WO2021006370A1 - Robot nettoyeur - Google Patents

Robot nettoyeur Download PDF

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Publication number
WO2021006370A1
WO2021006370A1 PCT/KR2019/008344 KR2019008344W WO2021006370A1 WO 2021006370 A1 WO2021006370 A1 WO 2021006370A1 KR 2019008344 W KR2019008344 W KR 2019008344W WO 2021006370 A1 WO2021006370 A1 WO 2021006370A1
Authority
WO
WIPO (PCT)
Prior art keywords
restoring force
suspension
robot cleaner
providing unit
wheel
Prior art date
Application number
PCT/KR2019/008344
Other languages
English (en)
Korean (ko)
Inventor
김황
이승진
Original Assignee
엘지전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to PCT/KR2019/008344 priority Critical patent/WO2021006370A1/fr
Priority to KR1020217041866A priority patent/KR102713779B1/ko
Publication of WO2021006370A1 publication Critical patent/WO2021006370A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • 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
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • 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 robot cleaner, and more particularly, to a robot cleaner capable of providing a constant grip for driving of the robot cleaner even if the rotation angle of the suspension is changed using a simple structure.
  • the robot vacuum cleaner is a device that sucks foreign substances such as dust from the floor while traveling by itself in the area to be cleaned. In other words, the robot cleaner automatically cleans a certain area.
  • the robot cleaner is provided with a distance sensor for sensing a distance to an obstacle such as furniture, office supplies, and walls installed in a cleaning area, and left and right wheels for moving the robot cleaner.
  • the left and right wheels are configured to rotate by a left wheel motor and a right wheel motor, respectively, and the robot cleaner performs the indoor cleaning while changing directions by itself according to the driving of the left wheel motor and the right wheel motor.
  • a suction nozzle for sucking foreign substances from the floor is provided under the robot cleaner.
  • the suction nozzle includes a nozzle case fixed to the cleaner body so as not to be movable, a suction port formed on the bottom of the nozzle case to suck foreign substances, and a suction port rotatably provided at the suction port to transfer foreign substances such as dust accumulated on the floor to the suction port. It consists of sweeping edge data.
  • Korean Patent Registration (10-0751591) in addition to the left wheel motor and the right wheel motor providing driving force for movement, the wheel is lowered using a motor for increasing the stroke when the wheel is removed. In this case, there is a problem that it is technically complicated because it requires additional configuration of the related gear module and control by additional sensing.
  • the present invention is to solve the above problems, and the present invention is to provide a robot cleaner capable of providing a grip force capable of driving even if the rotation angle of the suspension is changed by using a simple structure.
  • the present invention is to provide a robot cleaner capable of providing sufficient ground reaction force (vertical drag) even in a situation in which the wheel of the robot cleaner falls into a deep obstacle.
  • the present invention provides a robot cleaner capable of providing climbing performance regardless of the position of the wheel.
  • an additional motor and a reducer are configured to solve the problem of lowering the frictional force due to the detachment of the wheel that may occur during the driving of the robot cleaner, and the problem is not solved by a complicated method through control by sensing.
  • a gas spring or a spiral spring filled with gas that can maintain a certain grip even when the wheel of the robot cleaner is removed is applied to the suspension to provide a robot cleaner capable of maintaining a constant friction force in the case of a wheel dropout.
  • the present invention comprises a main body; and a main wheel for moving or rotating the main body; And a driving unit that changes the height of the main wheel with respect to the main body and rotates the main wheel to move the main body.
  • the present invention is a front auxiliary wheel disposed in front of the main body; Including; rear auxiliary wheels disposed at the rear of the main body, the main wheel is disposed between the front auxiliary wheel and the rear auxiliary wheel.
  • a separate driving device is not connected to the front auxiliary wheel and the rear auxiliary wheel, but as the robot cleaner moves, it may be rotated dependently by being affected by the rotation of the main wheel.
  • the driving unit includes a housing coupled to the main body, a suspension coupled to the main wheel, and a restoring force providing unit having one end fixed so as not to move to the housing, rotated about a rotation shaft inserted into a coupling hole provided in the housing do.
  • the restoring force providing unit is deformed when the suspension is rotated with respect to the housing to provide restoring force.
  • the restoring force may mean a force to maintain a previous shape or shape.
  • the predetermined range may be 45 to 70% of the weight of the robot cleaner.
  • the driving unit includes a driving motor that rotates the main wheel, and the main wheel rotates when a rotational force is generated by the driving motor.
  • Two main wheels are provided on the left and right sides of the robot cleaner, and the driving motors are separately provided on the left and right sides, so that the robot cleaner can travel forward or backward, and rotate in the left and right directions.
  • Rotation of the suspension with respect to the housing may be performed by a force provided by the restoring force providing unit.
  • the driving unit includes a connection bar having one end coupled to the suspension and the other end coupled to the restoring force providing unit to connect the restoring force providing unit and the suspension to each other.
  • connection bar a first coupling portion rotatably coupled to the suspension
  • the restoring force providing unit includes a gas spring that is filled with gas to generate a restoring force for displacement.
  • the gas spring includes a body portion filled with gas therein, a piston moving within the body portion, and a piston rod extending from the piston and coupled to the connection bar.
  • the restoring force of the restoring force providing unit may be kept constant.
  • the restoring force providing unit may include a spring, and the restoring force providing unit may be directly coupled to the suspension so as to be rotatable.
  • the mainspring spring may include an extension part coupled to the suspension and a wheel forming a space in which the extension part is wound.
  • the suspension When the position of the extension part is changed, the suspension may be rotated with respect to the housing.
  • the restoring force provided by the restoring force providing unit may be kept constant.
  • FIG. 1 is a view showing a lower surface of a robot cleaner according to the present invention.
  • FIG. 2 is an exploded perspective view illustrating a main part of the present invention according to an embodiment.
  • Figure 3 is a view illustrating an embodiment of the gas spring.
  • FIG. 4 is a view illustrating a state in which the gas spring is contracted in FIG. 2.
  • FIG. 5 is a view illustrating a state in which the gas spring is tensioned in FIG. 2.
  • 6 to 8 are views illustrating a main part of the present invention according to another embodiment.
  • FIG. 1 is a view showing a lower surface of a robot cleaner according to the present invention. Hereinafter, it demonstrates with reference to FIG.
  • the present invention provides a main body 10 forming an exterior, a main wheel 40 provided on the main body 10 and rotating to move or rotate the main body 10 back and forth, and one side of the main body 10 And a front auxiliary wheel 20 supporting the rotation of the main body 10 by the main wheel 40.
  • the main wheel 40 is provided independently of each other on the left and right sides of the main body 10, and the left and right sides may be driven independently of each other.
  • the main body 10 is provided with a suction unit 14 for suctioning foreign substances and the like and an inclined portion 12 for guiding the main body 10 when the main body 10 rises a step.
  • the inclined portion 12 is formed at a lower portion of the front side of the main body 10 and means a portion provided to be inclined at a predetermined angle.
  • the suction unit 14 is provided on the main body 10 and rotates while being rotated to contact the floor surface to be cleaned.
  • the suction unit 14 is formed on the main body 10 and is formed on the main body 10 to be externally formed by a suction force generated inside the main body 10. It may include a suction port for inhaling foreign substances.
  • the inclined portion 12 is disposed at the foremost of the main body 10, the front auxiliary wheel 20 is provided at the rear thereof, and the main wheel 40 is disposed at the rear of the front auxiliary wheel 20 do.
  • a rear auxiliary wheel 30 may be provided at the rear of the main wheel 40 to support the other side of the main body 10.
  • the front auxiliary wheel 20 and the rear auxiliary wheel 30 are provided to be freely rotated in a horizontal direction with respect to the main body 10. Meanwhile, the front auxiliary wheel 20 and the rear auxiliary wheel 30 are provided to be fixed in height with respect to the main body 10.
  • the main wheel 40 is composed of two wheels on both sides, and the wheels on both sides rotate at different rotation speeds or in different rotation directions, so that the body 10 can rotate to any left or right. Do it.
  • the main wheel 40 is provided so that the height of the main wheel 40 is changed with respect to the main body 10 unlike the front auxiliary wheel 20.
  • FIG. 2 is an exploded perspective view illustrating a main part of the present invention according to an embodiment.
  • the driving unit 100 may change the height of the main wheel 40 with respect to the main body 10.
  • the driving unit 100 may rotate the main wheel 40 so that the main body 10 may move or turn in the left and right directions.
  • the driving unit 100 includes a housing 110 coupled to the main body 10 and a suspension 130 rotatably coupled to the housing 110.
  • the housing 110 is provided with a coupling hole 112, and the rotation shaft 132 provided in the suspension 130 is inserted into the coupling hole 112, so that the coupling hole 112 and the rotation shaft 132 ), the suspension 130 may be rotated.
  • the main wheel 40 is coupled to one end of the suspension 130. Even if the angle at which the suspension 130 is rotated with respect to the housing 110 is changed, the main wheel 40 may be maintained in a grounded state.
  • the driving unit 100 includes a restoring force providing unit that has one end fixed so as not to move to the housing 110 and is deformed when the suspension 130 is rotated with respect to the housing 110 to provide restoring force.
  • the restoring force providing unit includes a gas spring 200 that is filled with gas and generates restoring force according to the generated displacement.
  • the restoring force may mean a force to maintain a previous shape or shape or a force to return to an initial shape or shape.
  • Rotation of the suspension 130 with respect to the housing 110 is performed by a force provided by the restoring force providing unit.
  • the driving unit 100 includes a driving motor 170 that rotates the main wheel 40.
  • the rotational force of the main wheel 40 is provided by the driving motor 170, and when a rotational force is generated in the driving motor 170, the main wheel 40 is rotated, and the rotational force in the driving motor 170 is If not generated, the main wheel 40 is not rotated.
  • the drive motor 170 does not participate in the movement of the suspension 130 to rotate with respect to the housing 110, and provides only a rotational force by which the main wheel 40 is rotated.
  • the suspension 130 includes a reduction gear module 138, and the main wheel 40 is coupled to the reduction gear module 138.
  • the drive motor 170 is also coupled to the reduction gear module 138, so that the forward or reverse rotational force generated from the drive motor 170 is transmitted to the main wheel 40 through the reduction gear module 138. do. Accordingly, the rotational speed and rotational force provided by the driving motor 170 may be changed by the reduction gear module 138 to rotate the main wheel 40.
  • the driving unit 100 includes a connection bar 180 having one end coupled to the suspension 130 and the other end coupled to the restoring force providing unit to connect the restoring force providing unit and the suspension to each other.
  • connection bar 180 is formed of a rigid body that extends long and does not change in length.
  • the connection bar 180 includes a first coupling portion 182 rotatably coupled to the suspension 130 and a second coupling portion 184 rotatably coupled to the gas spring 200.
  • the first coupling portion 182 and the second coupling portion 184 are disposed at both ends of the connection bar 180, so that a hole through which a member is inserted and coupled is formed.
  • a protrusion 132 inserted into the first coupling part 182 is formed in the suspension 130.
  • the protrusion 132 is inserted into a hole formed in the first coupling portion 182, so that the suspension 130 may be rotatably coupled with respect to the connection bar 180.
  • the gas spring 200 has a protrusion 202 inserted into the second coupling part 184.
  • the protrusion 202 may be inserted into a hole formed in the second coupling portion 184 so that the gas spring 200 may be rotatably coupled with respect to the connection bar 180.
  • One end of the gas spring 200 is coupled to the housing 110 so as not to be movable. In a state coupled to the housing 110, the gas spring 200 may be deformed only in the longitudinal direction.
  • the suspension 130 may form a space in which the drive motor 170 is accommodated and a space in which the main wheel 40 is accommodated.
  • the suspension 130 may be disposed so as to overlap the housing 110, and then, as the suspension 130 is rotated, a part of the suspension 130 may be moved so as to deviate from the housing 110.
  • FIG 3 is a view illustrating a gas spring according to an embodiment.
  • the gas spring used in the present embodiment may be applied in various forms, but for convenience of explanation, a related example will be described with reference to FIG. 3.
  • various types of gas springs may be applied.
  • the gas spring 300 includes a body part 210 filled with gas and a piston 220 that moves inside the body part 210.
  • the piston 220 is formed to have a size similar to the cross section of the inner space of the body portion 210, and can be moved in the left and right directions inside the body portion 210.
  • the gas located on the left and right sides is compressed or expanded, thereby generating a restoring force according to the moving displacement of the piston 220.
  • a piston rod 230 is coupled to the piston 220, and the piston rod 230 penetrates through a through hole formed at one side of the body 210 and is exposed to the outside. In the portion where the peace phone rod 230 passes through the body part 210, while guiding the movement of the piston rod 230, the gas filled in the body part 210 does not leak through the through hole.
  • a sealing member or a guide member may be provided.
  • the restoring force provided by the gas spring 200 may maintain a range of F1 to F2.
  • the elastic constant is proportional to the displacement, and the gas spring 200 has a relatively small value corresponding to the elastic constant, so that the range of change of the restoring force may be reduced. Even if the piston rod moves, the restoring force of the gas spring may be maintained within a certain range.
  • the spring constant of the gas spring is nonlinear. Air may be used as the gas.
  • the characteristic of gas springs is progressive.
  • the restoring force providing unit provides a constant restoring force, even if the angle in which the suspension 130 is rotated with respect to the housing 110 changes, the main wheel 40 can maintain a constant friction force with respect to the grounded floor. . Therefore, when the main wheel 40 is in a state in which the suspension 130 is deeply located or the main wheel 40 is located on a flat floor, the restoring force providing unit provides a constant force so that the main wheel 40 is It can maintain a constant driving power.
  • the restoring force providing unit may have a static load restoring force, so that the main wheel may generate constant friction on the floor regardless of the rotation angle of the suspension 130.
  • the static load restoring force may mean a certain restoring force or a certain range of restoring force as a term described in the skill level of a person skilled in the art.
  • the gas spring As the restoring force providing unit, taking into account the gas flow to be filled in the gas spring, the size of the inner space of the body, the size of the cross section of the body, the size of the cross section of the piston, etc., the gas spring It can be configured to provide a certain range of static load restoring force for the weight of the robot cleaner.
  • the gas spring provides a restoring force of 45 to 70% based on the weight of the robot cleaner, the main wheel may generate frictional force on the floor at a level that allows movement.
  • FIG. 4 is a view illustrating a state in which the gas spring is contracted in FIG. 2
  • FIG. 5 is a view illustrating a state in which the gas spring is tensioned in FIG. 2.
  • 4A is a perspective view of a driving part
  • FIG. 4B is a side view of a driving part
  • 5A is a perspective view of the driving part
  • FIG. 5B is a side view of the driving part.
  • the suspension 130 maintains a large portion overlapping with the housing 110 due to the load of the robot cleaner, and the suspension 130 is the housing 110 Is folded in the inner space of.
  • the main wheel 40 is rotated while in contact with the floor, and the robot cleaner can travel by the rotational force of the main wheel 40.
  • the load of the robot cleaner does not sufficiently press the suspension 130, and the suspension 130 rotates so that the overlapped portion with respect to the housing 110 decreases. do.
  • the suspension 130 is unfolded from the housing 110 while rotating in a counterclockwise direction (referring to FIGS. 4 and 5) around the rotation shaft 132.
  • connection bar 180 is a rigid body having a constant length
  • the connection bar 180 is moved to the right.
  • the first coupling portion 182 of the connection bar 180 is also moved to the right, and the protrusion 132 provided on the suspension 130 is also moved to the right.
  • the suspension 130 since the suspension 130 is rotatably coupled to the housing 110 with respect to the rotation shaft 132, the suspension 130 can be rotated with respect to the housing 110.
  • the gas spring 200 applied in one embodiment has one end fixed to the housing 110, while the piston rod or the protrusion 202 provided on the body portion is moved, the gas spring may be extended to cause displacement. have.
  • the suspension 130 has a certain or certain range of restoring force. Is provided. Accordingly, the main wheel 40 may apply frictional force to the floor enough to allow the robot cleaner to travel.
  • the entire gas spring is not configured to be movable with respect to the housing, there is no need to provide a configuration for moving the gas spring.
  • there is no need to perform an operation for calculating the time point or condition for moving the gas spring there is no need to configure a sensor or a control unit. Therefore, in this embodiment, a technique applicable to an actual robot cleaner is derived through a simple configuration.
  • 6 to 8 are views illustrating a main part of the present invention according to another embodiment.
  • the biggest difference is that the restoring force providing unit is composed of a spring spring instead of a gas spring.
  • the restoring force providing unit includes a spring 300.
  • the spring 300 may be directly coupled to the suspension 130 so as to be rotatable.
  • the spring 300 may also provide a static load restoring force like the gas spring of the above-described embodiment.
  • the spring 300 includes an extension part 310 coupled to the suspension 130 and a wheel 320 forming a space in which the extension part 310 is wound.
  • the suspension 130 may be rotated with respect to the housing 110.
  • One end of the extension part 310 is coupled to the suspension 130, so that when the suspension 130 is rotated counterclockwise from the housing 110, the extension part 310 is moved from the wheel 320. Elongated. Accordingly, the suspension 130 can be operated in a manner that is spread out from the housing 110.
  • the extension part 310 is configured to be wound inside the wheel 320, so that the suspension 130 is the housing ( 110) can be operated in a folded manner.
  • the restoring force provided by the spring 300 is kept constant. Therefore, regardless of whether the suspension 130 is rotated with respect to the housing 110 or the angle at which it is rotated, the spring 300 may maintain a constant restoring force. Therefore, when the main wheel 40 is rotated, the main wheel 40 can always secure a frictional force enough to be able to run against the floor.
  • the present invention does not require an electronically configured sensor and a control unit, the configuration of the robot cleaner can be simplified. In addition, since a certain level of driving force can be secured from the main wheel regardless of the driving situation of the robot cleaner, the reliability of the robot cleaner passing through an obstacle can be improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

L'invention concerne un robot nettoyeur qui comprend : un corps principal; une roue auxiliaire avant disposée devant le corps principal; une roue auxiliaire arrière disposée à l'arrière du corps principal; une roue principale disposée entre la roue auxiliaire avant et la roue auxiliaire arrière; et une unité d'entraînement pour modifier la hauteur de la roue principale par rapport au corps principal et faire tourner la roue principale pour déplacer le corps principal.
PCT/KR2019/008344 2019-07-08 2019-07-08 Robot nettoyeur WO2021006370A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/KR2019/008344 WO2021006370A1 (fr) 2019-07-08 2019-07-08 Robot nettoyeur
KR1020217041866A KR102713779B1 (ko) 2019-07-08 2019-07-08 로봇 청소기

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2019/008344 WO2021006370A1 (fr) 2019-07-08 2019-07-08 Robot nettoyeur

Publications (1)

Publication Number Publication Date
WO2021006370A1 true WO2021006370A1 (fr) 2021-01-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2019/008344 WO2021006370A1 (fr) 2019-07-08 2019-07-08 Robot nettoyeur

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KR (1) KR102713779B1 (fr)
WO (1) WO2021006370A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140000811A (ko) * 2012-06-25 2014-01-06 엘지전자 주식회사 로봇 청소기 및 그 제어 방법
KR20160121844A (ko) * 2015-04-13 2016-10-21 삼성전자주식회사 구동유닛 및 이를 구비하는 로봇청소기
JP2017221594A (ja) * 2016-06-17 2017-12-21 シャープ株式会社 自走式電子機器
US20190133401A1 (en) * 2016-05-11 2019-05-09 Aktiebolaget Electrolux Robotic cleaning device
KR101984012B1 (ko) * 2016-12-14 2019-05-31 (주)아이포바인 로봇 청소기

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101880089B1 (ko) * 2011-09-01 2018-07-23 삼성전자주식회사 로봇 청소기와 그 제어 방법
KR102376774B1 (ko) * 2015-11-20 2022-03-21 삼성전자주식회사 휠 조립체 및 이를 갖춘 로봇 청소기

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140000811A (ko) * 2012-06-25 2014-01-06 엘지전자 주식회사 로봇 청소기 및 그 제어 방법
KR20160121844A (ko) * 2015-04-13 2016-10-21 삼성전자주식회사 구동유닛 및 이를 구비하는 로봇청소기
US20190133401A1 (en) * 2016-05-11 2019-05-09 Aktiebolaget Electrolux Robotic cleaning device
JP2017221594A (ja) * 2016-06-17 2017-12-21 シャープ株式会社 自走式電子機器
KR101984012B1 (ko) * 2016-12-14 2019-05-31 (주)아이포바인 로봇 청소기

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KR20220002693A (ko) 2022-01-06
KR102713779B1 (ko) 2024-10-07

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