WO2015137764A1 - 구동유닛 및 이를 포함하는 청소 로봇 - Google Patents
구동유닛 및 이를 포함하는 청소 로봇 Download PDFInfo
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- WO2015137764A1 WO2015137764A1 PCT/KR2015/002447 KR2015002447W WO2015137764A1 WO 2015137764 A1 WO2015137764 A1 WO 2015137764A1 KR 2015002447 W KR2015002447 W KR 2015002447W WO 2015137764 A1 WO2015137764 A1 WO 2015137764A1
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- Prior art keywords
- driving
- wheel frame
- wheel
- gear
- driving motor
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/14—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel
- B60K17/145—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel the electric gearing being disposed in or adjacent to traction wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the present invention relates to a driving unit for driving a cleaning robot and a cleaning robot including the same.
- the cleaning robot is a device that automatically cleans the cleaning area by suctioning foreign substances such as dust from the floor surface while driving the area to be cleaned by the user without the user's manipulation.
- Such a cleaning robot installs a pair of driving wheels for movement on both lower sides of the main body, and has one or more casters required to support the main body so that the cleaning robot main body can move forward or backward or rotate the cleaning area.
- Obstacles such as steps, objects having slopes, furniture, and the like may exist in the cleaning area in which the cleaning robot travels.
- a robot with a low height such as a cleaning robot
- it enters a narrow gap of an obstacle for example, under a bed or sofa
- the upper part of the cleaning robot is caught hereinafter referred to as 'pinching'
- the driving wheel of the cleaning robot may be lifted (hereinafter referred to as 'lifting') due to an obstacle, and a driving state may be impossible (hereinafter referred to as 'stuck').
- One aspect of the present invention provides a cleaning robot having an improved drive unit to escape a non-driving state that occurs under various driving conditions.
- a cleaning robot includes a main body and a driving unit for driving the main body, wherein the driving unit includes: a first driving motor and a second driving motor generating a driving force; and from the first driving motor. And a driving wheel rotatably receiving the driving force, and a wheel frame rotatably supporting the driving wheel, the wheel frame being rotatable between a first position and a second position around the motor shaft of the first driving motor.
- the wheel frame may be rotated by receiving a driving force from the second driving motor in at least some sections between the first position and the second position.
- the cleaning robot includes a housing for fixing the first driving motor and the second driving motor, and an elastic member disposed between the housing and the wheel frame, wherein the wheel frame receives driving force from the second driving motor. It can be rotated by being pressed by the elastic member in the section not received.
- the wheel frame is rotated by being pushed by the elastic member between the first position and a third position between the first position and the second position and between the third position and the second position. It can rotate by receiving driving force from 2 drive motor.
- the drive unit is accommodated inside the wheel frame to transfer the driving force of the first drive motor to the drive wheel and disposed between the second drive motor and the wheel frame and the It may include at least one second power transmission gear for transmitting a driving force of the second drive motor to the wheel frame.
- the wheel frame may include at least one driving gear provided on an outer surface of the wheel frame to receive a driving force from the second power transmission gear.
- the drive gear may rotate about a motor shaft of the first driving motor.
- the drive gear and the second power transmission gear may not engage with each other when the wheel frame rotates between the first position and the third position.
- the motor shaft of the first driving motor and the motor shaft of the second driving motor may be parallel to each other.
- the driving unit according to the spirit of the present invention, the drive wheel; and a wheel frame for rotatably supporting the drive wheel; and an elastic member for pressing the wheel frame; and a driving force for rotating the drive wheel It may include a first drive motor for generating; and a second drive motor for generating a driving force for rotating the wheel frame.
- the elastic member and the second driving motor may rotate the wheel frame independently of each other.
- the driving unit may include second power transmission gears disposed between the second driving motor and the wheel frame to transfer the driving force of the second driving motor to the wheel frame.
- the driving unit may include a support frame rotatably supporting the second power transmission gears.
- the wheel frame may include a drive gear provided on an outer surface of the wheel frame to receive a driving force from the second power transmission gears.
- the second power transmission gears are disposed between the motor shaft gear meshing with the motor shaft of the second driving motor, the tilt gear disposed to engage the drive gear, and the motor shaft gear and the tilt gear. It may include at least one connection gear for transmitting.
- a power transmission preventing part may be provided on an outer circumferential surface of one of the drive gear and the tilt gear so that power is not transmitted between the drive gear and the tilt gear.
- the drive gear may be integrally formed with the wheel frame.
- the driving unit may include a housing for supporting the first driving motor and the second driving motor.
- the drive unit includes a first rib protruding from the inner surface of the housing to the inside of the housing to support one end of the elastic member, a holder rotatably coupled to the shock frame to support the other end of the elastic member; It may include a second rib protruding from the outer surface of the wheel frame to support the holder.
- the wheel frame includes a guide hole for guiding rotation of the wheel frame, and the holder is rotatable to be rotatably coupled to the guide hole, and protrudes in the radial direction of the rotatable portion from the rotatable portion to fix the other end of the elastic member. It may include a support for supporting.
- the drive unit may include a stopper formed on an inner surface of the housing to limit rotation of the holder.
- the elastic member may press the support in a tangential direction of a trajectory formed by one end of the support.
- the elastic member may be disposed at positions opposite to the driving wheel with respect to the vertical line passing through the rotation center of the wheel frame.
- the cleaning robot according to the spirit of the present invention, a main body; and a wheel frame mounted to the main body to drive the main body, a wheel frame for rotatably supporting the drive wheel, and for rotating the wheel frame
- a driving unit having a driving motor for generating a driving force; and a control unit for controlling the driving unit by determining a driving state of the main body, wherein the control unit determines that the main body is in a stuck state in which the main driving is impossible.
- the wheel frame may be rotated by driving the driving motor.
- FIG. 1 is a view showing the configuration of a cleaning robot according to an embodiment of the present invention.
- Figure 2 is a bottom view of the cleaning robot according to an embodiment of the present invention.
- Figure 3 is a perspective view of a drive unit according to an embodiment of the present invention.
- FIG. 5 is a perspective view illustrating the wheel driving unit in FIG. 3;
- FIG. 6 is a perspective view illustrating the wheel frame driving unit in FIG. 3;
- FIG. 7A is a view illustrating a moving range of a driving wheel and a wheel frame in a normal driving state of a cleaning robot according to an embodiment of the present invention.
- 7B is a view illustrating a moving range of the driving wheel and the wheel frame in the stuck state of the cleaning robot according to an embodiment of the present invention.
- FIG. 8 is a control block diagram of a cleaning robot according to an embodiment of the present invention.
- FIG. 9 is a view showing a state in which the cleaning robot according to an embodiment of the present invention running normally.
- FIG. 10 is a side view of FIG. 9;
- FIGS. 11A to 11C are views illustrating a process in which a cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which both driving wheels are lifted and driving is impossible) due to a 'lifting' phenomenon.
- FIGS. 11A-11C are side views of FIGS. 11A-11C, respectively.
- FIGS. 13A to 13C are views illustrating a process in which a cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which one driving wheel is lifted and is impossible to drive) due to a 'lifting' phenomenon.
- FIGS. 13A-13C are side views of FIGS. 13A-13C, respectively.
- 15A to 15C are diagrams illustrating a process in which a cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which the front surface of the cleaning robot is not able to travel due to a pinch) phenomenon.
- 16A to 16B are views illustrating a process in which a cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which a side of the cleaning robot is stuck and cannot travel) due to a 'pinch' phenomenon.
- 17 is a perspective view showing a first modified embodiment of the wheel frame drive
- 18A to 18C are views illustrating an operation process of the wheel frame driving unit shown in FIG. 17.
- FIG. 19 is a perspective view showing a second modified embodiment of the wheel frame drive
- FIG. 1 is a view showing the configuration of a cleaning robot according to an embodiment of the present invention
- Figure 2 is a bottom view of the cleaning robot according to an embodiment of the present invention.
- the cleaning robot 1 sweeps the main body 10 forming the exterior, the cover 20 covering the upper portion of the main body 10, and the dust present in the cleaning space.
- a brush unit 30, 40 for scattering a power supply unit 50 for supplying driving power for driving the main body 10, and a driving unit 100 for driving the main body 10.
- the main body 10 forms the exterior of the cleaning robot 1 and supports various components installed therein.
- the brush parts 30 and 40 are installed at the inlet 11 formed at the lower part of the main body 10 to improve dust suction efficiency, and the main brush part 30 and the main body 10 to sweep or scatter dust on the floor.
- the side brush part 40 is installed at both front lower portions of the front side and sweeps the dust of the floor on which the cleaning robot 1 runs toward the suction port 11.
- the main brush part 30 is installed in the inlet 11 to a length corresponding to the inlet 11, the drum-shaped brush unit 31 which rotates in a roller manner relative to the bottom surface to sweep or scatter dust on the bottom surface And a brush motor 32 for rotating the brush unit 31.
- the brush unit 31 includes a roller 33 and a brush 34.
- the roller 33 is formed of a rigid body and rotatably coupled to the main body 10 and driven by the brush motor 32. End caps 35 are installed at both ends of the roller 33 to prevent foreign substances from moving to the brush motor 32.
- the brush 34 is formed of an elastic material and is embedded in the roller 33. The brush 34 drives together with the roller 33 while the cleaning robot 1 runs to remove dust or foreign matter accumulated on the floor. Stirred.
- the side brush part 40 is installed at both sides of the front part of the main body 10 at a predetermined interval so that the main brush part 30 is rotated horizontally with respect to the floor so as to sweep the dust on the floor surface which the main brush part 30 cannot write to the suction port 11 side. And a brush 41.
- the power supply unit 50 includes a first driving motor 150 (see FIG. 3) and a second driving motor 160 (see FIG. 3) of the driving unit 100 and a brush motor 32 for rotating the main brush unit 30. And a battery electrically connected to each driving unit for driving the main body 10 to supply driving power.
- the battery is provided as a rechargeable secondary battery, and when the main body 10 completes a cleaning operation and is coupled to a docking station (not shown), the battery receives power from the docking station (not shown).
- a caster wheel 60 In front of the main body 10, a caster wheel 60 whose rotation angle changes in accordance with the state of the bottom surface on which the cleaning robot 1 moves is installed.
- the caster wheel 60 is used to stabilize the posture of the cleaning robot 1, to prevent the fall, and to support the cleaning robot 1, and is composed of a roller or caster-shaped wheel.
- the caster wheel 60 is installed in the front of the main body 10 as an example.
- the present invention is not limited thereto, and the rear side of the main body 10 or the main body 10 is provided. Even if installed in the front and rear of the) can achieve the same object and effect as the present invention.
- the driving unit 100 is provided at both sides of the central portion of the main body 10 so as to enable a moving operation such as forward, backward and rotational driving in the process of cleaning the main body 10.
- Both driving units 100 are rotated in the forward or backward directions according to the command of the controller 220 (see FIG. 8) to be described later to enable the cleaning robot 1 to move forward or backward or rotate.
- the driving robot 100 is rotated in the forward or backward direction so that the cleaning robot 1 travels forward or backward.
- the right driving unit 100 is rotated in the forward direction so that the cleaning robot 1 rotates in the left direction with respect to the front, and the right driving unit 100 is rotated.
- the left driving unit 100 is rotated in the forward direction so that the cleaning robot 1 rotates in the right direction with respect to the front.
- the driving unit 100 located on the right side will be described as an example based on the direction in which the main body 10 moves forward, and the following description will be made based on the direction in which the main body 10 moves forward unless otherwise specified. The same applies to the drive unit 100 located in.
- FIG. 3 is a perspective view showing a driving unit according to an embodiment of the present invention
- Figure 4 is an exploded perspective view of the driving unit according to an embodiment of the present invention.
- FIG. 5 is a perspective view of the wheel drive unit shown in FIG. 3
- FIG. 6 is a perspective view of the wheel frame drive unit shown in FIG.
- the driving unit 100 includes a housing 110, a driving wheel 120 driving the main body 10, and a wheel frame rotatably supporting the driving wheel 120. 130, the elastic member 140 for pressing the wheel frame 130, the first driving motor 150 for generating a driving force for rotating the driving wheel 120, and rotating the wheel frame 130. It includes a second drive motor 160 for generating a driving force for.
- the housing 110 includes a housing body 111, a housing cover 112 coupled to one side of the housing body 111, a receiving portion 113 formed by the housing body 111 and the housing cover 112, and The support protrusion 114 rotatably supporting the wheel frame 130, the first support rib 116 supporting one end of the elastic member 140, and the stopper 118 restricting rotation of the holder 138. , See FIG. 7A).
- the lower portion of the housing 110 is opened so that the driving wheel 120 and the wheel frame 130 can move in the up and down directions according to the type and state of the bottom surface of the cleaning space.
- the accommodating part 113 accommodates the driving wheel 120, the wheel frame 130, the elastic member 140, the first driving motor 150, the second driving motor 160, and the like.
- the support protrusion 114 protrudes from the inner surface of the housing cover 112 toward the receiving portion 113 side.
- a receiving hole 114a is provided at the center of the support protrusion 114 to accommodate the first rotation shaft 132a of the wheel frame 130 so that the wheel frame 130 may rotate about the support protrusion 114. .
- the first support rib 116 protrudes from the inner surface of the housing body 111 toward the receiving portion 112 to support one end of the elastic member 140.
- the stopper 118 is formed on the inner surface of the housing body 111 to limit the rotation of the holder 138.
- the driving wheel 120 is a wheel 122 which is in direct contact with the bottom surface of the cleaning space so that the main body 10 can be driven, and a driving shaft fixed to the wheel 122 to drive and rotate the wheel 122. 124).
- the drive shaft 124 is rotatably coupled to the wheel frame 130 through the wheel frame 130.
- the drive shaft gear 136b of the first power transmission gears 136 is fixed to the drive shaft 124.
- the drive shaft 124 forms a center of rotation C2 (see FIG. 7A) of the drive wheel 120.
- the wheel frame 130 is coupled to each other from the outer surface of the first frame (130a) and the second frame (130b) and the first frame (130a) and the second frame (130b) to form a gear receiving portion 131, respectively It includes a protruding frame rotation shaft 132, the first power transmission gears 136 are received in the gear receiving portion 131 to transfer the driving force of the first drive motor 150 to the drive wheel 120.
- the first through hole 133 is provided in the first frame 130a to allow the drive shaft 124 to be accommodated in the gear receiving portion 131, and the gear receiving portion 131 on the inner surface of the second frame 130b.
- a support hole 134 is provided to receive a bearing 137a that is coupled to an end of the drive shaft 124 accommodated in the) and rotatably supports the drive shaft 124. Bearings 137a for rotatably supporting the drive shaft 124 may be inserted into the first through hole 133 and the support hole 134.
- a second through hole 135 is provided in the second frame 130b to allow the motor shaft 152 of the first driving motor 150 to pass therethrough and be accommodated in the gear receiving unit 131.
- the frame rotating shaft 132 has a first rotating shaft 132a protruding from the outer surface of the first frame 130a and a second rotating shaft protruding in a direction opposite to the first rotating shaft 132a from the outer surface of the second frame 130b. 132b.
- the first rotating shaft 132a and the second rotating shaft 132b are disposed coaxially with each other.
- the first rotation shaft 132a is rotatably received in the accommodation hole 114a of the support protrusion 114.
- the second rotary shaft 132b accommodates the support shaft 151a protruding from the motor housing 151 of the first driving motor 150, and between the second rotary shaft 132b and the support shaft 151a includes a second rotary shaft ( Bearings 137b rotatably supporting 132b may be inserted.
- the first power transmission gears 136 may include a motor shaft gear 136a that meshes with the motor shaft 152 of the first driving motor 150, and a drive shaft gear fixed to the drive shaft 124 of the driving wheel 120. 136b and a plurality of connecting gears 136c connecting the motor shaft gear 136a and the drive shaft gear 136b. The rotation speed of the motor shaft 152 is decelerated while passing through the first power transmission gears 136.
- the wheel frame 130 is a holder 138 for supporting the elastic member 140 together with the first support rib 116, and protrudes from the outer surface of the first frame (130a) and the second frame (130b) holder A second support rib (139a) for supporting the (138) and a guide hole (139b) for guiding the rotation of the holder (138).
- the holder 138 may include a rotating part 138a rotatably coupled to the guide hole 139b, a support part 138b protruding in the radial direction of the rotating part 138a from the rotating part 138a, and supporting the elastic member 140. It is received inside the wheel frame 130, and includes a departure prevention portion (138c) for preventing the separation of the rotating portion (138a).
- the support part 138b is pressed by the elastic member 140 within a range in which the elastic member 140 is tensioned, and the support part 138b pressed by the elastic member 140 is in contact with the second support rib 139a.
- the wheel frame 130 is rotated by pressing the second support rib 139a in a state. That is, the tensile force of the elastic member 140 is transmitted to the wheel frame 130 through the support part 138b of the holder 138 and the second support rib 139a of the wheel frame 130 to rotate the wheel frame 130. Let's do it.
- the impact transmitted through the driving wheel 120 while the main body 10 is driven may include the wheel frame 130, the second support rib 139a of the wheel frame 130, and the support 138b of the holder 138. It is transmitted to the elastic member 140 through the buffer).
- the elastic member 140 is composed of a compression coil spring and is disposed between the first support rib 116 of the housing 110 and the support 138b of the holder 138 to press the wheel frame 130 in one direction. do.
- the elastic member 140 includes a fixed end 142 supported and fixed to the first support rib 116, and a pressure end 144 supported and fixed to the support part 138b to press the holder 138.
- the elastic member 140 is disposed at a position opposite to the driving wheel 120 on the basis of the vertical line L passing through the rotation center C1 of the wheel frame 130, and the wheel frame 130 rather than the driving wheel 120. ) Is arranged closer to the center of rotation C1 (see FIGS. 7A-7B).
- the elastic member 140 is disposed in a compressed state than the original length to press the holder 138 in the tangential direction of the trajectory T formed by one end of the support part 138b, and the holder (by the elastic member 140).
- the pressing force applied to the 138 is transmitted to the driving wheel 120 in contact with the bottom surface through the second support rib 139a and the wheel frame 130.
- the first driving motor 150 includes a motor housing 151 accommodated and fixed inside the housing 110, and a support shaft 151a protruding from the motor housing 151.
- the support shaft 151a is accommodated in the second rotation shaft 132b.
- the motor shaft 152 of the first driving motor 150 is accommodated in the gear receiving portion 131 through the second through hole 135 formed in the second frame 130b, and the motor shaft gear in the motor shaft 152. 136a is engaged.
- the driving force of the first driving motor 150 is transmitted to the drive shaft 124 through the motor shaft 152, the motor shaft gear 136a, the plurality of connecting gears 136c, and the drive shaft gear 136b to transfer the wheel 122.
- the second drive motor 160 includes a motor housing 161 accommodated and fixed inside the housing 110, and a motor shaft 162.
- the motor shaft 162 of the second driving motor 160 is disposed in parallel with the motor shaft 152 of the first driving motor 150.
- the motor shaft gear 184a is meshed with the motor shaft 162.
- the driving force of the second driving motor 160 is transmitted to the driving gear 182 through the motor shaft 162, the motor shaft gear 184a, the plurality of connecting gears 184c, and the tilt gear 184b to transfer the wheel frame ( 130).
- the wheel driving unit 170 includes a first driving motor 150 and first power transmission gears 136.
- the driving force of the first driving motor 150 drives the driving wheel 120 through the first power transmission gears 136.
- the wheel frame driving unit 180 is a second power transmission disposed between the second driving motor 160, the driving gear 182, the second driving motor 160, and the driving gear 182.
- the second power transmission gears 184 may include a motor shaft gear 184a fixed to the motor shaft 162 of the second driving motor 160, a tilt gear 184b engaged with the driving gear 182, and a motor.
- the second power transmission gears 184 are rotatably supported by the support frame 188 fixed to the housing body 111. The rotational speed of the motor shaft 162 is reduced while passing through the second power transmission gears 184.
- FIG. 7A is a view illustrating a moving range of a driving wheel and a wheel frame in a normal driving state of a cleaning robot according to an embodiment of the present invention
- FIG. 7B is driving in a stuck state of a cleaning robot according to an embodiment of the present invention.
- the figure shows the movement range of the wheel and the wheel frame.
- the wheel frame 130 rotates between the first position P1 and the third position P3, and the driving wheel 120 is rotated. It moves between the reference position R and the first falling position D1.
- the maximum rotational position of the wheel frame 130 by the tension force to the elastic member 140 is the third position (P3), at this time the maximum downward position of the drive wheel 120 is the first lowered position (D1).
- the wheel frame 130 rotates between the third position P3 and the second position P2, and the driving wheel 120 is rotated. Move between the first lowered position D1 and the second lowered position D2.
- the maximum rotational position of the wheel frame 130 by the driving force of the second drive motor 160 is the second position (P2), the maximum lowered position of the drive wheel 120 is the second lowered position (D2) do.
- the cleaning robot 1 may include an input unit 200 that receives a motion command from a user, a sensor unit 210 that detects various types of information about a cleaning area on which the cleaning robot 1 travels, and In response to the motion command of the input unit 200 and the sensor information of the sensor unit 210, the driving state (stuck state) of the cleaning robot 1 is determined to determine the first driving motor 150 and the second driving motor 160. It includes a control unit 220 for controlling.
- the input unit 200 receives a motion command or a cleaning command of the cleaning robot 1 from a user, and applies a plurality of buttons to an upper portion or a remote controller (not shown) of the main body 10 to transmit the input information to the control unit 220. Include.
- the inclination sensor 213 refers to a sensor module capable of measuring the inclination of the cleaning robot 1, and fusion of a three-axis acceleration and three-axis angular velocity sensor as well as a gyro sensor that directly measures the inclination using a gravity direction. It includes up to the case of obtaining the inclination of the cleaning robot 1 through.
- the inclination sensor 213 measures the inclination value and the inclination change amount of the cleaning robot 1 to detect the possibility of stuck, generate the stuck condition, and measure the roll / pitch value.
- a two-axis tilt sensor can also be used.
- the current sensor 214 is installed in the power supply circuit to measure the load (torque or current value) applied to the first drive motor 150 or the second drive motor 160 and transmits it to the controller 220.
- the controller 220 controls the overall operation of the cleaning robot 1, and controls the first driving motor 150 to drive the cleaning robot 1 according to the motion command of the input unit 200. In addition, the controller 220 determines a driving impossible state (stuck state) of the cleaning robot 1 according to the motion command of the input unit 200 and the sensor information of the sensor unit 210, and the driving of the cleaning robot 1 is impossible.
- the second driving motor 160 is controlled to escape the state.
- the storage unit 240 stores preset driving patterns and driving paths, and sensor information detected in the driving process of the cleaning robot 1 according to the cleaning command of the cleaning robot 1.
- the storage unit 240 may store map information of the cleaning area.
- FIG. 9 is a view showing a state in which the cleaning robot according to an embodiment of the present invention in normal operation
- Figure 10 is a side view of FIG.
- the wheel frame 130 is pressed by the elastic member 140 or presses the elastic member 140 in the first position P1.
- the third position P3 and the driving wheel 120 moves between the reference position R and the first lowered position D1 according to the rotation of the wheel frame 130.
- the control unit 220 controls the control unit 220.
- the two drive motor 160 is not operated.
- FIGS. 11A to 11C are views illustrating a process in which the cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which both driving wheels are lifted and impossible to drive) due to a 'lifting' phenomenon
- FIGS. 12C are side views of FIGS. 11A-11C, respectively.
- the holders 138 of both driving wheels 120 are in contact with the stopper 118, the rotation is limited, the elastic member 140 is in a state that can not press the wheel frame 130 additionally.
- the controller 220 stops the second driving motor 160 when the driving wheel 120 recovers the driving force to the extent that the driving wheel 120 is grounded with the bottom surface of the obstacle A1 to escape the stuck state.
- the cleaning robot 1 is controlled to escape from the stuck state and escape the obstacle A1, and then return to the normal driving state to restore the cleaning performance.
- the second driving motor 160 does not always operate independently of the elastic member 140 in a state in which the pressing force of the elastic member 140 does not act on the wheel frame 130. For example, depending on the material of the bottom surface, it may not be possible to obtain sufficient grounding force between the driving wheel 120 and the bottom surface only by the pressing force of the elastic member 140. In this case, the controller 220 may operate the second driving motor 160 to increase the ground force between the driving wheel 120 and the bottom surface, thereby restoring the running performance of the cleaning robot 1.
- FIGS. 13A to 13C are views illustrating a process in which the cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which one driving wheel is lifted and is impossible to drive) due to a 'lifting' phenomenon
- FIGS. 14A to 13C. 14C is a side view of FIGS. 13A-13C, respectively.
- the controller 220 stops the second driving motor 160 when the driving wheel 120 recovers the driving force to the extent that the driving wheel 120 is grounded with the bottom surface A2 to escape the stuck state.
- the cleaning robot 1 is controlled to escape from the stuck state and leave the bottom surface A2, and then return to the normal running state to restore the cleaning performance.
- 15A to 15C are diagrams illustrating a process in which the cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which the front surface of the cleaning robot is prevented from running due to a pinch) phenomenon.
- the cleaning robot 1 enters a narrow gap of the obstacle A3, the upper part of the front surface of the cleaning robot 1 is pinched ('top pinched'), which cannot be run. It becomes a state.
- Both of the driving wheels 120 and the first driving motor 150 are in a restrained state in the stuck state due to the 'top pinching'. That is, the 'upper pinching' state is a state in which the driving wheels 120 of both driving units 100 cannot recover the driving force only by the elastic force of the elastic member 140.
- the controller 220 operates the second driving motor 160 of both driving units 100.
- the driving force of the second driving motor 160 is transmitted to the wheel frame 130 through the second power transmission gears 184 and the driving gear 182 to rotate the wheel frame 130.
- the driving wheel 120 is lowered, and the height H1 of the cleaning robot 1 is relatively lowered.
- the cleaning robot 1 is controlled to escape in a stuck state by traveling in a direction opposite to the direction in which the obstacle A3 is entered, to escape from the obstacle A3, and then to return to a normal driving state to restore cleaning performance.
- 16A to 16B are views illustrating a process in which a cleaning robot according to an embodiment of the present invention escapes a stuck state (a state in which a side of the cleaning robot is stuck and cannot travel) due to a 'pinch' phenomenon.
- the cleaning robot 1 enters a narrow gap of the obstacle A4, the side of the cleaning robot 1 is caught ('side stuck') and the stuck state is impossible to travel.
- the driving wheel 120 and the first driving motor 150 of the driving unit 100 of the stuck side in the stuck state by the 'side stuck' is in a restrained state. That is, the 'side stuck' state is a state in which the driving wheel 120 of the driving unit 100 of the pinched side cannot recover the driving force only by the elastic force of the elastic member 140.
- the controller 220 operates the second driving motor 160 of the drive unit 100 on the non-pinched side.
- the driving force of the second driving motor 160 is transmitted to the wheel frame 130 through the second power transmission gears 184 and the driving gear 182 to rotate the wheel frame 130.
- the driving wheel 120 descends, and the height H2 of the side of the cleaning robot 1 is relatively lowered.
- the controller 220 stops the second driving motor 160 when the driving wheel 120 recovers the driving force to the extent that the driving wheel 120 can escape the stuck state.
- the cleaning robot 1 is driven to escape in a stuck state by traveling in a direction opposite to the direction in which the obstacle A4 is entered, and after leaving the obstacle A4, to return to the normal driving state to restore the cleaning performance. .
- FIG. 17 is a perspective view illustrating a first modified embodiment of the wheel frame driver
- FIGS. 18A to 18C are views illustrating an operation process of the wheel frame driver illustrated in FIG. 17.
- power is transmitted between the drive gear 282 and the tilt gear 184b in at least some sections of the drive gear 282 provided on the outer surface of the wheel frame 130.
- a power transmission preventing portion (282a) In order not to include a power transmission preventing portion (282a).
- the power transmission preventing portion 282a is provided with a flat circumferential surface on which the gear tooth 282b is not formed so that the driving gear 282 does not engage the tilt gear 184b, and the first position of the wheel frame 130 is provided. It is formed in the circumferential direction of the drive gear 282 by an angle ⁇ 1 corresponding between P1 and the third position P3.
- the wheel frame 130 is moved to the first position P1 and the third position P3 by the pressing force of the elastic member 140. Rotates between).
- the driving gear 282 and the tilt gear 184b are not engaged with each other by the power transmission preventing portion 282a. Therefore, when the wheel frame 130 is rotated by the pressing force of the elastic member 140, the rotational force is transmitted to the second driving motor 160 in reverse by the drive gear 282 and the second power transmission gears 184. Phenomenon is prevented.
- FIG. 19 is a perspective view illustrating a second modified embodiment of the wheel frame driver
- FIGS. 20A to 20B are views illustrating an operation process of the wheel frame driver illustrated in FIG. 19.
- the tilt gear 284b includes a power transmission preventing unit 286 such that power is not transmitted between the drive gear 182 and the tilt gear 284b in at least some sections.
- the power transmission preventing part 286 may be wound on a flat circumferential surface where the gear tooth 288 is not formed so that the tilt gear 284b does not engage the drive gear 182, and the first position of the wheel frame 130 It is formed in the circumferential direction of the tilt gear 284b by an angle ⁇ 2 corresponding to P1) and the third position P3.
- the wheel frame 130 in a state in which the cleaning robot 1 runs normally, the wheel frame 130 is moved to the first position P1 and the third position P3 by the pressing force of the elastic member 140. Rotates between). At this time, the driving gear 182 and the tilt gear 284b are not engaged with each other by the power transmission preventing portion 286. Therefore, when the wheel frame 130 is rotated by the pressing force of the elastic member 140, the rotational force is transmitted to the second driving motor 160 in reverse by the drive gear 182 and the second power transmission gears 184. Phenomenon is prevented.
- the driving gear 182 may be used. Tilt gear 284b starts to mesh with each other. Thereafter, when the second driving motor 160 is driven, the driving force of the second driving motor 160 is transmitted to the wheel frame 130 through the tilt gear 284b and the driving gear 182 to rotate the wheel frame 130. Let's do it.
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Suction Cleaners (AREA)
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Abstract
Description
Claims (24)
- 본체와, 상기 본체를 구동하는 구동유닛을 포함하는 청소 로봇에 있어서,상기 구동유닛은,구동력을 생성하는 제1구동모터 및 제2구동모터;와,상기 제1구동모터로부터 구동력을 전달받아 회전하는 구동 휠;과,상기 구동 휠을 회전 가능하게 지지하고, 상기 제1구동모터의 모터축을 중심으로 제1위치와 제2위치 사이에서 회전 가능한 휠 프레임;을 포함하고,상기 휠 프레임은 상기 제1위치와 상기 제2위치 사이의 적어도 일부 구간에서 상기 제2구동모터로부터 구동력을 전달받아 회전하는 청소 로봇.
- 제1항에 있어서,상기 제1구동모터 및 상기 제2구동모터를 고정하는 하우징과,상기 하우징과 상기 휠 프레임 사이에 배치되는 탄성부재를 포함하고,상기 휠 프레임은 상기 제2구동모터로부터 구동력을 전달받지 않는 구간에서 상기 탄성부재에 의해 가압되어 회전하는 청소 로봇.
- 제2항에 있어서,상기 휠 프레임은,상기 제1위치와, 상기 제1위치와 상기 제2위치 사이의 제3위치 사이에서 상기 탄성부재에 의해 가압되어 회전하고,상기 제3위치와 상기 제2위치 사이에서 상기 제2구동모터로부터 구동력을 전달받아 회전하는 청소 로봇.
- 제3항에 있어서,상기 구동유닛은,상기 휠 프레임의 내측에 수용되어 상기 제1구동모터의 구동력을 상기 구동 휠로 전달하는 적어도 하나의 제1동력전달기어와,상기 제2구동모터와 상기 휠 프레임 사이에 배치되어 상기 제2구동모터의 구동력을 상기 휠 프레임으로 전달하는 적어도 하나의 제2동력전달기어를 포함하는 청소 로봇.
- 제4항에 있어서,상기 휠 프레임은, 상기 제2동력전달기어로부터 구동력을 전달받을 수 있도록 그 외면에 마련되는 적어도 하나의 구동기어를 포함하는 청소 로봇.
- 제5항에 있어서,상기 구동기어는 상기 제1구동모터의 모터축을 중심으로 회전하는 청소 로봇.
- 제5항에 있어서,상기 구동기어와 상기 제2동력전달기어는 상기 휠 프레임이 상기 제1위치와 상기 제3위치 사이에서 회전할 때 서로 맞물리지 않는 청소 로봇.
- 제1항에 있어서,상기 제1구동모터의 모터축과 상기 제2구동모터의 모터축은 서로 평행한 청소 로봇.
- 청소 로봇에 장착되어 상기 청소 로봇을 구동하는 구동유닛 있어서, 상기 구동유닛은,구동 휠;과,상기 구동 휠을 회전 가능하게 지지하는 휠 프레임;과,상기 휠 프레임을 가압하는 탄성부재;와,상기 구동 휠을 회전시키기 위한 구동력을 생성하는 제1구동모터;와,상기 휠 프레임을 회전시키기 위한 구동력을 생성하는 제2구동모터;를포함하는 구동 유닛.
- 제9항에 있어서,상기 탄성부재와 상기 제2구동모터는 서로 독립적으로 상기 휠 프레임을 회전시키는 구동 유닛.
- 제9항에 있어서,상기 휠 프레임은,그 내측에 마련되는 기어 수용부와,상기 기어 수용부에 수용되어 상기 제1구동모터의 구동력을 상기 구동 휠로 전달하는 제1동력전달기어들을 포함하는 구동 유닛.
- 제11항에 있어서,상기 제2구동모터와 상기 휠 프레임 사이에 배치되어 상기 제2구동모터의 구동력을 상기 휠 프레임으로 전달하는 제2동력전달기어들을 포함하는 구동 유닛.
- 제12항에 있어서,상기 제2동력전달기어들을 회전 가능하게 지지하는 지지프레임을 포함하는 구동 유닛.
- 제12항에 있어서,상기 휠 프레임은, 상기 제2동력전달기어들로부터 구동력을 전달받을 수 있도록 그 외면에 마련되는 구동기어를 포함하는 구동 유닛.
- 제14항에 있어서,상기 제2동력전달기어들은 상기 제2구동모터의 모터축과 맞물리는 모터축 기어와, 상기 구동기어와 맞물릴 수 있도록 배치되는 틸트기어와, 상기 모터축 기어와 상기 틸트기어 사이에 배치되어 동력을 전달하는 적어도 하나의 연결기어를 포함하는 구동 유닛.
- 제15항에 있어서,상기 휠 프레임이 상기 탄성부재에 의해 가압되어 회전할 때, 상기 구동기어와 상기 틸트기어 사이에 동력이 전달되지 않도록, 상기 구동기어와 상기 틸트기어 중 어느 하나의 외주면에 마련되는 동력전달방지부를 포함하는 구동 유닛.
- 제14항에 있어서,상기 구동기어는 상기 휠 프레임과 일체로 형성되는 구동 유닛.
- 제9항에 있어서,상기 제1구동모터 및 상기 제2구동모터를 지지하는 하우징을 포함하는 구동 유닛.
- 제18항에 있어서,상기 하우징의 내면으로부터 상기 하우징의 내측으로 돌출되어 상기 탄성부재의 일단을 지지하는 제1리브와,상기 횔 프레임에 회전 가능하게 결합되어 상기 탄성부재의 타단을 지지하는 홀더와,상기 휠 프레임의 외면으로부터 돌출되어 상기 홀더를 지지하는 제2리브를 포함하는 구동 유닛.
- 제19항에 있어서,상기 휠 프레임은 상기 휠 프레임의 회전을 가이드하는 가이드홀을 포함하고,상기 홀더는 상기 가이드홀에 회전 가능하게 결합되는 회전부와, 상기 회전부에서 상기 회전부의 반경 방향으로 돌출되어 상기 탄성부재의 타단을 지지하는 지지부를 포함하는 구동 유닛.
- 제20항에 있어서,상기 하우징의 내면에 형성되어 상기 홀더의 회전을 제한하는 스토퍼를 포함하는 구동 유닛.
- 제20항에 있어서,상기 탄성부재는 상기 지지부의 일단이 형성하는 궤적의 접선 방향으로 상기 지지부를 가압하는 구동 유닛.
- 제9항에 있어서,상기 탄성부재는 상기 휠 프레임의 회전 중심을 지나는 수직선을 기준으로 상기 구동 휠과 서로 반대되는 위치에 배치되는 구동 유닛.
- 본체;와,상기 본체에 장착되어 상기 본체를 구동하며, 구동 휠과, 상기 구동 휠을 회전 가능하게 지지하는 휠 프레임과, 상기 휠 프레임을 회전시키기 위한 구동력을 생성하는 구동모터를 가지는 구동유닛;과,상기 본체의 주행상태를 판단하여 상기 구동유닛을 제어하는 제어부;를 포함하고,상기 제어부는 상기 본체가 주행이 불가능한 스턱(stuck) 상태에 있다고 판단하는 경우, 상기 구동모터를 구동하여 상기 휠 프레임을 회전시키는 청소 로봇.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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AU2015230141A AU2015230141B2 (en) | 2014-03-13 | 2015-03-13 | Driving unit and cleaning robot comprising same |
US15/125,776 US9950586B2 (en) | 2014-03-13 | 2015-03-13 | Driving unit and cleaning robot comprising same |
CN201580024576.4A CN106604671B (zh) | 2014-03-13 | 2015-03-13 | 驱动单元以及包括所述驱动单元的清洁机器人 |
EP15761755.6A EP3117753B1 (en) | 2014-03-13 | 2015-03-13 | Driving unit and cleaning robot comprising same |
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KR1020140029821A KR102124514B1 (ko) | 2014-03-13 | 2014-03-13 | 구동유닛 및 이를 포함하는 청소 로봇 |
KR10-2014-0029821 | 2014-03-13 |
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WO2015137764A1 true WO2015137764A1 (ko) | 2015-09-17 |
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PCT/KR2015/002447 WO2015137764A1 (ko) | 2014-03-13 | 2015-03-13 | 구동유닛 및 이를 포함하는 청소 로봇 |
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US (1) | US9950586B2 (ko) |
EP (1) | EP3117753B1 (ko) |
KR (1) | KR102124514B1 (ko) |
CN (1) | CN106604671B (ko) |
AU (1) | AU2015230141B2 (ko) |
WO (1) | WO2015137764A1 (ko) |
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KR102021826B1 (ko) * | 2018-02-05 | 2019-09-17 | 엘지전자 주식회사 | 청소기 |
CN110507248A (zh) * | 2018-05-22 | 2019-11-29 | 科沃斯机器人股份有限公司 | 自移动机器人行走装置、自移动机器人及其行走方法 |
KR102148029B1 (ko) * | 2018-06-25 | 2020-08-26 | 엘지전자 주식회사 | 로봇 |
USD938115S1 (en) * | 2018-11-30 | 2021-12-07 | Irobot Corporation | Autonomous floor cleaning robot |
WO2021066224A1 (en) * | 2019-10-02 | 2021-04-08 | Lg Electronics Inc. | Robot cleaner |
KR102662323B1 (ko) * | 2019-10-02 | 2024-04-30 | 엘지전자 주식회사 | 로봇 청소기 |
KR102271443B1 (ko) * | 2019-12-24 | 2021-07-01 | 엘지전자 주식회사 | 로봇청소기 |
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KR920011175U (ko) * | 1990-12-28 | 1992-07-24 | 주식회사 금성사 | 자동주행청소기의 먼지흡입구 승강장치 |
US5440216A (en) * | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
KR20050063547A (ko) * | 2003-12-22 | 2005-06-28 | 엘지전자 주식회사 | 로봇 청소기 및 그 운전방법 |
KR20130025310A (ko) * | 2011-09-01 | 2013-03-11 | 삼성전자주식회사 | 구동바퀴조립체 및 이를 구비하는 로봇청소기 |
KR20140000811A (ko) * | 2012-06-25 | 2014-01-06 | 엘지전자 주식회사 | 로봇 청소기 및 그 제어 방법 |
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DE3423753A1 (de) | 1984-06-28 | 1986-01-09 | Kochs Adler Ag, 4800 Bielefeld | Vorrichtung zum steuern des greiferfadens einer doppelkettenstich-naehmaschine |
KR100635827B1 (ko) * | 2005-04-25 | 2006-10-19 | 엘지전자 주식회사 | 눌림 감지 기능을 갖는 청소로봇과 그 방법 |
KR100670202B1 (ko) * | 2005-12-02 | 2007-01-16 | 삼성전자주식회사 | 주행 로봇 |
TWI312279B (en) | 2006-09-19 | 2009-07-21 | Ind Tech Res Inst | Robotic vacuum cleaner |
DE202008017137U1 (de) * | 2008-12-31 | 2009-03-19 | National Kaohsiung First University Of Science And Technology | Fahrbares Reinigungsgerät |
KR101970584B1 (ko) | 2011-09-01 | 2019-08-27 | 삼성전자주식회사 | 청소 시스템과 그 메인터넌스 스테이션 |
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2014
- 2014-03-13 KR KR1020140029821A patent/KR102124514B1/ko active IP Right Grant
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2015
- 2015-03-13 EP EP15761755.6A patent/EP3117753B1/en active Active
- 2015-03-13 US US15/125,776 patent/US9950586B2/en active Active
- 2015-03-13 CN CN201580024576.4A patent/CN106604671B/zh active Active
- 2015-03-13 AU AU2015230141A patent/AU2015230141B2/en not_active Ceased
- 2015-03-13 WO PCT/KR2015/002447 patent/WO2015137764A1/ko active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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KR920011175U (ko) * | 1990-12-28 | 1992-07-24 | 주식회사 금성사 | 자동주행청소기의 먼지흡입구 승강장치 |
US5440216A (en) * | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
KR20050063547A (ko) * | 2003-12-22 | 2005-06-28 | 엘지전자 주식회사 | 로봇 청소기 및 그 운전방법 |
KR20130025310A (ko) * | 2011-09-01 | 2013-03-11 | 삼성전자주식회사 | 구동바퀴조립체 및 이를 구비하는 로봇청소기 |
KR20140000811A (ko) * | 2012-06-25 | 2014-01-06 | 엘지전자 주식회사 | 로봇 청소기 및 그 제어 방법 |
Also Published As
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KR20150107234A (ko) | 2015-09-23 |
EP3117753B1 (en) | 2021-02-17 |
AU2015230141B2 (en) | 2017-10-05 |
US9950586B2 (en) | 2018-04-24 |
CN106604671B (zh) | 2019-10-11 |
KR102124514B1 (ko) | 2020-06-18 |
EP3117753A1 (en) | 2017-01-18 |
US20170001490A1 (en) | 2017-01-05 |
EP3117753A4 (en) | 2017-12-27 |
CN106604671A (zh) | 2017-04-26 |
AU2015230141A1 (en) | 2016-09-22 |
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