rotating plate 10 and the second rotating plate 20 that are far from each other can be in stronger contact with the floor, respectively.

A first support wheel 120 and a second support wheel 130 may be disposed on the bottom surface 112 . In addition, the battery accommodating part 116 may be formed on the bottom surface 112 .

The battery 220 may be accommodated in the battery accommodating part 116 . For example, the battery accommodating part 116 may be formed in a shape similar to a rectangular hole so that the battery 220 can be inserted and coupled thereto. Accordingly, the battery 220 may be screw-assembled after being inserted into the battery accommodating part 116 to be fixed to the body 100 .

The auxiliary wheel 140 and the auxiliary wheel body 150 may be coupled to the bottom surface 112 . The auxiliary wheel 140 may be disposed on the rear side from the bottom with respect to the connection line (L1).

Meanwhile, the lower body 110 may include a center line (b). Specifically, the center line (b) may be formed by drawing an imaginary line perpendicular to the connecting line (L1) at the midpoint of the pair of rotation shaft holes (113) and parallel to the bottom surface (B).

In this embodiment, the lower body 110 may further include a foreign material prevention rib. The foreign material prevention rib is formed to protrude downward from the bottom surface 112 , and may be formed along the outer edges of the first rotation plate 10 and the second rotation plate 20 .

For example, the foreign material preventing rib may be formed to protrude in the form of a rib along the circumferential direction with the rotation shaft hole 113 as the center.

At this time, the distance d from the rotation shaft hole 113 to the foreign object prevention rib is greater than the radius of the first rotation plate 10 (or the second rotation plate 20), and the first mop 30 (or the second mop ( 40) is preferably formed smaller than the radius.

In addition, the foreign material preventing rib may be disposed to be spaced apart from the first rotating plate 10 or the second rotating plate 20 at a predetermined distance. At this time, the distance between the foreign material prevention rib and the first rotating plate 10 or the second rotating plate 20 is, when the first rotating plate 10 or the second rotating plate 20 is rotated, the foreign material preventing rib and the first rotating plate (10) ) or the second rotating plate 20 is preferably narrower within the range that does not interfere with each other.

With such a configuration, in the robot cleaner 1 of the present invention, even when the first rotating plate 10 and the second rotating plate 20 rotate, foreign substances including hair, dust, etc. on the floor are introduced into the inside of the robot cleaner 1 . has the effect of preventing

Meanwhile, although not shown, it is also possible that at least one additional foreign object prevention structure is further formed between the rotation shaft hole 113 and the foreign object prevention rib in the robot cleaner 1 according to an embodiment. With such a configuration, there is an effect of preventing foreign substances from flowing into the inside of the robot cleaner 1 .

Meanwhile, in the lower body 110 of the present invention, an upper surface 111 disposed toward the upper body 105 may be formed on the upper surface. In addition, motors 162 and 172 may be disposed on the upper surface 111 .

An edge portion 114 may protrude outside the upper surface 111 . For example, the edge portion 114 may be formed in the front with respect to the connecting line L1, and may be formed to protrude along the circumferential direction.

In addition, a guide groove 115 may be formed on the upper surface 111 . Specifically, the guide groove 115 may be connected to the edge portion 114 and receive and support the elastic piece 330 of the bumper portion 300 to be described later in contact.

A pair of guide grooves 115 may be provided at the front with respect to the connecting line L1. For example, an imaginary line connecting the midpoints of the connecting line L1 in the guide groove 115 may form an angle of 0 degrees or more and 30 degrees or less with the connecting line L1.

The guide groove 115 may include a first guide surface 115a, a second guide surface 115b, and a third guide surface 115c.

The first guide surface 115a may be connected to the edge portion 114 and inclined at a predetermined angle from the edge portion 114 . For example, the first guide surface 115a may extend from the edge portion 114 toward the inside of the body 100 and be inclined at an angle of 30 degrees or more and 60 degrees or less to the edge portion 114 . . Specifically, the first guide surface 115a has an angle of 30 degrees or more and 60 degrees or less based on the imaginary tangent of the edge part 114 passing through the contact point between the edge part 114 and the first guide surface 115a. It may be formed by making a slope.

The second guide surface 115b may be connected to the first guide surface 115a and inclined at a predetermined angle to the first guide surface 115a. For example, the second guide surface 115b extends from the first guide surface 115a toward the outside of the body 100 and is inclined at an angle of 70 degrees or more and 110 degrees or less with the first guide surface 115a. can be formed.

The third guide surface 115c may be formed to connect the second guide surface 115b and the edge portion 114 . With this configuration, the third guide surface 115c may support the second guide surface 115b.

Meanwhile, a sensor accommodating part 117 may be provided on the upper surface 111 . The first sensor 200 may be accommodated in the sensor accommodating part 117 . A pair of sensor accommodating units 117 may be provided in front with respect to the connection line L1. For example, an imaginary line connecting the midpoint of the connection line L1 in the sensor accommodating part 117 may form an angle of 15 degrees or more and 45 degrees or less with the connection line L1. With such a configuration, the first sensor 200 coupled to the sensor accommodating unit 117 may detect a position where the bumper unit 300 collides with an obstacle when an impact is applied to the bumper unit 300 .

Meanwhile, a pole 118 may be coupled to the upper surface 111 . The pole 118 is formed in a rod shape and may be provided toward the upper side from the upper surface 111 . In this case, the pole 118 may be formed separately from the lower body 110 to be coupled to the lower body 110 , or may be formed integrally with the lower body 110 . A pair of poles 118 may be provided in front with respect to the connecting line L1. For example, an imaginary line connecting the midpoints of the connecting line L1 in the pole 118 may form an angle of 45 degrees or more and 75 degrees or less with the connecting line L1.

The pole 118 may be inserted and coupled to a stopper 340 of the bumper part 300 to be described later. Specifically, the pole 118 may pass through the pole accommodating hole 341 of the stopper 340 . With such a configuration, even if an impact is applied to the bumper unit 300, the movement range of the stopper 340 is limited by the pole 118, and the original position of the bumper unit 300 with respect to the body 100 can be maintained. .

Meanwhile, a damper fixing part 119 may be formed on the upper surface 111 . Specifically, the damper fixing part 119 may be formed to protrude upward from the upper surface 111 . In this case, the damper fixing part 119 may be formed outside the edge part 114 with respect to the center of the upper surface 111 . For example, the damper fixing part 119 may be formed in front of the upper surface 111 .

The damper 500 may be coupled to the damper fixing part 119 . Specifically, the damper fixing part 119 may be inserted and coupled to the damper 500 . That is, the damper fixing part 119 may be formed to protrude from the upper surface 111 in a pillar shape so as to be insertable into the damper 500 . For example, a pair of damper fixing units 119 may be formed in a quadrangular pole shape.

The bumper unit 300 is coupled along the rim of the body 100 , and is configured to move relative to the body 100 . For example, the bumper unit 300 may be coupled to the body 100 to be reciprocally movable in a direction approaching the center of the body 100 .

The bumper unit 300 may be coupled along a portion of the rim of the body 100 , or may be coupled along the entire rim of the body 100 .

The bumper part 300 may include a bumper 310 , a cam 320 , an elastic piece 330 , a stopper 340 , a blocker protrusion 350 , a guide rib 360 , and a damper contact part 370 .

The bumper 310 may be provided to be movable relative to the body 100 . For example, the bumper 310 may be formed in an arc shape having a predetermined thickness and a predetermined height to at least partially wrap the edge portion 114 of the body 100 .

The bumper 310 may be disposed at a predetermined distance from the edge portion 114 . In this case, a plate spring 400 and a damper 500 to be described later may be provided between the bumper 310 and the edge portion 114 . With such a configuration, when the robot cleaner 1 collides with an obstacle or the like, the bumper 310 can move while distributing the impact, and it is possible to prevent the impact from being directly applied to the body 100 .

The cam 320 may be formed to protrude from the bumper 310 at a predetermined angle. Specifically, the cam 320 may be formed to protrude from the inner circumferential surface of the bumper 310 formed in an arc shape, and an inclined surface 321 to which the sensing unit 210 of the first sensor 200 may come into contact may be formed. For example, the inclined surface 321 may be formed to protrude from the inner peripheral surface of the bumper 310 to be inclined at a predetermined angle. Alternatively, the inclined surface 321 may refer to a surface that is connected to the inner peripheral surface of the bumper 310 and protrudes with a predetermined curvature.

With this configuration, when the bumper 310 is moved relative to the body 100 , the inclined surface 321 may press the sensing unit 210 of the first sensor 200 while moving together with the bumper 310 . . Accordingly, the first sensor 200 may detect that the bumper 310 is in contact with an obstacle or the like.

In a state in which the bumper unit 300 is coupled to the body 100 , a pair of cams 320 may be provided at the front with respect to the connection line L1 . The cam 320 may be formed to correspond to the position of the first sensor 200 . For example, an imaginary line connecting the midpoints of the connection line L1 in the cam 320 may form an angle of 15 degrees or more and 45 degrees or less with the connection line L1.

With this configuration, the first sensor 200 may detect the relative movement of the bumper unit 300 over the widest possible range, and may detect the approximate position of the bumper 310 in contact with an obstacle or the like.

For example, when the side (direction transverse to the forward or backward direction) of the robot cleaner 1 comes into contact with an obstacle, only the first sensor 200 located close to the obstacle can detect the movement of the bumper unit 300 . can In addition, when the front (forward direction) of the robot cleaner 1 comes into contact with an obstacle or the like, both the pair of first sensors 200 may detect the movement of the bumper unit 300 . Accordingly, the controller 180 may rotate the first rotating plate 10 and the second rotating plate 20 to avoid obstacles and the like, thereby driving the robot cleaner 1 backward or circling.

The elastic piece 330 may protrude from the bumper 310 and elastically support the body 100 . Specifically, the elastic piece 330 may be formed to protrude in a pin shape from the inner circumferential surface of the bumper 310 formed in an arc shape. The elastic piece 330 may be formed to protrude from the inner circumferential surface of the bumper 310 at a predetermined angle. For example, in a state in which the bumper unit 300 is coupled to the body 100 , the elastic piece 330 may protrude in a direction parallel to the connecting line L1 .

In a state in which the bumper unit 300 is coupled to the body 100 , a pair of elastic pieces 330 may be provided at the front with respect to the connecting line L1 . The elastic piece 330 may be formed to correspond to the position of the guide groove 115 . For example, an imaginary line connecting the midpoints of the connecting line L1 in the elastic piece 330 may form an angle of 0 degrees or more and 30 degrees or less with the connecting line L1 .

The elastic piece 330 may be accommodated in the guide groove 115 to contact and support the bumper 310 . Specifically, the elastic piece 330 may come into contact with the first guide surface 115a and the second guide surface 115b to elastically support the bumper 310 .

With such a configuration, when the bumper 310 is moved relative to the body 100, the elastic piece 330 can be elastically deformed while in contact with the first guide surface 115a or the second guide surface 115b. have. In addition, the bumper 310 may be returned to its original position by the restoring force of the elastic piece 330 .

For example, when the front of the robot cleaner 1 comes into contact with an obstacle and the bumper 310 moves toward the body 100, the elastic piece 330 is elastically deformed in contact with the second guide surface 115b, The bumper 310 may be returned to its original position by the restoring force of the elastic piece 330 to maintain a gap between the bumper 310 and the body 100 .

The stopper 340 may protrude from the bumper 310 and limit the movement range of the bumper 310 . For example, the stopper 340 may be formed to protrude in the form of a plate similar to a sector shape from the inner circumferential surface of the bumper 310 formed in an arc shape.

In addition, a pole receiving hole 341 may be formed in the center of the stopper 340 . For example, the pole receiving hole 341 may be formed in the stopper 340 in the form of a circular hole.

In a state in which the bumper unit 300 is coupled to the body 100 , a pair of stoppers 340 may be provided at the front with respect to the connection line L1 . The stopper 340 may be formed to correspond to the position of the pawl 118 . For example, an imaginary line connecting the midpoint of the connecting line L1 from the stopper 340 may form an angle of 45 degrees or more and 75 degrees or less with the connecting line L1.

The pole accommodation hole 341 may accommodate the pole 118 therein, and may limit the movement range of the pole 118 .

For example, when the bumper unit 300 is coupled to the body 100 , the pole 118 is provided to pass through the pole accommodating hole 341 , and the pole 118 is located at the center of the pole accommodating hole 341 . will do At this time, when the robot cleaner 1 comes into contact with an obstacle and the bumper part 300 moves relative to the body 100, the stopper 340 also moves together with the bumper 310, and the position of the pole 118 is It deviates from the center of the pole accommodation hole 341 . In this case, even if the moving distance of the bumper 310 is greater than the radius of the pole receiving hole 341 , the pole 118 is caught by the stopper 340 and its movement is limited. Accordingly, according to the present invention, the movement range of the bumper 310 may be limited by the pawl 118 and the stopper 340 .

On the other hand, when the bumper 310 returns to its original position by the restoring force of the elastic piece 330 and/or the leaf spring 400 after the contact with the obstacle that has moved the bumper unit 300 is terminated, the pawl 118 ) may also return to the center of the pole receiving hole 341 . At this time, when the pole 118 is not located at the center of the pole accommodation hole 341 , the user may discover that there is an error in the positions of the bumper part 300 and the body 100 , and can correct this. . Accordingly, according to the present invention, it is possible to determine the exact positions of the bumper unit 300 and the body 100 through the position of the pole 118 , and to correct the coupling or position of the bumper unit 300 if necessary.

Meanwhile, FIG. 13 is a partially enlarged view of the blocker protrusion and the guide rib in FIG. 11 .

The blocker protrusion 350 may be formed to protrude from the bottom surface of the bumper 310 . For example, the blocker protrusion 350 may be formed to protrude from the bottom surface of the bumper 310 in a rib shape (or a blade shape). At this time, the blocker projection 350 may be formed with a plurality of ribs (or blades) spaced apart from each other.

With this configuration, the blocker projection 350 can move the bumper 310 by generating friction with the surface to be cleaned according to the material of the surface to be cleaned (the bottom surface B). For example, when a soft material such as a carpet or rug is laid on the surface to be cleaned, the blocker projection 350 may cause friction with the surface to be cleaned. At this time, the bumper 310 may be pulled toward the body 100 by the frictional force applied to the blocker protrusion 350 . That is, when a frictional force is applied to the blocker protrusion 350 , the bumper 310 may move relative to the body 100 . As a result, the control unit 180 can recognize the surface to be cleaned on which the carpet, rug, etc. are laid as an obstacle, and the rotation direction of the first rotation plate 10 or the second rotation plate 20 is changed to avoid the surface to be cleaned, The robot cleaner 1 may be driven backward or circling.

On the other hand, the blocker projection 350 may be formed between the pair of guide ribs (360). At this time, the guide rib 360 is formed to protrude from the bottom surface of the bumper 310, and when the robot cleaner 1 crosses the threshold, etc., the bottom surface of the bumper 310 can be guided so that it can pass without colliding with the threshold.

The guide rib 360 may include a climbing surface 361 and a passage surface 362 . The climbing surface 361 may be formed to protrude from the bottom surface of the bumper 310 by being inclined at a predetermined angle. At this time, the climbing surface 361 may be formed to protrude so that the outer portion of the bottom surface of the bumper 310 is farther from the ground and gradually approaches the bottom surface (B).

On the other hand, the passage surface 362 is connected to the climbing surface 361, at least a portion of the passage surface 362 may be formed in the form of a surface parallel to the bottom surface (B).

In addition, the passing surface 362 may be formed to protrude closer to the bottom surface (B) than the blocker projection (350). With this configuration, when the robot cleaner 1 crosses the threshold, etc., it is possible to prevent the blocker projection 350 from being pulled by the threshold, etc. in contact with the blocker projection 350, and thereby the bumper 310 is pulled. There is an effect of preventing the controller 180 from recognizing the threshold as an obstacle.

The guide rib 360 is preferably formed along the straight direction of the robot cleaner (1). With this configuration, when the robot cleaner 1 goes straight and enters the threshold, it can easily cross the threshold.

On the other hand, in the present invention, the bottom surface of the bumper 310 in the area where the blocker protrusion 350 is formed may be formed farther from the bottom surface B than the bottom surface of the other bumper 310 with the guide rib 360 as a boundary. . With this configuration, the protrusion height of the blocker protrusion 350 may be increased, and friction generated between the blocker protrusion 350 and the surface to be cleaned may be increased.

On the other hand, the blocker protrusion 350 and the guide rib 360 in the present invention is a set of blocker protrusions 350 formed between a pair of guide ribs 360 (hereinafter referred to as a 'bumper bottom protrusion structure'). .) to form a plurality of sets. For example, five protruding structures on the bottom of the bumper may be formed on the bottom of the bumper 310 with a predetermined interval therebetween. This configuration prevents the robot cleaner 1 from entering the surface to be cleaned on which carpets or rugs are laid while moving straight ahead, as well as the surface to be cleaned on which the robot cleaner 1 rotates and is covered with carpets or rugs. It has the effect of preventing entry into

Meanwhile, the damper contact part 370 may be formed to protrude from the inner circumferential surface of the bumper 310 . Specifically, the damper contact portion 370 may be formed to protrude from the inner circumferential surface of the bumper 310 by a predetermined length to contact the damper 500 to be described later. With this configuration, when an impact (external force) is applied to the bumper 310 , the damper contact part 370 moves together with the bumper 310 to transmit the impact to the damper 500 .

On the other hand, another embodiment for the blocker projection is shown in Figures 14 and 15.

With reference to FIGS. 14 and 15 , the shape of the blocker protrusion 1350 according to another embodiment of the present invention will be described as follows.

On the other hand, in this embodiment, except for the blocker protrusion 1350, since it is the same as the robot cleaner according to an embodiment of the present invention, it can be used.

The blocker projection 1350 of this embodiment may be formed in a shape similar to a triangular pyramid. In this case, it is possible to form a plurality of protruding structures in the same area than the blocker projection 350 in the form of a rib (or blade) according to an embodiment of the present invention. Accordingly, it is possible to increase the probability that the blocker protrusion 1350 is caught on the carpet or rug laid on the surface to be cleaned, and the probability that the controller 180 can recognize it as an obstacle may increase.

And, in this embodiment, a plurality of blocker projections 1350 may be arranged in a zigzag (zigzag) with each other. With such an arrangement, the probability that the blocker protrusion 1350 is caught on the carpet or rug laid on the surface to be cleaned may be increased, and the probability that the controller 180 may recognize it as an obstacle may increase.

Meanwhile, FIG. 20 is a perspective view of a leaf spring in the robot cleaner according to an embodiment of the present invention, and FIG. 21 describes a state in which the leaf spring and the damper are coupled to the body in the robot cleaner according to the embodiment of the present invention. A drawing is shown for doing so.

The leaf spring 400 and the damper 500 of the robot cleaner 1 according to an embodiment of the present invention will be described with reference to FIGS. 20 and 21 .

The leaf spring 400 is disposed between the bumper 310 and the body 100 , and may apply a restoring force to the bumper 310 when the bumper 310 moves relative to the body 100 .

The leaf spring 400 may include a leaf spring body 410 , a body coupling part 420 , a bumper contact part 430 , and an extension part 440 .

The leaf spring 400 may be formed of a material having elasticity, and may be formed in a flat plate shape. In this case, the lower end of the leaf spring 400 may be supported in contact with the upper surface 111 , and the upper end may be connected to the body coupling unit 420 . Also, both ends of the leaf spring 400 in the horizontal direction may be connected to the extension part 440 .

The body coupling part 420 may extend from the leaf spring body 410 in a direction perpendicular to the ground. Specifically, the body coupling portion 420 may be formed to extend vertically upward from the ground in the leaf spring 410 , then be bent and extended toward the inside of the lower body 110 , and then extend downward again. With this configuration, the body coupling part 420 may be coupled to the edge part 114 . That is, the body coupling portion 420 may be coupled over the upper end of the edge portion 114 . On the other hand, when a groove is formed in the edge part 114 to guide the coupling position of the body coupling part 420 , the coupling force between the edge part 114 and the body coupling part 420 may be strengthened.

The bumper contact portion 430 may extend from the leaf spring body 410 in a direction parallel to the ground, and may be supported in contact with the bumper 310 . That is, the extension portion 440 may extend from the leaf spring body 410 in a direction parallel to the ground, and a bumper contact portion 430 may be provided at an end of the extension portion 440 in the extension direction. In this case, the bumper contact part 430 may be disposed at a position in contact with the bumper 310 . With this configuration, when the bumper 310 is moved relative to the body 100 , an impact (external force) applied to the bumper 310 may be transmitted to the bumper contact portion 430 . And, the impact (external force) transmitted to the bumper contact portion 430 may be transmitted to the leaf spring body 410 and the bumper contact portion 430 provided on the opposite side. Accordingly, the impact applied to the bumper 310 may be distributed through the leaf spring 400 .

The damper 500 is disposed between the bumper 310 and the edge portion 114 of the body 100 , and may come into contact with the bumper 100 when the bumper 310 moves relative to the body 100 . Specifically, the damper 500 may be disposed between the leaf spring body 410 and the bumper 310 and may come into contact with the damper contact portion 370 .

The damper 500 may be formed in a shape similar to a rectangular parallelepiped, and a hollow may be formed to be coupled to the damper fixing part 119 . For example, a rectangular hole may be formed in the hollow of the damper 500 , and the damper fixing part 119 may pass through and be coupled thereto.

The damper 500 may be formed of a material that can be elastically deformed. With this configuration, when an impact (external force) is applied to the bumper 310 , the bumper 310 moves toward the body 100 , and the bumper 310 presses the damper 500 . At this time, the damper 500 may absorb the shock applied to the bumper 310 while being elastically deformed.

A plurality of grooves may be formed on an outer surface of the damper 500 (a surface in the direction of the bumper 310 ) along a vertical direction. With such a configuration, it is possible to increase the amount of elastic bottle shape of the damper 500 , and it is possible to increase the amount of shock absorption of the bumper 310 .

Although the present invention has been described in detail through specific examples, it is intended to describe the present invention in detail, and the present invention is not limited thereto. It is clear that the transformation or improvement is possible by the person.

All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

100: body
111: upper surface
114: edge portion
115: guide home
117: sensor receiving unit
118: Paul
119: damper fixing part
200: first sensor
300: bumper unit
310: bumper
320: cam
330: elastic piece
340: stopper
350: turn blocker
360: guide rib
370: damper contact
400: leaf spring
500: damper

Claims (15)

a body having a space formed therein for accommodating a battery, a water bottle, and a motor;
a first rotating plate coupled to the lower side of the first mop facing the bottom and rotatably disposed on the bottom of the body;
a second rotating plate coupled to the lower side of the second mop facing the bottom and rotatably disposed on the bottom of the body;
a bumper unit coupled along the edge of the body; and
a first sensor provided on the body and sensing a relative movement of the bumper with respect to the body;
including,
The bumper part,
a bumper provided to be movable relative to the body; and
a cam protruding from the bumper at a predetermined angle;
includes,
The cam is
an inclined surface formed at a predetermined angle with the bumper;
including,
The inclined surface is
A robot cleaner, in contact with the first sensor, and pressurizing the first sensor while moving together with the bumper when the bumper moves relative to the body.
According to claim 1,
The bumper part,
an elastic piece protruding from the bumper and elastically supporting the body;
A robot vacuum cleaner comprising a further.
3. The method of claim 2,
The body is
a guide groove accommodating the elastic piece and being supported in contact with the elastic piece;
A robot vacuum cleaner comprising a.
4. The method of claim 3,
The guide groove is
a first guide surface connected to the rim of the body and inclined at a predetermined angle from the rim; and
a second guide surface connected to the first guide surface and inclined at a predetermined angle to the first guide surface;
A robot vacuum cleaner comprising a.
According to claim 1,
The bumper part,
a stopper protruding from the bumper and defining a movement range of the bumper;
A robot cleaner further comprising a.
6. The method of claim 5,
The body is
a pole passing through the stopper;
including,
The stopper is
a pole receiving hole configured to receive the pole therein and limit a movement range of the pole;
A robot vacuum cleaner comprising a.
According to claim 1,
a leaf spring disposed between the bumper and the body and applying a restoring force to the bumper when the bumper moves relative to the body;
A robot vacuum cleaner comprising a further.
8. The method of claim 7,
The leaf spring is
leaf spring body;
a body coupling part extending from the leaf spring body in a direction perpendicular to the ground and coupled to the body; and
a bumper contact portion extending from the leaf spring body in a direction parallel to the ground and being supported in contact with the bumper;
A robot vacuum cleaner comprising a.
According to claim 1,
a damper disposed between the bumper and the body and in contact with the bumper when the bumper is moved relative to the body;
A robot cleaner further comprising a.
9. The method of claim 8,
a damper disposed between the bumper and the body and in contact with the bumper when the bumper is moved relative to the body;
further comprising,
The damper is
A robot cleaner, characterized in that it is disposed between the leaf spring body and the bumper.
a body having a space formed therein for accommodating a battery, a water bottle, and a motor;
a first rotating plate coupled to the lower side of the first mop facing the bottom and rotatably disposed on the bottom of the body;
a second rotating plate coupled to the lower side of the second mop facing the bottom and rotatably disposed on the bottom of the body;
a bumper unit coupled along the rim of the body; and
a first sensor provided on a bottom surface of the body and configured to detect a relative movement of the bumper with respect to the body;
including,
The bumper part,
a bumper provided to be movable relative to the body; and
a blocker protrusion protruding from the bottom surface of the bumper;
A robot vacuum cleaner comprising a.
12. The method of claim 11,
The bumper part,
a guide rib including a climbing surface protruding from the bottom surface of the bumper at a predetermined angle;
A robot cleaner further comprising a.
13. The method of claim 12,
The guide rib is
a passage surface connected to the climbing surface and located closer to the floor surface than the blocker projection;
A robot vacuum cleaner comprising a.
12. The method of claim 11,
When a frictional force is applied to the blocker protrusion, the bumper is relatively moved with respect to the body.
12. The method of claim 11,
When a frictional force is applied to the blocker protrusion, the robot cleaner, characterized in that the rotation direction of the first rotating plate or the second rotating plate is changed.

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