KR20230034605A - Robot cleaner - Google Patents

Abstract

The present invention relates to a robot cleaner, which includes a body having a space for accommodating a battery and a suction motor therein, having a suction port, a water container detachably coupled to the body, and a dust container detachably coupled to the water container and inserted into the body, wherein the robot cleaner has an effect that a user can separate the water container and the dust container from the body with one operation.

Description

Robot Cleaner {ROBOT CLEANER}

The present invention relates to a robot cleaner, and more particularly, to a robot cleaner capable of separating a water container and a dust container.

A vacuum cleaner is a device that performs cleaning by sucking or wiping dust or foreign substances in an area to be cleaned.

Such cleaners may be classified into manual cleaners for cleaning while the user directly moves the cleaner, and automatic cleaners for cleaning while driving themselves.

Here, the robot cleaner sucks foreign substances such as dust from the floor while traveling by itself in an area to be cleaned. In addition, the robot cleaner may clean while automatically driving the cleaning area by using an obstacle sensor or other sensors provided therein, or manually control the robot cleaner to clean while driving by using a remote controller wirelessly connected to the robot cleaner.

On the other hand, the robot cleaner may be provided with a dust container in which foreign substances are sucked and collected and a water container for supplying moisture to a wet mop provided on a lower surface of the robot cleaner.

In the case of a robot cleaner equipped with a dust container and a water container as described above, foreign substances may accumulate or become entangled in the dust container, and moisture may remain in the water container. As such, if foreign substances or moisture remain inside the dust bin or inside the water bin, there is a possibility of corruption or propagation of bacteria, and a foul odor may occur accordingly.

Meanwhile, Korean Patent Publication No. KR10-2014-0023068A discloses a robot cleaner capable of separating a dust container from a main body.

The robot cleaner described above may open a cover provided on an upper portion of the main body and attach or detach the dust container.

However, in the case where a separate cover is provided to attach and detach the dust bin as described above, the overall height of the robot cleaner can be increased because a structure for coupling the dust bin and a structure for opening and closing the cover must be provided.

In this case, there is a limitation in cleaning an area (for example, under a sofa) that can only be cleaned by a robot cleaner with a low height.

Therefore, it is necessary to develop a robot cleaner that can be easily separated and washed while maximizing space utilization inside the robot cleaner.

The present invention has been created to improve the problems of conventional robot cleaners as described above, and an object of the present invention is to provide a robot cleaner capable of washing a water container and a dust container by separating them from a body.

Another object of the present invention is to provide a robot cleaner in which a user can separate a water container and a dust container from a body with a single operation.

Another object of the present invention is to provide a robot cleaner capable of removing dust inside the dust bin by combining the dust bin with a dust collection device.

Another object of the present invention is to provide a robot cleaner in which a water container and a dust container can be easily coupled and separated from each other.

Another object of the present invention is to provide a robot cleaner capable of minimizing the volume occupied by the water container and the dust container inside the body.

Another object of the present invention is to provide a robot cleaner capable of maximizing the capacity of a water container and a dust container within a limited body size.

In order to achieve the above object, a robot cleaner according to the present invention includes a body in which a space for accommodating a battery and a suction motor is formed and a suction port is formed; a water bottle detachably coupled to the body; and a dust container detachably coupled to the water container and inserted into the body.

In this case, when the water container and the dust container are coupled to the body and the water container is separated from the body, the water container and the dust container may be separated from the body together.

The water tank may be hook-coupled to the body.

The bucket may include a bucket body; a body coupling hook provided on the water bottle body and protruding upward in the gravitational direction to be hook-coupled to the body; and a water bottle separation button provided on the water bottle body and moving the body coupling hook downward in the direction of gravity when an external force is applied.

The dust container may be hook-coupled to the water container.

The water container may include a dust container coupling hook provided on the water container body, protruding toward the dust container, and hooked to the dust container.

The dust container may include a dust container body; and a dust container separation button provided on the dust container main body, engaged with the dust container coupling hook, and disengaged from the dust container coupling hook when an external force is applied.

The robot cleaner according to the present invention may further include a mop mounting plate coupled to a lower surface of the water container and to which a mop is coupled.

On the other hand, the bucket includes a pair of mop mounting hooks formed on a lower surface of the bucket body, and the mop mounting plate includes a mounting plate body to which a mop is coupled to a lower surface; a coupling release button provided to be linearly movable on the mounting plate body; and a hook hooking jaw that is hook-coupled with the mop-mounted hook and moves in conjunction with the linear movement of the coupling release button.

In addition, the bucket may include a guide rail formed on a lower surface of the bucket body, and the mop mounting plate may include a rail receiving groove that accommodates the guide rail and moves linearly along the guide rail. there is.

The dust box may include a dust box body in which the sucked dust is collected; and a dust discharge hole formed on a lower surface of the dust container body, through which dust collected in the dust container body is discharged.

The dust bin may further include a dust discharge cover that opens and closes the dust discharge hole.

The dust bin may include an air inlet formed on the dust bin body and through which air containing dust is introduced; and an air outlet formed in the dust container body and through which the air is discharged.

The robot cleaner according to the present invention may further include a water supply unit disposed inside the body, receiving water from the water tank, and discharging water to a mop.

The water supply unit may include a water pump providing fluidity to the water stored in the water tank; It may include; a water supply pipe that is at least partially disposed on the upper side of the water container in the gravitational direction and through which the water introduced from the water container flows.

The water supply unit may further include a water supply nozzle provided on a lower surface of the body, coupled to the water supply pipe, and discharging water introduced from the water container.

In this case, the mop mounting plate may include a water supply hole formed in the mounting plate main body and formed at a position facing the water supply nozzle in a state in which the mop mounting plate is coupled to the water container.

The robot cleaner according to the present invention may include a bucket accommodating portion formed on the body and accommodating the water container and the dust container.

The container accommodating part may include a guide jaw for guiding sliding movement of the water container and the dust container.

As described above, according to the robot cleaner according to the present invention, the water container and the dust container are detachably coupled from the body, so that the water container and the dust container can be separated from the body and washed respectively.

In addition, since the water container and the dust container are coupled to each other, the user can separate the water container and the dust container from the body with a single operation.

In addition, the dust bin is connected to the dust collection device through a dust discharge hole, so that dust inside the dust bin can be removed.

In addition, the water container and the dust container are hook-coupled so that the user can easily combine them, and the user can easily separate them from each other with a simple operation of pressing a button.

In addition, since both the water container and the dust container are inserted and coupled to one accommodating space formed in the body, the volume occupied by the water container and the dust container inside the body can be minimized.

In addition, since an additional structure for attaching and detaching the water container and the dust container is unnecessary, the capacity of the water container and the dust container can be maximized within the limited size of the body.

1 is a perspective view of a robot cleaner according to an embodiment of the present invention.
2 is a bottom view of a robot cleaner according to an embodiment of the present invention.
3 is a bottom view of a state in which a mop is removed from the robot cleaner according to an embodiment of the present invention.
4 is a block diagram illustrating control of a robot cleaner according to an embodiment of the present invention.
5 is a perspective view illustrating a state in which a water container and a dust container are separated from a body of a robot cleaner according to an embodiment of the present invention.
6 is a perspective view illustrating a state in which a water container and a dust container are coupled to each other in a robot cleaner according to an embodiment of the present invention.
7 is a perspective view illustrating a state in which a water container and a dust container are separated from a robot cleaner according to an embodiment of the present invention.
8 is a rear view illustrating a dust bin in the robot cleaner according to an embodiment of the present invention.
9 is a perspective view illustrating a state in which a cover of a dust bin is opened in the robot cleaner according to an embodiment of the present invention.
10 is a view for explaining a state in which a dust container and a water container coupled to a lower body are viewed in the robot cleaner according to an embodiment of the present invention.
11 is a view for explaining a state in which a water supply pipe is coupled to a lower body in a robot cleaner according to an embodiment of the present invention.
12 is a view for explaining a state in which a water supply nozzle is coupled to a lower body in a robot cleaner according to an embodiment of the present invention.
13 is a view of a rear view of a water container in the robot cleaner according to an embodiment of the present invention.
14 is a view for explaining a coupling between a water container and a mop mounting plate in a robot cleaner according to an embodiment of the present invention.
15 is a view as viewed from an upper surface of a mop mounting plate in the robot cleaner according to an embodiment of the present invention.
16 is a view as viewed from the lower side of the mop mounting plate in the robot cleaner according to an embodiment of the present invention.
17 is a view looking at the rear of the water container in the robot cleaner according to another embodiment of the present invention.
18 is a view for explaining a lower surface of a mop mounting plate in a robot cleaner according to another embodiment of the present invention.
19 is a view for explaining a state in which a water container, a mop mounting plate, and a mop are coupled in a robot cleaner according to another 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 make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and should be construed as including all changes, equivalents, or substitutes included in the spirit and technical scope of the present invention.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions may include plural expressions 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 a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries 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, interpreted in an ideal or excessively formal meaning. It may not be.

1 is a perspective view of a robot cleaner according to an embodiment of the present invention, FIG. 2 is a bottom view of a robot cleaner according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. A bottom view of a state in which a mop is removed from a robot cleaner according to is disclosed, FIG. 4 is a block diagram for explaining control of the robot cleaner according to an embodiment of the present invention, and FIG. 5 is one of the present invention. A perspective view for explaining a state in which a water container and a dust container are separated from a body of a robot cleaner according to an embodiment is disclosed, and FIG. 10 is a view of a dust container and a water container coupled to a lower body of a robot cleaner according to an embodiment of the present invention. A drawing for explaining the state is disclosed.

A robot cleaner 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5 and 10 .

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

In addition, based on the first driving wheel 211 and the second driving wheel 212, the side to which the agitator 320 to be described later is coupled is defined as the front, front, and front, and the bucket 410 to be described later is disposed Define the side as the back, the back, and the back and explain.

The 'lowest part' of each component described in the embodiment of the present invention may be the lowest part of each component 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, a driving unit 200, a cleaning unit 300, a water cleaning unit 400, a sensor unit 500, a battery 600, and a control unit 700. ), including

The body 100 may form the overall outer shape of the robot cleaner 1 or may be formed in a frame shape. Each part constituting the robot cleaner 1 may be coupled to the body 100, and some parts constituting the robot cleaner 1 may be accommodated inside the body 100.

Specifically, the body 100 may be divided into a lower body 110 and an upper body 120 covering the lower body 110, and the lower body 110 and the upper body 120 are combined with each other in a space formed Parts of the robot cleaner 1 may be provided. For example, the body 100 may accommodate the battery 600 and at least one motor in an internal space.

In an embodiment of the present invention, the body 100 may be formed in a form in which the width (or diameter) in the horizontal direction (directions parallel to X and Y) is greater 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 may provide a structure advantageous for avoiding obstacles while the robot cleaner 1 moves (runs).

When viewed from above or below, the body 100 may be formed in various shapes, such as a circle, an oval, or a rectangle.

The lower body 110 is coupled to the upper body 120 to form a space capable of accommodating a dust container 330, a water container 410, a battery 600, at least one sensor, and at least one motor therein. can

In addition, a suction port 111 and a pair of wheel holes 112 may be formed in the lower body 110 .

The inlet 111 may be a passage through which dust on the floor is introduced. For example, the suction port 111 may be formed in the shape of a rectangular hole, and the lower end of the suction nozzle 310 may be connected. The suction port 111 may communicate with a dust inlet formed at a lower end of the suction nozzle 310 . With this configuration, when the suction motor 340 is operated, air containing dust may be introduced through the suction port 111 and flow through the suction nozzle 310, and dust contained in the air may be introduced. may be collected in the dust bin 330.

An agitator 320 to be described below may be rotatably accommodated inside the inlet 111 . With this configuration, the dust around the inlet 111 can be guided into the inlet 111 by the rotation of the agitator 320, and the efficiency of inhaling dust can be increased.

A pair of wheel holes 112 may be formed in the lower body 110, may be formed symmetrically from side to side, and may accommodate driving wheels 210 therein, respectively.

A pair of side brushes 113 may be provided on the lower surface of the lower body 110 . For example, a pair of side brushes 113 may be provided on both front sides of the lower surface of the lower body 110 . The side brushes 113 may sweep dust on both sides of the front side of the robot cleaner 1 while rotating according to the operation of the side brush motor 360 . With this configuration, an area that can be cleaned by the robot cleaner 1 can be expanded.

At least one auxiliary wheel 114 may be provided on the lower surface of the lower body 110 . With this configuration, it is possible to guide the movement of the robot cleaner 1 while minimizing friction between the robot cleaner 1 and the floor.

A water bottle connection nozzle 115 may be provided on the lower body 110 . When the bucket 410 is coupled to the lower body 110, the bucket connection nozzle 115 is coupled to the water outlet 413 of the bucket 410 to supply water stored in the bucket 410 to the water supply unit 440. can supply

A bucket accommodating portion 116 into which the dust container 330 and the water container 410 can be inserted and coupled may be formed in the lower body 110 .

Specifically, the dust container 330 and the water container 410 may be inserted and accommodated in the container accommodating portion 116 in a sliding manner. For example, the barrel accommodating portion 116 may be concavely formed in a groove shape toward the front from the rear side of the lower body 110, and the lower side of the barrel accommodating portion 116 may be at least partially open. At this time, guide protrusions 116a may be formed on the lower surface of the container accommodating portion 116 to guide sliding movement of the dust container 330 and the water container 410 .

With this configuration, the user can couple the dust container 330 and the water container 410 to the lower body 110 by simply pushing the dust container 330 and the water container 410 in from the rear of the lower body 110. .

In addition, foreign substances such as dust that may accumulate in the barrel accommodating portion 116 may be easily removed through the open lower surface of the tub accommodating portion 116 .

In addition, since the dust container 330 and the water container 410 are supported by the guide jaw 116a, it is possible to prevent the dust container 330 and the water container 410 from being separated downward.

Meanwhile, although not shown, the inner space of the tub accommodating portion 116 may be formed to communicate with the flow path of the suction nozzle 310 . In addition, a hole is formed in the cylinder accommodating portion 116 at a position where the suction motor 340 is mounted so that air can flow toward the suction motor 340 when the suction motor 340 operates.

Therefore, when the suction motor 340 is operated while the dust bin 330 is coupled to the bin accommodating part 116, the air and dust introduced through the suction hole 111 pass through the suction nozzle 310 and pass through the dust bin 330. ), and the air introduced into the dust bin 330 may be discharged toward the suction motor 340.

On the other hand, although not shown, the lower body 110 may be formed with a water bottle coupling jaw (not shown) hook-coupled with a body coupling hook 412 to be described later. A bucket coupling jaw (not shown) may protrude downward from the upper wall of the bucket accommodating portion 116 so that the body coupling hook 412 can be caught. At this time, the protruding shape of the bucket coupling jaw (not shown) can be transformed into various shapes that can be supported by hanging the body coupling hook 412 .

Therefore, according to the present invention, since both the water container 330 and the dust container 410 are inserted and coupled to one accommodating space formed in the body 100, the volume occupied by the water container 330 and the dust container 410 inside the body 100 has the effect of minimizing

In addition, since an additional structure for attaching and detaching the water container 330 and the dust container 410 is unnecessary, the capacities of the water container 330 and the dust container 410 can be maximized within the limited size of the body 100. There is an effect.

The upper body 120 may form an upper exterior of the robot cleaner 1 . Although not shown, a display may be provided on the upper body 120 .

The robot cleaner 1 of the present invention may include a bumper 130. The bumper 130 is coupled along the rim of the body 100, and is made to move against the body 100. For example, the bumper 130 may be coupled to the body 100 to be reciprocally movable along a direction approaching the center of the body 100 .

The bumper 130 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. At least one elastic member (not shown) may be provided between the bumper 130 and the body 100 . With this configuration, when the bumper 130 moves relative to the center of the body 100 in contact with an obstacle, the bumper 130 can return to its original position by the restoring force of the elastic member (not shown), the bumper By absorbing or dispersing the shock applied to the body 130, transmission of the shock to the body 100 can be prevented and reduced.

The driving unit 200 may include a driving wheel 210 and an actuator 220 .

The driving wheel 210 may include a first driving wheel 211 and a second driving wheel 212 . In this case, the first driving wheel 211 may be made the same as the second driving wheel 212 or may be made symmetrically. For example, if the first driving wheel 211 is located on the left side of the robot cleaner 1, the second driving wheel 212 may be located on the right side of the robot cleaner 1, and in this case, the first driving wheel 211 ) and the second driving wheel 212 may be symmetrical to each other.

The actuator 220 may include a first actuator 221 and a second actuator 222 . The first actuator 221 is coupled to the body 100 to rotate the first driving wheel 211 .

The first actuator 221 may include a first driving motor 221a and one or more gears.

The first driving motor 221a may be formed of an electric motor. The plurality of gears are engaged with each other to rotate, connect the first driving motor 221a and the first driving wheel 211, and transmit rotational power of the first driving motor 221a to the first driving wheel 211. do. Therefore, when the rotating shaft of the first driving motor 221a rotates, the first driving wheel 211 may rotate.

The second actuator 222 is coupled to the body 100 to rotate the second driving wheel 212 .

The second actuator 222 may include a second driving motor 222a and one or more gears.

The second driving motor 222a may be formed of an electric motor. The plurality of gears mesh with each other to rotate, connect the second driving motor 222a and the second driving wheel 212, and transmit rotational power of the second driving motor 222a to the second driving wheel 212. do. Accordingly, when the rotating shaft of the second driving motor 222a rotates, the second driving wheel 212 may rotate.

In an embodiment of the present invention, the first actuator 221 may be disposed right next to the first driving wheel 211 . Also, the second actuator 222 may be disposed right next to the second driving wheel 212 . With this configuration, loss of power transmitted from the first actuator 221 and the second actuator 222 to the first driving wheel 211 and the second driving wheel 212 can be minimized.

The second actuator 222 may be symmetrical (left-right symmetry) with the first actuator 221 .

The cleaner 300 may collect dust by sucking dust and air on the floor.

The cleaner 330 may include a suction nozzle 310, an agitator 320, a dust bin 330, a suction motor 340, a filter 350, a side brush motor 360, and an agitator motor 370. there is.

The suction nozzle 310 may guide dust and air introduced through the suction port 111 to the dust bin 330 . For example, the suction nozzle 310 may be formed in a tubular shape to connect the suction port 111 and the dust bin 130. That is, the suction nozzle 310 may communicate the suction port 111 and the inner space of the dust bin 330 . At this time, the suction nozzle 310 may be connected to the dust bin 330 while gradually narrowing in diameter from the suction port 111 .

The agitator 320 is provided with a plurality of brushes rotatably to guide external dust and air to the dust bin 330 . At this time, it is possible that at least one or more gears are provided in the agitator 320 .

On the other hand, the agitator 320 according to the present embodiment has a separate agitator motor 370 installed to receive rotational power, as well as the first driving motor 221a or the second driving motor 222a according to the embodiment ) It is also possible to receive rotational power from, it is also possible to receive rotational power from the suction motor 340.

The dust bin 330 may store dust introduced through the suction nozzle 310 . The dust container 330 may have a dust inlet communicating with the suction nozzle 310, a space for storing dust, and an air outlet for discharging air. A detailed description of the dust bin 330 will be described later.

The suction motor 340 may generate a suction force capable of sucking external dust and air through the suction port 111 . For example, the suction motor 340 may be an electric motor. External dust and air may be introduced into the suction port 111 by the suction force generated by the suction motor 340 and may reach the dust bin 330 after passing through the suction nozzle 310 .

Meanwhile, at least one or more filters 350 may be accommodated in the dust bin 330 of this embodiment. Fine dust contained in the air can be separated by the filter 350, and fine dust can be prevented from being discharged into the air again.

The water cleaning unit 400 may remove foreign substances by wiping the floor. The water cleaning unit 400 supplies water to the mop 430, presses the floor using the load of the robot cleaner 1, and wipes foreign substances present on the floor according to the friction between the mop 430 and the floor. can A detailed description of the water cleaning unit 400 will be described later.

The sensor unit 500 may detect obstacles in the cleaning area of the robot cleaner 1 .

The sensor unit 500 may include a first sensor 510 , a second sensor 520 and a third sensor 530 .

The first sensor 510 may be coupled to the body 100 and detect movement (relative movement) of the bumper 130 relative to the body 100 . The first sensor 510 may be formed using a microswitch, a photo interrupter, or a tact switch.

The second sensor 520 may be coupled to the body 100 and detect a relative distance to an obstacle. The second sensor 520 may be configured as a distance sensor.

The third sensor 530 may be coupled to the body 100 and detect a relative distance from the bottom surface.

When the relative distance from the floor (which may be a vertical distance from the floor or an inclined distance from the floor) detected by the third sensor 530 exceeds a predetermined value, Alternatively, when the predetermined range is exceeded, the bottom surface may be lowered, and thus the third sensor 530 may detect a cliff.

The third sensor 530 may be formed of an optical sensor, and may include a light emitting unit for irradiating light and a light receiving unit for receiving the reflected light. The third sensor 530 may be formed of an infrared sensor.

The third sensor 530 may be referred to as a cliff sensor.

The battery 600 is coupled to the body 100 to supply power to other components constituting the robot cleaner 1. The battery 600 may supply power to the first actuator 221 and the second actuator 222, and in particular, may supply power to the first travel motor 221a and the second travel motor 222a.

In an embodiment of the present invention, the battery 600 may be charged by an external power source, and for this purpose, a charging terminal for charging the battery 600 is provided on one side of the body 100 or on the battery 600 itself. It can be.

In the robot cleaner 1 according to the embodiment of the present invention, the battery 600 may be coupled to the body 100. Specifically, the battery 600 may be accommodated in an inner space formed by combining the lower body 110 and the upper body 120 .

The controller 700 may control the operation of the first actuator 221 and the second actuator 222 according to preset information or real-time information. For control of the controller 700, the robot cleaner 1 may include a storage medium in which application programs are stored, and the controller 700 controls information input to the robot cleaner 1 and output from the robot cleaner 1. The robot cleaner 1 may be controlled by driving an application program according to information to be used.

The controller 700 may control the driving direction of the robot cleaner 1. That is, the controller 700 controls the rotation direction and rotation speed of the first travel motor 221a and the second travel motor 222a, respectively, to rotate the first travel wheel 211 and the second travel wheel 212. Direction and rotation speed can be controlled respectively.

At this time, the control unit 700 may control the robot cleaner 1 to travel straight or to travel in a straight line, and it is also possible to control the robot cleaner 1 to travel overlappingly in a predetermined area. Also, the controller 700 may control the robot cleaner 1 to travel according to a preset driving pattern.

The control unit 700 may control the robot cleaner 1 to avoid maneuvering when the bumper 130 of the robot cleaner 1 contacts an obstacle, and control the robot cleaner 1 according to information from the first sensor 510. It may be configured to control the operation of the first actuator 221 and/or the second actuator 222 . For example, when the bumper 130 contacts an obstacle while the robot cleaner 1 is driving, the contact position of the bumper 130 may be identified by the first sensor 510, and the controller 700 It is possible to control the operation of the first actuator 221 and/or the second actuator 222 to move out of this contact position.

When the distance between the robot cleaner 1 and an obstacle is equal to or less than a predetermined value according to information from the second sensor 520, the control unit 700 changes the driving direction of the robot cleaner 1 or changes the direction of the robot cleaner 1 The operation of the first actuator 221 and/or the second actuator 222 may be controlled so that ) moves away from the obstacle.

In addition, the controller 700 controls the first actuator 221 and/or the second actuator 222 so that the robot cleaner 1 stops or the driving direction is changed according to the distance detected by the third sensor 530. operation can be controlled.

The controller 700 may control the cleaner 300 . Specifically, the controller 700 may control the output of the suction motor 340 . That is, the controller 700 may control the rotational speed of the suction motor 340 . In addition, the controller 700 may control the rotational speed of the side brush 113 by controlling the output of the side brush motor 360 . Also, the controller 700 may control the rotational speed of the agitator 320 by controlling the output of the agitator motor 370 .

In addition, the controller 700 may control the output of the suction motor 340 according to the amount of dust on the bottom surface B. That is, the control unit 700 can detect the amount of dust present on the floor through the sensor unit 500, and when it is determined that the amount of dust present on the floor is greater than a predetermined reference value, the suction motor 340 output can be increased.

Meanwhile, FIGS. 5 to 16 are drawings for explaining the dust container 330 and the water cleaning unit 400 in the robot cleaner according to an embodiment of the present invention.

The dust bin 330 and the water cleaning unit 400 according to an embodiment of the present invention will be described with reference to FIGS. 5 to 16 .

The dust bin 330 may store dust introduced through the suction nozzle 310 .

The dust container 330 includes a dust container body 331, a dust container separation button 332, a dust container cover 333, a dust discharge hole 334, a dust discharge cover 335, a discharge cover fixing part 336, and a dust inlet 337. ), an air outlet 338 and a filter receiving groove 339 may be included.

The dust container body 331 may provide a space for storing dust therein. For example, the dust container body 331 may be formed in a box shape with an open top. The dust box cover 333 is hinged to the upper part of the dust box body 331, and the dust discharge hole 334, the dust inlet 337, and the air outlet 338 may be formed on the lower side of the dust box body 331. . In addition, a filter accommodating groove 339 may be formed inside the dust container body 331 .

The dust container 330 may be hook-coupled to the water container 410 . Specifically, a hook receiving groove 332a to which the dust container coupling hook 416 of the water container 410 is coupled may be formed in the dust container body 331 . For example, the hook receiving groove 332a may be formed on the rear surface of the dust container body 331 . One of the pair of dust container coupling hooks 416 may be inserted into the hook receiving groove 332a and hook-coupled thereto.

The dust container separation button 332 is provided on the dust container main body 331 and is engaged with one of the pair of dust container coupling hooks 416, but when an external force is applied, engagement with the dust container coupling hook 416 can be released.

The dust container separation button 332 is hook-coupled with the dust container coupling hook 416, and when an external force is applied, coupling with the dust container coupling hook 416 may be released. For example, the dust bin separation button 332 may be formed in the form of a long board, and a hook may be formed at one end (rear end). In addition, a hinge portion may be provided at the center of the dust container separation button 332 to be hinged with the dust container body 331 . At this time, a torsion spring is provided in the hinge portion to elastically support the coupling between the dust container separation button 332 and the dust container coupling hook 416 . Also, a button unit for guiding a position pressed by a user may be provided at the other end (front end) of the dust bin separation button 332 . With this configuration, the hook of the dust container separation button 332 is hook-coupled with the dust container coupling hook 416, and when the user presses the button, the hook can be released while rotating around the hinge portion.

The dust container separation button 332 may be coupled to the dust container body 331 . Specifically, the dust container separation button 332 may be hinged to a side surface of the dust container body 331 . For example, a button accommodating groove may be formed on the side of the dust container main body 331 to accommodate the dust container separation button 332 . With this configuration, the dust container separation button 332 can be prevented from protruding outward from the dust container body 331, and the dust container 330 can be smoothly inserted into the body 100.

The dust box cover 333 may open and close the inner space of the dust box body 331 . For example, the dust box cover 333 may be hinged to the upper side of the dust box body 331, and the open upper side of the dust box body 331 may be opened and closed. With this configuration, when the dust bin 330 is separated from the body 100, dust can be prevented from scattering to the upper side of the dust bin body 331, and the user can open the dust bin cover 333 when necessary to prevent the dust bin body from scattering. The interior of (331) can be cleaned.

The dust discharge hole 334 is formed on the lower side of the dust container body 331, and dust collected in the dust container body can be discharged.

Specifically, the robot cleaner 1 according to the embodiment of the present invention may be coupled to a cleaner station (not shown). Here, the cleaner station (not shown) is combined with the robot cleaner 1 to remove dust stored in the dust bin 330 of the robot cleaner 1 and supplies power to the battery 600 of the robot cleaner 1. can For example, when the robot cleaner 1 is coupled to a cleaner station (not shown), a suction port of the cleaner station (not shown) may be connected to the dust discharge hole 334 in a flow path. Also, a charging terminal of the robot cleaner 1 may be in contact with a charging terminal of a cleaner station (not shown).

Accordingly, when the dust collection motor of the cleaner station (not shown) is operated, the dust stored in the dust container 330 may pass through the dust discharge hole 334 and be sucked into the dust collector of the cleaner station (not shown). With this configuration, it is possible to provide convenience in that the user can remove dust inside the dust bin 330 of the robot cleaner 1 without directly emptying the dust bin 330 .

The dust discharge cover 335 may open and close the dust discharge hole 334 .

When the dust collection motor of the cleaner station (not shown) is operated, the dust discharge cover 335 may open the dust discharge hole 334 by the suction force of the dust collection motor. For example, the dust discharge cover 335 may be formed in a plate shape and made of a material having elasticity. In addition, one end (hereinafter referred to as a 'fixed end') of the dust discharge cover 335 is coupled to the lower surface of the dust box body 331 by the discharge cover fixing part 336, and the dust discharge cover 335 The other end (which may be referred to as a 'free end' hereinafter) of ) may be disposed to be in contact with the dust box body 331 . Therefore, when the robot cleaner 1 is driving and/or cleaning, the dust discharge cover 335 blocks the dust discharge hole 334 so that dust is not discharged to the outside. In addition, when the dust collection motor of the cleaner station (not shown) is operated while the robot cleaner 1 is coupled to the cleaner station (not shown), the free end of the dust discharge cover 335 is moved by the suction force of the dust collection motor to the robot cleaner. The dust discharge hole 334 may be opened while being bent to the outside of (1).

The discharge cover fixing part 336 may couple the lower surface of the dust discharge cover 335 and the dust container body 331 . Specifically, the discharge cover fixing portion 336 penetrates the dust discharge cover 335 and connects the through-coupled portion 336a coupled to the lower surface of the dust container body 331 and the dust discharge cover 335 to the dust container body 331. It may include a pressing portion 336b that presses in the direction. With this configuration, the fixed end of the dust discharge cover 335 can be fixedly coupled to the dust container body 331, and the dust discharge cover 335 is installed in the dust discharge hole ( 334) can be sealed.

The dust inlet 337 communicates with the suction nozzle 310 , and air containing dust may flow into the dust container body 331 . The dust inlet 337 may be formed in front of the dust container body 331 . For example, the dust inlet 337 may be formed on a surface disposed in front of the dust container body 331 and inclined downward. With this configuration, the flow path connecting the suction port 111 formed on the lower body 110, the inner space of the suction nozzle 310 and the dust inlet 337 can form a gentle slope, and minimize flow loss so that the suction motor ( 340) has the advantage of maximizing the suction power.

The air outlet 338 is formed in the dust container body 331, and air can be discharged. For example, the air outlet 338 may be formed on a side surface of the dust container body 331 . At this time, the air outlet air outlet 338 may be disposed close to the suction motor 340 and the filter 350 . With this configuration, when the suction motor 340 is operated, dust may be separated from the air introduced through the dust inlet 337 and then discharged through the air outlet 338 .

A filter 350 may be accommodated in the filter receiving groove 339 . The filter accommodating groove 339 may be disposed inside the dust container body 331, and a partition wall may be formed in the inner space of the dust container body 331. Accordingly, the filter receiving groove 339 may be a groove with an open upper side. With this configuration, the user can insert the filter 350 from the upper side of the filter receiving groove 339 to couple the filter 350, and pull the coupled filter 350 upward as necessary to filter the receiving groove. At 339, the filter 350 can be separated. With this configuration, the user can easily separate and combine the filter 350 when necessary, and can easily replace or clean the filter 350 .

Meanwhile, an air outlet 338 may be disposed on one side of the filter accommodating groove 339, and a suction motor 340 may be disposed on the other side of the filter accommodating groove 339. In this case, the air outlet 338 may be formed in a partition wall that divides the dust storage space and the filter receiving groove 339 in the inner space of the dust container body 331 . With this configuration, when the suction motor 340 is operated, the air flowing by the suction force of the suction motor 340 is introduced toward the air outlet 338, and the fine dust contained in the air is separated by the filter 350. It can be collected in the space where the dust is stored.

Meanwhile, when the dust container 330 is mounted on the body 100, a dispositional relationship between the dust container 330 and surrounding parts will be described as follows. A suction nozzle 310 may be disposed in front of the dust container 330, a water container 410 may be disposed behind the dust container 330, and a suction motor 340 may be disposed on one side of the dust container 330 in a left-right direction. A water pump 441 may be disposed on the other side of the dust bin 330 in the left and right directions.

At this time, the dust container 330 and the water container 410 may be detachably coupled, and in a state where the dust container 330 and the water container 410 are coupled, the user moves the water container 410 to the outside (rear side) of the robot cleaner 1. ), the dust container 330 may also be moved to the outside (rear side) of the robot cleaner 1 together with the water container 410 . In this case, since the suction nozzle 310, the suction motor 340, and the water pump 441 disposed around the dust container 330 are not disposed on a path along which the dust container 330 moves in a straight line, the user may use the water container 410 ) can be easily separated from the dust bin 330 only by pulling. In addition, when the separated dust bin 330 is coupled to the body 100, the suction nozzle 310, the dust bin 330, and the suction motor 340 are operated by simply pushing the dust bin 330 from the rear side of the body 100. ) can provide convenience that can be connected in a flow way.

Meanwhile, the arrangement of the inner space of the dust box body 331 will be described as follows. A dust inlet 337 may be disposed in front of the dust container body 331 . In addition, a filter receiving groove 339 and an air outlet 338 may be disposed on one side of the inside of the dust box body 331 in the left and right directions, and a dust discharge hole 334 and dust discharge holes 334 and dust on the other side of the inside of the dust box body 331 in the left and right directions. A discharge cover 335 may be disposed. With this configuration, the air flow path when dust is sucked and stored by operating the suction motor 340 and the air flow path when dust stored in the dust bin 330 is discharged by operating the dust collecting motor of the cleaner station (not shown) The flow path of can be made different. Accordingly, there is an effect of preventing dust from accumulating in a specific position inside the dust bin while the air flows only through a certain path.

The water cleaning unit 400 may remove foreign substances by wiping the bottom surface (B).

The water cleaning unit 400 may include a water container 410, a mop mounting plate 420, a mop 430 and a water supply unit 440.

The water container 410 is made in the form of a container having an internal space so that a liquid such as water is stored therein.

The water bottle 410 may be detachably coupled to the body 100 . Specifically, the water bottle 410 may be hook-coupled to the body 100 .

The water container 410 includes a water container body 411, a body coupling hook 412, a water inlet (not shown), an inlet cover 414, a water container separation button 415, a dust container coupling hook 416, a mop mounting hook 417 ), a guide rail 418 and an auxiliary wheel 419 may be included.

The water tank body 411 is provided with a space capable of storing liquid such as water therein. Specifically, the water bottle body 411 includes a rear surface 411a, a front surface 411b, a connection surface 411c, an upper surface 411d and a lower surface 411e, the rear surface 411a, A liquid such as water may be stored in the inner space surrounded by the front surface 411b, the connection surface 411c, the upper surface 411d, and the lower surface 411e.

Here, the rear surface 411a may form the exterior of the robot cleaner 1 together with the body 100 . For example, when viewed from above or below, the robot cleaner 1 according to the embodiment of the present invention may have a circular or oval shape as a whole. At this time, in a state in which the water bottle 410 is coupled to the body 100, the rear surface 411a may have the same curvature as the curvature of the outer curved surface of the body 100. Meanwhile, a water bottle separation button 415 to be described later may be provided on the rear surface 411a.

And, when the water bottle 410 is coupled to the body 100, the front face 411b and the connection face 411c may be accommodated inside the body 100. For example, the front face 411b may be disposed forward than the rear face 411a based on the state in which the water bottle 410 is coupled to the body 100.

At this time, the front surface 411b may contact the dust bin 330 and each other. For example, the front surface 411b is formed in a flat shape, and a dust bin coupling hook 416 to be described later may protrude therefrom. Accordingly, in a state in which the water container 410 and the dust container 330 are coupled, the front surface 411b may be in contact with the dust container body 331 .

The connection surface 411c may refer to a surface connecting the front surface 411b and the rear surface 411a. A water supply port 411ca for supplying water to the water supply unit 440 may be formed on the connection surface 411c.

The upper surface 411d may be disposed to cover upper sides of the front surface 411b, the rear surface 411a, and the connection surface 411c. A body coupling hook 412, a water outlet 413, and an inlet cover 414 may be provided on the upper surface 411d.

The lower surface 411e may be disposed below the front surface 411b, the rear surface 411a, and the connection surface 411c. A mop mounting hook 417 and a guide rail 418 may be provided on the lower surface 411e.

The body coupling hook 412 is provided on the water bottle body 411 and may protrude upward from the water bottle body 411 in the gravitational direction. Specifically, the body coupling hook 412 may be provided on the upper surface 411d of the water bottle body 411 and protrude upward from the upper surface 411d.

In addition, the body coupling hook 412 may be hook-coupled to the body 100 . For example, the body coupling hook 412 may move up and down along the direction of gravity. In addition, a stopper (not shown) may be formed in the body 100 so as to support and contact the body coupling hook 412 .

When the water bottle 410 is inserted into and coupled to the body 100, the body coupling hook 412 goes into the body 100, and the body coupling hook 412 is supported by a stopper (not shown). With this configuration, when the user pulls the water bottle 410 out of the body 100, the body coupling hook 412 is caught on a stopper (not shown) to prevent separation between the water bottle 410 and the body 100. there is.

Meanwhile, the body coupling hook 412 may move downward in the gravitational direction when an external force is applied to the water bottle separation button 415 . With this configuration, when the user presses the bucket release button 415, the hook coupling between the bucket 410 and the body 100 can be released while the body coupling hook 412 is moved downward, and the user can move the bucket 410 When pulling outward of the body 100, the water tank 410 may be separated from the body 100.

The water outlet 413 may refer to a passage formed to allow liquid to be discharged from the water container body 411 . For example, when the water tank 410 is separated from the body 100, the water outlet 413 may be blocked by a sealing member (not shown) or the like, and when the water tank 410 is coupled to the body 100, the water outlet 413 may be blocked. 413 may be opened to discharge water while being coupled with the water tank connection nozzle 115 .

The water inlet (not shown) may refer to a hole through which liquid is injected into the water container body 411 . A water inlet (not shown) may be formed on the upper surface 411d of the water container body 411 .

The inlet cover 414 may selectively open and close the water inlet (not shown). With this configuration, it is possible to prevent the liquid inside the water container 410 from overflowing to the outside.

The water bottle separation button 415 may be pressed by the user to move the body coupling hook 412 . For example, the water bottle release button 415 may be disposed on the rear face 411a. And the water bottle separation button 415 may be disposed close to the upper side of the body 100. With this configuration, the user can press the water bottle separation button 415 with one finger and separate the water bottle 410 and the body 100 with the palm of the hand and the rest of the fingers.

The dust bin coupling hook 416 may be detachably coupled to the dust bin 330 . For example, a pair of dust bin coupling hooks 416 may be provided on the front surface 411b and protrude forward from the front surface 411b. In this case, the pair of dust bin coupling hooks 416 may be formed in a symmetrical shape.

The dust bin coupling hook 416 may be hook-coupled to the dust bin 330 . For example, one of the pair of dustbin coupling hooks 416 is inserted into the hook receiving groove 332a of the dustbin 330, and the other of the dustbin coupling hooks 416 is connected to the dustbin separation button 332. can be combined With this configuration, when the water container 410 is separated from the body 100 while the water container 410 and the dust container 330 are coupled to the body 100, the water container 410 and the dust container 330 are together with the body 100. It can be separated from (100). In addition, when the user wants to separate the dust bin 330 and the water container 410 from each other, the user presses the dust bin separation button 332 to release the coupling with one dust bin coupling hook 416, and then the remaining dust bin coupling hooks 416 Can be taken out of the hook receiving groove (332a).

Therefore, according to the present invention, the water container 330 and the dust container 410 are hook-coupled so that the user can easily couple them, and the user can easily separate them from each other with a simple operation of pressing a button.

In addition, since the water container 330 and the dust container 410 are coupled to each other, the user can separate the water container 330 and the dust container 410 from the body 100 with a single operation.

In addition, there is an effect that the water container 330 and the dust container 410 can be separated from the body 100 and washed respectively.

The mop mounting hook 417 may be hook-coupled with the mop mounting plate 420 . Specifically, the mop mounting hook 417 may be formed on the lower surface 411e of the water container 410 and hook-coupled to the hook engaging jaw 423 of the mop mounting plate 420.

For example, a pair of mop-mounted hooks 417 are formed along the front-back direction of the robot cleaner 1 on the lower surface 411e of the water container 410, and the pair of mop-mounted hooks 417 are located on the rear side of each Protruding jaws in the form of hooks may be formed toward the ends facing each other. At this time, when the mop mounting plate 420 is moved in a sliding manner from the rear of the robot cleaner 1, the hook hooking jaw 423 is linearly moved while passing through the protruding jaw of the mop mounting hook 417, and the hook hooking jaw 423 and the protruding jaw of the mop mounting hook 417 support each other. Therefore, when the mop mounting plate 420 is coupled to the water container 410, separation of the mop mounting plate 420 can be prevented by the mop mounting hook 417.

The guide rail 418 may guide the coupling of the mop mounting plate 420 and the bucket 410 . Specifically, the guide rail 418 is formed on the lower surface 411e of the water container 410, is coupled to the rail receiving groove 424 of the mop mounting plate 420, and guides the slide movement of the mop mounting plate 420. can do.

For example, the guide rail 418 may be formed along the front and rear directions of the robot cleaner 1 on the lower surface 411e of the water container 410 . At this time, the guide rail 418 is disposed on the lower side of the extension 418a extending vertically downward from the lower surface 411e of the water container 410 and the extension 418a, and is wider than the extension 418a in the left-right direction. This may include a wider formed support portion 418b. With this configuration, the effect of guiding the coupling of the mop mounting plate 420 and preventing the mop mounting plate 420 from being disengaged downward in a state in which the mop mounting plate 420 and the bucket 410 are coupled there is.

The auxiliary wheel 419 may be selectively coupled to the lower surface 411e of the water container 410 . For example, the auxiliary wheel 419 may be coupled to the lower surface 411e of the bucket 410 when the bucket 410 and the mop mounting plate 420 are not mounted. Therefore, when there is no need to clean with water, the mop mounting plate 420 and the mop 430 are separated from the robot cleaner 1, and the auxiliary wheels 419 are coupled to assist the robot cleaner 1 in driving. can

Referring to FIGS. 9 and 10 , the mop mounting plate 420 and the mop 430 are described as follows.

The mop mounting plate 420 may be coupled to the lower surface 411e of the water container 410 and the mop 430 may be coupled to the lower side. That is, the mop mounting plate 420 may be disposed between the bucket 410 and the mop 430, and may be a means for coupling the mop 430 to the bucket 410.

Specifically, the mop mounting plate 420 includes a mounting plate body 421, a coupling release button 422, a hook holding jaw 423, a rail receiving groove 424, a water supply hole 425, and a mop coupling part 426 ) may be included.

Mounting plate body 421 is formed in a plate shape, the water tank 410 is coupled to the upper side, the mop 430 may be coupled to the lower side. That is, the upper surface of the mounting plate body 421 is coupled to the lower surface 411e of the water container 410 in a sliding manner, and the lower surface of the mounting plate body 421 can be detachably coupled to the mop 430. there is.

Meanwhile, a coupling release button 422 may be provided on the rear side of the mounting plate body 421, and a hook holding jaw 423 and a rail receiving groove 424 may be provided on the upper side of the mounting plate body 421. And, the lower surface of the mounting plate body 421 may be provided with a mop coupling portion 426. In addition, a water supply hole 425 may be formed through the mounting plate body 421 .

The coupling release button 422 may be provided to be linearly movable on the mounting plate body 421 . For example, the coupling release buttons 422 may be provided as a pair and linearly moved to be closer to each other or away from each other within the mounting plate body 421 .

At least a portion of the coupling release button 422 may be exposed to the outside of the mounting plate body 421 so that an external force may be applied. Specifically, a space into which a user's finger can enter may be formed in the mounting plate body 421, and a coupling release button 422 may be disposed in the space. For example, a space into which a user's finger can enter may be formed at the rear side of the mounting plate body 421, and the coupling release button 422 may be exposed in the space. Accordingly, the user may, for example, press the coupling release button 422 by inserting the thumb and forefinger into the above space and then closing the thumb and forefinger.

In addition, a spring (not shown) may be coupled to the coupling release button 422 . A spring (not shown) may apply restoring force to the coupling release button 422 . Therefore, when the external force applied to the coupling release button 422 is released, the coupling release button 422 can be restored to its original position (the position before the external force is applied).

The coupling release button 422 may be connected to the hook hooking jaw 423 . The coupling release button 422 and the hook locking jaw 423 may be coupled to each other or integrally formed. Accordingly, when the coupling release button 422 is moved, the hook hooking jaw 423 may also move in conjunction with the coupling release button 422 .

With this configuration, when the user presses the pair of coupling release buttons 422, the coupling release buttons 422 can be moved closer to each other, and the hook hooking jaw 423 is coupled with the coupling release button 422. While being moved, the hook coupling between the bucket 410 and the mop mounting plate 420 may be released. Meanwhile, when the user's pressing ends, the coupling release button 422 may be moved away from each other by a restoring force of a spring (not shown).

The hook hooking jaw 423 is hook-coupled with the mop-mounted hook 417, and may be moved in conjunction with the movement of the coupling release button 422. For example, a pair of hook hooking protrusions 423 may be provided on the upper surface of the mounting plate body 421 and may be moved closer to each other or farther from each other in conjunction with the movement of the coupling release button 422 . That is, when the coupling release buttons 422 get closer to each other by an external force, the hook locking jaws 423 can also be moved to come closer to each other, and when the coupling release buttons 422 move away from each other, the hook locking jaws 423 also move to each other. It can be moved farther away.

Meanwhile, the hook hooking protrusion 423 may be hook-coupled with the mop mounting hook 417 as the mounting plate body 421 slides to the water container 410. For example, when the mounting plate body 421 slides from the rear to the front, the hook hooking protrusion 423 comes into contact with an inclined surface formed on the mop mounting hook 417 and moves along the inclined surface while the mop mounting hook 417 ) and can be hook-coupled with each other.

Therefore, even if the mounting plate body 421 is pulled rearward after the hook catching protrusion 423 and the mop mounting hook 417 are coupled to each other, the engagement of the hook catching protrusion 423 and the mop mounting hook 417 As a result, the mop mounting plate 420 is not separated from the water container 410.

On the other hand, in a state in which the user presses the coupling release button 422, the hook engagement with the mop mounting hook 417 may be released as the hook locking protrusions 423 get closer to each other, and in this state, the user can release the mounting plate body 421 ) When pulling backward, the mop mounting plate 420 and the water container 410 may be separated from each other.

The rail accommodating groove 424 accommodates the guide rail 418 and may linearly move along the guide rail 418 . For example, the rail accommodating groove 424 may be provided on the upper surface of the mounting plate body 421, and the guide rail 418 may be accommodated therein to be linearly movable.

The rail accommodating groove 424 may be formed to correspond to the shape of the guide rail 418 so that the guide rail 418 can be inserted and accommodated therein. For example, the rail accommodating groove 424 may be formed on the upper surface of the mounting plate body 421, and is formed on a small diameter portion where the extension portion 418a of the guide rail 418 is accommodated and a lower side of the small diameter portion. And, it may include an enlarged diameter portion formed wider in the left-right direction than the small-diameter portion. With this configuration, the linear movement of the mop mounting plate 420 can be guided while the guide rail 418 is accommodated in the rail receiving groove 424, and the mop mounting plate 420 can be prevented from being moved downward. can

The water supply hole 425 is formed in the mounting plate body 421, and may be formed at a position facing the water supply nozzle 443 to be described later in a state where the mop mounting plate 420 is coupled to the water container 410. . For example, a pair of water supply holes 425 may be symmetrically formed on the left and right sides of the mounting plate body 421 . At this time, the water supply hole 425 may be formed in a long hole shape in the left and right directions, and at least some of the long hole shape water supply hole 425 may be disposed vertically below the discharge port of the water supply nozzle 443. .

With this configuration, water discharged through the water supply nozzle 443 may flow into the water supply hole 425 . At this time, water may spread in the left and right directions along the shape of the water supply hole 425 . Accordingly, water may be supplied to the mop 430 through the water supply hole 425, and widely supplied in a direction perpendicular to the forward or backward direction of the robot cleaner 1. Therefore, when the robot cleaner 1 moves forward or backward while water is supplied to the mop 430, the water may further spread to the front or rear of the mop 430 due to the movement of the robot cleaner 1. As a result, there is an effect that water can be sufficiently supplied to the entire mop 430 in the direction in which the water supply hole 425 is formed and the robot cleaner 1 moves forward or backward.

The mop coupling part 426 may be provided on the lower surface of the mounting plate body 421 and may be coupled with the mop 430 . For example, the mop coupling part 426 may be provided in plurality on the lower surface of the mounting plate body 421 . For example, four mop couplings 426 may be provided on the mounting plate body 421, two of which are disposed in the front of the mounting plate body 421, and the other two are disposed in the front. It is disposed rearward than the two, but may be disposed inclined at a predetermined angle with respect to the front and rear direction of the robot cleaner 1. With this configuration, even if friction occurs between the mop 430 and the floor according to the driving of the robot cleaner 1, the effect of preventing the mop 430 from falling from the mop mounting plate 420 in all directions there is.

On the other hand, the mop coupling portion 426 may be detachably coupled to the mop 430. For example, the mop coupling part 426 may be Velcro.

The mop 430 may wipe foreign matter present on the floor surface by friction with the floor surface.

The mop 430 may be disposed at the rear of the lower part of the robot cleaner 1. Specifically, the mop 430 may be disposed behind the suction nozzle 310 . With this configuration, when the robot cleaner 1 moves forward, the suction nozzle 310 first sucks in foreign substances such as dust existing on the floor, and then the mop 430 wipes the foreign substances attached to the floor. can

The mop 430 may be disposed below the water container 410 and the mop mounting plate 420. Accordingly, the mop 430 may press the floor surface by the load of the entire robot cleaner 1.

Mop 430 may be coupled to the lower surface of the mop mounting plate 420. For example, the mop 430 may be coupled to the lower surface of the mop mounting plate 420 in a Velcro manner. That is, the mop coupling part 426 may be provided on the lower side of the mop mounting plate 420, and the mop coupling part (not shown) may be detachably coupled to the upper side of the mop.

The mop 430 may absorb water supplied from the water container 410 and evenly distribute the absorbed water over the entire lower surface of the mop 430 (the surface in friction with the floor). For example, the mop 430 may have a structure in which a water absorbing layer, a water dispersing layer, and a cleaning surface rubbing against the floor are sequentially stacked from the top. Alternatively, the mop 430 may have a structure in which water is absorbed and water is dispersed at the same time.

With this configuration, the mop 430 may be supplied with water from the water container 410 through the water supply unit 440, and the mop 430 and the floor surface are pressed while pressing the floor using the load of the robot cleaner 1. Foreign substances on the floor can be wiped off using the frictional force of

The water supply unit 440 may receive water from the water container 410 and discharge the water to the mop 430 .

The water supply unit 440 may include a water pump 441 , a water supply pipe 442 , and a water supply nozzle 443 .

The water pump 441 may be accommodated inside the body 100 . For example, the water pump 441 may be discharged to the lower body 110 and may be disposed on the side of the dust bin 330 . In this case, the water pump 441 may be disposed on the opposite side of the suction motor 340 based on the dust bin 330 . With this configuration, space efficiency inside the body 100 can be improved.

The water pump 441 may provide fluidity to the water stored in the water container 410 . The water pump 441 may be connected to the water container 410 and the water supply nozzle 443 through a water supply pipe 442 . For example, the water pump 441 may be connected to the water tank 410 via a flow path through the first pipe 442a, and when the water pump 441 is operated, a suction force may be applied to the water tank 410. . In addition, the water pump 441 is connected to the second pipe 442b, and when the water pump 410 is operated, water may be discharged through the second pipe 442b. Accordingly, the water pump 441 may provide fluid power to suck in water stored in the water container 410 and discharge it to the water supply nozzle 443 .

The water supply pipe 442 may provide a path through which water introduced from the water container 410 flows.

The water supply pipe 442 is provided inside the body 100 and may be connected to the water tank 410, the water pump 441, and the water supply nozzle 443. Specifically, the water supply pipe 442 may be disposed between the water tank 410 and the water pump 441 and between the water pump 441 and the water supply nozzle 443 . At this time, the water supply pipe 442 may be disposed at least partially on the upper side of the water container 410 in the direction of gravity.

For example, the water supply pipe 442 may include a first pipe 442a, a second pipe 442b, a tee connector 442c, a first pipe 442d, and a fourth pipe 442e.

The first pipe 442a may connect the water container 410 and the water pump 441 . For example, the first pipe 442a may connect the water tank connection nozzle 115 formed in the lower body 110 and the water pump 441 . At this time, the water container connection nozzle 115 is coupled to the water container 410 so that the water stored in the water container 410 can be discharged to the first pipe 442a. Accordingly, when the water pump 441 is operated, water stored in the water container 410 may flow to the water pump 441 along the first pipe 442a.

The second pipe 442b may connect the water pump 441 and the tee connector 442c. The second pipe 442b may guide water discharged from the water pump 441 to the tee connector 442c. At this time, a guide rib 116 may be formed in the lower body 110 , and the guide rib 116 may be disposed above the water container 410 . Also, the second pipe 442b may be supported by being inserted into the guide rib 116 . With this configuration, when water flows, it is possible to prevent the second pipe 442b from being shaken by the pressure of the water, and it is possible to stably flow the water.

The tee connector 442c may divide water introduced from the water pump 441 and supply the water to the water supply nozzle 443 . The tee connector 442c may be a connector having three flow paths formed therein and communicating with each other. At this time, the tee connector 442c is connected to the water pump 441 through the second pipe 442b to receive water from the water pump 441 . In addition, the tee connector 442c is connected to the third pipe 442d and the fourth pipe 442e to supply water to the pair of water supply nozzles 443 . With this configuration, the tee connector 442c can divide the water introduced from the water pump 441 into two directions and supply it to the third pipe 442d and the fourth pipe 442e. Meanwhile, the tee connector 442c may be disposed above the water tank. Also, when viewing the robot cleaner 1 from above, the tee connector 442c may be disposed on a left-right symmetrical line of the robot cleaner 1. With this configuration, the tee connector 442c can uniformly supply water to the left and right sides of the mop 430.

The third pipe 442d and the fourth pipe 442e may connect the tee connector 442c and the pair of water supply nozzles 443, respectively, and the water introduced from the tee connector 442c is connected to the pair of water supply nozzles. They can be supplied to the supply nozzles 443 respectively. Meanwhile, in this embodiment, the third pipe 442d is coupled to the left side of the tee connector 442c and the fourth pipe 442e is coupled to the right side of the tee connector 442c, but is not limited thereto, and the third pipe 442e is coupled to the right side of the tee connector 442c. It is also possible that (442d) is coupled to the right side of the tee connector (442c) and the fourth pipe (442e) is coupled to the left side of the tee connector (442c).

The water supply nozzle 443 is provided on the lower surface of the body 100, is coupled to the water supply pipe 442, and can discharge water introduced from the water container 410. Specifically, a pair of water supply nozzles 443 may be provided symmetrically on the lower surface of the lower body 110 . In addition, each water supply nozzle 443 has a flow path formed therein to allow water to pass therethrough, and may be connected to the third pipe 442d or the fourth pipe 442e. Accordingly, water introduced through the third pipe 442d and the fourth pipe 442e may be discharged to the outside of the lower body 110 through the water supply nozzle 443 . On the other hand, in a state where the mop mounting plate 420 is coupled to the water container 410, the water supply nozzle 443 may be disposed vertically above the water supply hole 425 of the mop mounting plate 420. With this configuration, water discharged from the water supply nozzle 443 may pass through the water supply hole 425 and be supplied to the mop 430 .

Meanwhile, FIGS. 17 to 19 show a mop mounting plate 1420 and a water container 1410 of the robot cleaner 1' according to another embodiment of the present invention.

Referring to FIGS. 17 to 19, the mop mounting plate 1420 of the robot cleaner 1' according to another embodiment of the present invention will be described as follows.

Meanwhile, in order to avoid redundant description, the contents of the robot cleaner 1 according to an embodiment of the present invention may be used except for the contents specifically described in the present embodiment.

In this embodiment, a coupling release button 1422 may be accommodated inside the mounting plate body 1421, and a mop coupling part 1426 may be provided on the lower surface of the mounting plate body 1421. In addition, a water supply hole 1425 may be formed through the mounting plate body 1421 .

The coupling release button 1422 may be provided to be linearly movable on the mounting plate body 1421 . For example, the coupling release buttons 1422 may be provided as a pair and linearly moved to be closer to each other or away from each other within the mounting plate body 1421 .

At this time, at least a part of the coupling release button 1422 may be exposed to the outside of the mounting plate body 1421 so that an external force may be applied. Specifically, a space into which a user's finger can enter may be formed in the mounting plate body 1421, and at least a portion of the coupling release button 1422 may be disposed in the space. For example, a space into which a user's finger can enter may be formed on the lower surface of the mounting plate body 1421, and the coupling release button 1422 may be exposed in the space. Accordingly, the user may, for example, press the coupling release button 1422 by inserting the thumb and forefinger into the above space and then closing the thumb and forefinger.

In addition, in a state in which the mop 1430 is coupled to the mop mounting plate 1420, the user separates the mop 1430 from the mop mounting plate 1420, and then inserts a finger into the above space to release the coupling button 1422. can be pressed.

Therefore, according to the present embodiment, in a state in which the mop 1430 is coupled to the mop mounting plate 1420, the coupling release button 1422 is not exposed to the outside. This has the advantage of preventing foreign substances such as dust from accumulating in a space where a user's finger enters.

Although the present invention has been described in detail through specific examples, this is for explaining the present invention in detail, the present invention is not limited thereto, and the present invention is within the technical spirit of the present invention. It is clear that modification 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 protection scope of the present invention will be clarified by the appended claims.

1: Robot vacuum cleaner
100: body
110: lower body
200: driving part
300: cleaner
330: dust bin
331: dust box body
332: dust bin separation button
339: filter receiving groove
340: intake motor
350: filter
400: water cleaner
410: bucket
411: water bottle body
412: body coupling hook
415: water bottle separation button
416: dust bin coupling hook
417: mop mounting hook
418: guide rail
420, 1420: mop mounting plate
421, 1421: mounting plate body
422, 1422: coupling release button
423, 1423: hook hook jaw
424, 1424: rail receiving groove
425, 1425: water supply hole
430: mop
440: water supply unit
441: water pump
442: water supply piping
443: water supply nozzle

Claims (18)

A body in which a space for accommodating a battery and a suction motor is formed and a suction port is formed;
a water bottle detachably coupled to the body; and
a dust container detachably coupled to the water container and inserted into the body;
A robot cleaner comprising a.
According to claim 1,
When the water container and the dust container are coupled to the body and the water container is separated from the body, the water container and the dust container are separated from the body together.
According to claim 1,
The bucket is
A robot cleaner, characterized in that hook coupled to the body.
According to claim 1,
The bucket is
bucket body;
a body coupling hook provided on the water bottle body and protruding upward in the gravitational direction to be hook-coupled to the body; and
a water bottle separation button provided on the water bottle body and moving the body coupling hook downward in the gravitational direction when an external force is applied;
A robot cleaner comprising a.
According to claim 1,
The dust bin,
A robot cleaner, characterized in that hook coupled to the water tank.
According to claim 1,
The bucket is
a dust container coupling hook provided on the water container body, protruding toward the dust container, and hooked to the dust container;
including,
The dust bin,
dust box body; and
a dust container separation button provided on the dust container main body, engaged with the dust container coupling hook, and disengaged from the dust container coupling hook when an external force is applied;
A robot cleaner comprising a.
According to claim 1,
A mop mounting plate coupled to a lower surface of the water container and coupled to a mop;
A robot cleaner further comprising a.
According to claim 7,
The bucket is
bucket body; and
A pair of mop mounting hooks formed on the lower surface of the water tank body;
including,
The mop mounting plate,
Mounting plate body to which the mop is coupled to the lower surface;
a coupling release button provided to be linearly movable on the mounting plate body; and
a hook hooking jaw that is hook-coupled with the mop mounting hook and moves in conjunction with the linear movement of the coupling releasing button;
A robot cleaner comprising a.
According to claim 7,
The bucket is
bucket body; and
a guide rail formed on a lower side of the water tank body;
including,
The mop mounting plate,
a rail accommodating groove that accommodates the guide rail and linearly moves along the guide rail;
A robot cleaner comprising a.
According to claim 1,
The dust bin,
dust box body; and
a dust discharge hole formed on a lower surface of the dust container body and through which dust collected in the dust container body is discharged;
A robot cleaner comprising a.
According to claim 10,
The dust bin,
a dust discharge cover opening and closing the dust discharge hole;
A robot cleaner further comprising a.
According to claim 1,
The dust bin,
dust box body;
an air inlet formed in the dust box body and through which air containing dust is introduced; and
an air outlet formed in the dust box body and through which the air is discharged;
A robot cleaner comprising a.
According to claim 1,
a water supply unit disposed inside the body, receiving water from the water tank, and discharging water to a mop;
A robot cleaner further comprising a.
According to claim 13,
The water supply unit,
a water pump providing fluidity to the water stored in the water tank;
a water supply pipe disposed at least partially above the water tank in the direction of gravity and through which the water introduced from the water tank flows;
A robot cleaner comprising a.
According to claim 14,
The water supply unit,
a water supply nozzle provided on a lower surface of the body, coupled to the water supply pipe, and discharging water introduced from the water container;
A robot cleaner further comprising a.
According to claim 15,
A mop mounting plate coupled to a lower surface of the water container and coupled to a mop;
Including more,
The mop mounting plate,
Mounting plate body to which the mop is coupled to the lower surface; and
a water supply hole formed in the mounting plate main body and formed at a position facing the water supply nozzle in a state in which the mop mounting plate is coupled to the water container;
A robot cleaner comprising a.
According to claim 1,
a bucket receiving portion formed on the body and accommodating the water container and the dust container;
A robot cleaner comprising a.
According to claim 17,
The container receiving portion,
guide jaws for guiding sliding movement of the water container and the dust container;
A robot cleaner comprising a.

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