WO2021020680A1

WO2021020680A1 - Vacuum cleaner

Info

Publication number: WO2021020680A1
Application number: PCT/KR2020/001366
Authority: WO
Inventors: 장재원; 정진호; 이영재
Original assignee: 엘지전자 주식회사
Priority date: 2019-07-31
Filing date: 2020-01-29
Publication date: 2021-02-04
Also published as: EP4005456A1; EP4005456A4

Abstract

The present invention comprises: a body forming the exterior; a mop module disposed beneath the body so as to support the body and configured to rotate a pair of spin mops, thereby mopping a floor; and a sweep module disposed on the body so as to sweep foreign materials off the floor through rotation of an agitator. The sweep module comprises: a dust housing comprising a collecting open surface which is open toward the floor, and a storage space in which foreign materials collected through the collecting open surface are stored; the agitator exposed to the collecting open surface, rotatably assembled to the dust housing, and configured to move foreign materials from the floor to the storage space during rotation; and a wheel assembly assembled to the dust housing so as to contact the floor, thereby supporting the dust housing. The wheel assembly comprises: a wheel body assembled to the dust housing to be able to move in the upward/downward direction; a wheel assembled beneath the wheel body so as to contact the floor, thereby supporting the wheel body; a wheel elastic member disposed between the dust housing and the wheel body so as to provide an elastic force to the wheel body, thereby moving the wheel body; and a cliff sensor disposed on the body such that, when the wheel body moves, the cliff sensor senses the movement of the wheel body. The present invention is advantageous in that, since the wheel assembly not only supports the body, but also is used as a sensing factor of the cliff sensor for sensing a cliff, various functions may be integrated, thereby reducing the number of components.

Description

vacuum cleaner

The present invention relates to a cleaner that mops, and relates to a cleaner capable of recognizing a cliff through vertical movement of a wheel supporting a body.

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

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

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

In Korean Patent Publication No. 10-0671897 (hereinafter referred to as prior art 2), a switch-type sensor is disposed on the bottom of the body to detect the bottom by physically contacting the bottom.

However, the vacuum cleaner according to the prior art 2 has a problem of generating noise and friction during operation of the cleaner because the switch-type sensor is always in contact with the floor.

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

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

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

In the present invention, the cliff can be recognized through the physical vertical movement of the wheel body supporting the body, and since a separate cliff sensor is not installed on the body, the movement of the wheel is sensed, so that the size of the body can be reduced. The purpose is to provide a vacuum cleaner.

An object of the present invention is to provide a cleaner capable of recognizing a cliff by installing a wheel in a sweep module in which a dust housing and an agitator are integrated, and detecting a physical vertical movement of the wheel.

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

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

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

The present invention is characterized in that the cliff sensor detects the physical vertical movement of the wheel supporting the body to recognize the cliff.

In the present invention, a wheel supporting the floor is installed in a sweep module in which a dust housing and an agitator are integrated, and in a space without a floor, the wheel is moved downward by the elastic force of the wheel elastic member, and a cliff sensor detects the movement. .

Specifically, the present invention is a body; A mop module disposed under the body, supporting the body, and mopping the floor by rotating a pair of spin mops; A sweep module disposed on the body and sweeping away foreign matter on the floor, wherein the sweep module includes: an agitator configured to rotate to collect foreign matter on the floor; A storage space in which foreign substances collected from the agitator are stored; And a wheel assembly disposed on both sides of the storage space to support the sweep module and in contact with the floor, wherein the wheel assembly includes: a wheel body installed with a wheel and movable vertically; And a cliff sensor that senses the movement of the wheel body.

The cliff sensor may be disposed on the body.

The wheel assembly may further include a wheel elastic member for moving the wheel body by providing an elastic force to the wheel body.

In addition, the present invention is a body forming the appearance; A mop module disposed under the body, supporting the body, and mopping the floor by rotating a pair of spin mops; A sweep module disposed on the body and sweeping away foreign matter on the floor through rotation of the agitator, wherein the sweep module includes a collection opening surface opened toward the floor, and a foreign substance collected through the collection opening surface. A dust housing including a storage space to be stored; The agitator exposed to the collection opening, rotatably assembled to the dust housing, and moving foreign substances on the floor to the storage space when rotated; A wheel assembly that is assembled to the dust housing and is in contact with the floor to support the dust housing, wherein the wheel assembly includes a wheel body that is movably assembled to the dust housing in a vertical direction; A wheel assembled under the wheel body and contacting the floor to support the wheel body; A wheel elastic member disposed between the dust housing and the wheel body and providing elastic force to the wheel body to move the wheel body; And a cliff sensor disposed on the body and sensing movement of the wheel body when the wheel body is moved.

The wheel elastic member is compressed when the wheel is supported on the floor, and provides elastic force to the wheel body when the wheel is not in contact with the floor to press the wheel body downward.

The cliff sensor may be disposed above the wheel body.

The wheel body further includes a contact portion protruding upward, the Cliff sensor is disposed above the contact portion, and further includes a reed switch in contact with the contact portion, and the Cliff sensor is in contact with the reed switch and the contact portion or It may be a micro switch that detects whether the wheel body is moved through non-contact.

The wheel body further includes a contact portion protruding upward, the Cliff sensor further includes a permanent magnet disposed on the contact portion, and the Cliff sensor detects whether the wheel body is moved through proximity of the permanent magnet It may be a Hall sensor.

The wheel body further includes a sensing unit protruding upward, and the cliff sensor further includes a light emitting unit and a light receiving unit, and the sensing unit is disposed between the light emitting unit and the light receiving unit, and when the wheel body moves, the light receiving unit It may be a photosensor that senses the light of the received light-emitting unit and detects whether the wheel body is moved.

The wheel assembly may be disposed in front of the agitator.

A collection space disposed inside the dust housing, in which the agitator is installed, and the collection opening surface is formed; And a storage space disposed inside the dust housing, communicating with the collection space, and storing foreign substances collected from the agitator, wherein the wheel assembly may be disposed in front of the collection space.

The wheel assembly may be disposed on the side of the storage space.

A discharge surface passing through the dust housing and forming a front surface of the storage space; And a dust cover that covers the discharge surface and is detachably assembled with the dust housing, wherein the wheel assembly is located in front of the collection space, and may be located behind the dust cover.

The wheel body may include an upper wheel body at least partially facing an upper surface of the dust housing; A lower wheel body at least partially facing the lower side of the dust housing; At least a portion of the side wheel body facing the side of the dust housing and connecting the upper wheel body and the lower wheel body; further includes, the wheel elastic member may be disposed between the lower wheel body and the dust housing. .

It further includes an upper installation portion formed to be concave downward from the upper side of the dust housing, wherein the upper wheel body is disposed above the upper installation portion, and when the wheel body is moved downward by the wheel elastic member , The upper wheel body may be supported on the upper installation part.

Further comprising a contact portion protruding upward from the upper wheel body, the cliff sensor is disposed above the contact portion, further comprises a reed switch in contact with the contact portion, the upper wheel body is supported by the upper installation portion When configured, the contact portion and the reed switch may be spaced apart.

A guard protruding from the dust housing and disposed outside the side wheel body; It may further include; a guard groove formed in the side wheel body and into which the guard is inserted.

The wheel may be installed on the lower wheel body.

The wheel assembly may include: a first wheel assembly disposed on a left side in a traveling direction; And a second wheel assembly disposed on the right side in the traveling direction, wherein the first wheel assembly and the second wheel assembly may be symmetrical left and right.

A collection space disposed inside the dust housing, in which the agitator is installed, and the collection opening surface is formed; And a storage space disposed inside the dust housing, communicating with the collection space, and storing foreign substances collected by the agitator, wherein the first wheel assembly is disposed on the left side of the storage space, and the The second wheel assembly may be disposed on the right side of the storage space.

The first wheel assembly and the second wheel assembly may be located in front of the agitator.

The body has a cover forming an exterior; A base disposed under the cover and on which the sweep module is installed; further comprising, the wheel assembly may be disposed outside the dust housing and disposed inside the cover.

A collection space disposed inside the dust housing, in which the agitator is installed, and the collection opening surface is formed; And a storage space disposed inside the dust housing, communicating with the collection space, and storing foreign substances collected by the agitator, wherein the wheel assembly includes: a first wheel assembly disposed on the left side of the traveling direction; A second wheel assembly disposed on the right side in the traveling direction; wherein the collection space is disposed in front of the mop module, the storage space is disposed in front of the collection space, and the first wheel assembly is stored It is disposed on the left side of the space, and the second wheel assembly may be disposed on the right side of the storage space.

First, the present invention has the advantage of being able to recognize the cliff by detecting the physical vertical movement of the wheel supporting the body.

Second, in the present invention, a wheel supporting the floor is installed in the sweep module in which the dust housing and the agitator are integrated, and the wheel is moved downward by the elastic force of the wheel elastic member in a space without a floor. You can detect the cliff by detecting.

Third, the present invention has the advantage of being able to physically check a cliff that cannot be visually identified because the wheel directly applies a load to the floor even if there is a material that reflects ultrasonic waves or light on the cliff.

Fourth, according to the present invention, since the wheel assembly is disposed in the sweep module, there is an advantage of minimizing the occupancy of the internal space of the body.

Fifth, in the present invention, since the wheel assembly is disposed in front of the agitator, there is an advantage in that the cliff can be detected from the front side in the traveling direction of the cleaner.

Sixth, according to the present invention, since the wheel elastic member disposed under the dust housing presses the wheel body downward, the sensitivity of the cliff sensor can be physically adjusted according to the elastic force of the wheel elastic member.

Seventh, according to the present invention, since the wheel assembly is disposed between the inner side of the cover and the outer side of the dust housing, it is possible to prevent separation to the outside even if the wheel body is moved up and down.

Eighth, in the present invention, since the wheel assembly is used as a detection factor of a cliff sensor that not only supports the body but also detects a cliff, there is an advantage in that the number of parts can be reduced by integrating each function.

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

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

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

1 is a perspective view of a cleaner according to a first embodiment of the present invention.

2 is a left side view of FIG. 1.

3 is a bottom perspective view of FIG. 1.

4 is a front cross-sectional view of FIG. 1.

5 is a perspective view of the sweep module shown in FIG. 3.

6 is a bottom perspective view of FIG. 5.

7 is a right cross-sectional view of FIG. 5.

8 is an exploded perspective view of the sweep module shown in FIG. 3.

9 is an exploded perspective view of the sweep module viewed from the right side of FIG. 8.

10 is a partially exploded perspective view of FIG. 5.

11 is an enlarged perspective view of the first lever shown in FIG. 8.

12 is an enlarged perspective view of the second lever shown in FIG. 9.

13 is an enlarged perspective view of the second lever viewed from the left side of FIG. 12

14 is a partial exploded perspective view of a sweep module showing a coupling structure of the agitator shown in FIG. 5.

15 is an exploded perspective view showing an assembly structure of the driven coupler shown in FIG. 14.

16 is a perspective view as viewed from the left side of FIG. 15.

17 is a right sectional view showing the agitator of FIG. 14.

18 is an exploded perspective view of a driving unit viewed from the left side of FIG. 14.

19 is a plan view of a cleaner from which a case is removed in FIG. 1.

20 is a bottom view of FIG. 19.

21 is a right sectional view of FIG. 19.

22 is an exploded perspective view of the wheel assembly shown in FIG. 5.

23 is a partially enlarged view of FIG. 22.

24 is an exploded perspective view of the wheel assembly viewed from the lower side of FIG. 22.

25 is a partially enlarged view of FIG. 24.

26 is an exploded perspective view of the first wheel assembly shown in FIG. 24 as viewed from another direction.

27 is an exemplary view showing the operation of the wheel assembly according to the first embodiment of the present invention.

28 is an exemplary view showing the operation of the wheel assembly according to the second embodiment of the present invention.

29 is an exemplary operation diagram illustrating a wheel assembly according to a third embodiment of the present invention.

30 is a bottom view of FIG. 1 for explaining the center of gravity and the lowermost end of the spin mob according to the present invention.

31 is a plan view of the center of gravity of the present invention as viewed from the top after removing the case from the body in FIG. 1.

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

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

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

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

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

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

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

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

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

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

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

In this embodiment, the map module 40 may include a pair of

spin maps

41a and 41b. The pair of

spin mops

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

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

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

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

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

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

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

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

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

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

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

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

The body 30 includes a case 31 forming an exterior and a base 32 disposed under the case 31. The body 30 forms at least a part of a circle whose outer surface has a radius having an error within a reference radius and a reference error range. Here, having a radius having an error within the reference radius and the reference error range means that the circle is not a perfect circle, and the radius may vary within the error range for each central angle or for each region.

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

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

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

The rotation center of the spin mob is disposed on the rear side based on the center of the circle, and the agitator is disposed on the front side.

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

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

The mop module 40 is coupled to the base 32. The wheel assembly 2600 is coupled to the base 32. The control unit Co and the battery Bt are disposed in the inner space formed by the case 31 and the base 32. In addition, the mop driving unit 60 is disposed on the body 30. The water supply module 80 is disposed on the body 30.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

When distinction is necessary, the protrusions disposed on the upper housing 21110 are referred to as

upper protrusions

2151a and 2151b, and the protrusions disposed on the lower housing 2140 are referred to as lower protrusions 2151c and 2151d.

The

upper protrusions

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

Upper

engaging grooves

2152a and 2152b corresponding to the

upper protrusions

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

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

The dust cover 2150 has a concave insertion space from the rear to the front side.

The upper

engaging grooves

2152a and 2152b are formed in the top cover part 2154. Lower engaging grooves 2152c and 2152d are formed in the bottom cover part 2157. The upper

engaging grooves

2152a and 2152b and the lower engaging grooves 2152c and 2152d are preferably disposed opposite to each other.

The upper

engaging grooves

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

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

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

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

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

In this embodiment, the

upper protrusions

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

The

upper protrusions

2151a and 2151b are inserted from the lower side to the upper side of the upper

engaging grooves

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

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

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

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

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

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

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

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

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

11 is an enlarged perspective view of the first lever shown in FIG. 8. 12 is an enlarged perspective view of the second lever shown in FIG. 9. 13 is an enlarged perspective view of the second lever viewed from the left side of FIG. 12.

9 to 13, the lever 2500 may be disposed between the base 32 and the dust housing 2100, and mutually engage the base 32 and the dust housing 2100. . The lever 2500 forms mutual engagement with respect to the gravitational direction of the dust housing 2100 and prevents the dust housing 2100 from being separated from the base 32 downward.

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

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

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

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

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

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

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

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

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

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

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

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

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

holes

2171 and 2172 of the first side cover 2170.

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

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

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

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

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

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

When the

levers

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

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

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

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

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

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

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

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

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

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

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

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

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

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

holes

2171 and 2172.

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

holes

2171 and 2172. remind

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

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

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

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

holes

2181 and 2182 of the second side cover 2180, and the lower lever It includes an operation part 2519 protruding downward from the body 2524.

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

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

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

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

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

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

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

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

The second side cover 2180 passes through the second side cover body 2183 and the second side cover body 2183 in close contact with the other side (right side in this embodiment) of the housing assembly 2001. A through

hole

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

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

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

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

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

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

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

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

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

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

14 is a partial exploded perspective view of a sweep module showing a coupling structure of the agitator shown in FIG. 5. 15 is an exploded perspective view showing an assembly structure of the driven coupler shown in FIG. 14. 16 is a perspective view as viewed from the left side of FIG. 15. 17 is a right sectional view showing the agitator of FIG. 14. 18 is an exploded perspective view of a driving unit viewed from the left side of FIG. 14.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

In addition, since the side covers 2170 and 2180 conceal the

levers

2510 and 2520 inside the dust housing 2100, it is possible to minimize foreign matters from entering the section of the

levers

2510 and 2520. And, it is possible to secure reliability according to the operation.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

19 is a plan view of a cleaner from which a case is removed in FIG. 1. 20 is a bottom view of FIG. 19. 21 is a right sectional view of FIG. 19.

19 to 21, the sweep module 2000 further includes a housing elastic member 327 that provides an elastic force to the dust housing 2100. The housing elastic member 327 is disposed in the installation space 325.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

22 is an exploded perspective view of the wheel assembly shown in FIG. 5. 23 is a partially enlarged view of FIG. 22. 24 is an exploded perspective view of the wheel assembly viewed from the lower side of FIG. 22. 25 is a partially enlarged view of FIG. 24. 26 is an exploded perspective view of the first wheel assembly shown in FIG. 24 as viewed from another direction.

22 to 26, the sweep module 2000 according to the present embodiment further includes a wheel assembly 2600. The wheel assembly 2600 supports the load of the body 30 and reduces friction when the cleaner is running.

The wheel assembly 2600 according to the present embodiment is assembled to the dust housing 2100 and installed to be movable in the vertical direction while being assembled to the dust housing 2100. Through the up and down movement of the wheel assembly 2600, a cliff that the cleaner cannot move is recognized.

Since the body 30 according to the present embodiment is supported through a pair of spin maps 41, the wheel assembly 2600 does not incline forward even if it does not support the body 30.

The wheel assembly 2600 detects a cliff in front of the moving direction of the cleaner. The wheel assembly 2600 not only detects a cliff, but also supports the front side of the body 30 during normal driving and reduces friction with the floor.

The wheel assembly 2600 includes a first wheel assembly 2610 disposed on one side (left side) of the dust housing 2100 and a second wheel assembly 2620 disposed on the other side (right side) of the dust housing 2100 Includes.

The first wheel assembly 2610 and the second wheel assembly 2620 are symmetrical. Since the first wheel assembly 2610 and the second wheel assembly 2620 have the same configuration, the first wheel assembly 2610 will be described as an example.

When it is necessary to distinguish the configurations of the first wheel assembly 2610 and the second wheel assembly 2620, the configuration of the first wheel assembly 2610 is referred to as "first", and the second wheel assembly ( 2620) is referred to as “second”.

The first wheel assembly is disposed to the left in the traveling direction of the cleaner, and the second wheel assembly is disposed to the right in the traveling direction of the cleaner. The first wheel assembly 2610 is disposed on the left side of the storage space 2104, and the second wheel assembly 2620 is disposed on the right side of the storage space 2014.

The wheel assembly 2600 includes a wheel body 2630 that is assembled to the dust housing 2100 so as to be movable in an up-down direction, and is assembled under the wheel body 2630, and is in contact with the floor to make the body 30 A wheel elastic member 2650 that is disposed between the supporting wheel 2640 and the dust housing 2100 and the wheel body 2630 and provides elastic force to the wheel body 2630 in a downward direction, and the body ( 30), and includes a cliff sensor 2660 that senses the movement of the wheel body 2630 when the wheel body 2630 moves downward.

The wheel body 2630 is installed to be movable in the vertical direction with respect to the dust housing 2100. While the cleaner is running, the wheel body 2630 is in close contact with the upper side and maintains a state in contact with the cliff sensor 2660.

When the wheel body 2630 is moved downward, the climp sensor 2660 and the wheel body 2630 are separated, and the cliff sensor 2660 detects it. When the wheel 2640 is positioned above a space greater than the vertical movement distance of the wheel body 2630, the wheel body 2630 and the cliff sensor 2640 are separated.

In this embodiment, the controller of the cleaner detects the separation between the wheel body 2630 and the cliff sensor 2640, and determines a cliff through the separation detection.

In this embodiment, the wheel body 2630 is disposed on the outer side of the storage space 2104. The wheel body 2630 is disposed in front of the collection space 2012. The wheel body 2630 is located in front of the agitator 2200. The wheel body 2630 is located behind the dust cover 2150.

Two wheel bodies 2630 are arranged left and right, and a separation distance between the two wheel bodies 2630 is smaller than the left and right widths of the agitator 3300.

Specifically, the first wheel assembly 2610 is disposed between the left cover part 2155 and the first side cover 2170. The second wheel assembly 2620 is disposed between the right cover part 2156 and the second side cover 2180.

The wheel assembly is disposed between the case 31 and the dust housing 2100. Specifically, the wheel body is disposed between the inner side of the case 31 and the outer side of the dust housing 2100.

It is preferable that the first wheel body 2631 and the left cover part 2155 form a continuous flat or curved surface. It is preferable that the second wheel body 2262 and the left cover part 2155 form a continuous flat or curved surface.

From a top view, since the body 30 is formed close to a circular shape, it is preferable that the wheel body 2630 is disposed within a diameter based on the center of the body 30. The wheel body 2630 is located inside the case 31.

The wheel body 2630 includes an upper wheel body 2635, a side wheel body 2632, and a lower wheel body 2633.

The upper wheel body 2635 is movable in a vertical direction with respect to the upper surface of the dust housing 2100. When the wheel assembly 2600 is moved downward, the upper wheel body 2635 is in close contact with the upper surface of the dust housing 2100 and supported by the dust housing 2100, and downward movement is restricted.

The lower wheel body 2633 is movable in a vertical direction with respect to the lower side of the dust housing 2100. When the wheel assembly 2600 is moved upward, the lower wheel body 2633 is in close contact with the lower surface of the dust housing 2100 and supported by the dust housing 2100, and upward movement is restricted.

The side wheel body 2634 connects the upper wheel body 2631 and the lower wheel body 2633.

A contact portion 2636 contacting the cliff sensor 2660 is formed on the upper wheel body 2635. The cliff sensor 2660 includes a switch lead 2666 protruding downward toward the contact portion 2636.

A wheel body installation part 2030 on which the wheel body 2630 is mounted is formed on an outer surface of the dust housing 2100.

The wheel body installation part 2030 includes an upper installation part 2035 that faces the upper wheel body 2635, a side installation part 2034 that faces the side wheel body 2634, and the lower wheel body 2633. It includes a lower installation portion (2033) opposite to.

The upper installation part 2035 is formed to be concave downward from the upper side surface 2101a of the dust housing 2100. A sensing distance t of the wheel body 2630 is formed between the upper mounting portion 2035 and the upper surface 2101a.

The lower mounting portion 2033 is formed to be concave upward from the lower side 2101b of the housing assembly 2001. The wheel 2640 is accommodated in the lower installation part 2033.

The wheel 2640 is installed under the lower installation part 2033. A wheel installation space 2641 is formed concave from the lower side of the lower installation part 2033 to the upper side.

The wheel 2640 is inserted into the wheel installation space 2641.

The wheel assembly 2600 further includes a wheel shaft 2670 that provides a center of rotation of the wheel 2640 and couples the wheel 2640 and the wheel body 2630 so that the wheel 2640 is rotatable. do.

The wheel shaft 2670 is disposed in the left and right direction, and is inserted into the wheel installation space 2641. In this embodiment, the wheel shaft 2670 passes through the wheel 2640 and is rotatably installed on the wheel body 2630.

The wheel elastic member 2650 is disposed between the dust housing 2100 and the wheel body 2630. Specifically, the wheel elastic member 2650 is disposed between the lower wheel body 2633 and the lower installation part 2033.

The wheel elastic member 2650 presses the lower wheel body 2633 downward. When the wheel 2640 is not supported on the floor, the wheel body 2630 is moved downward by the elastic force of the wheel elastic member 2650. When the wheel body 2630 is moved downward, the upper wheel body 2630 is supported by the upper installation part 2035 to stop the movement of the wheel body 2630.

In this embodiment, a guard is disposed that limits the vertical movement of the wheel body 2630 and blocks the wheel body 2630 from being separated from the dust housing 2100.

A plurality of

guard grooves

2637, 2638, 2639 are disposed in the side wheel body 2632 of the wheel body 2630 in the vertical direction.

In the dust housing 2100, a plurality of

guards

2037, 2038, disposed outside the

guard grooves

2637, 2638, 2639, and inserted into the

guard grooves

2637, 2638, 2639 2039) is deployed.

The upper and lower lengths of the

guard grooves

2637, 2638, and 2639 and the sensing distance t may be formed to have the same length.

In this embodiment, a micro switch is used as the cliff sensor 2660. Unlike the present embodiment, various sensors may be used for the Cliff sensor 2660.

As shown in Fig. 27, when the wheel assembly 2600 is not supported on the floor during operation of the cleaner, the wheel body 2630 is moved downward by the elastic force of the wheel elastic member 2650, and the contact portion (2636) and switchlead 2666 are separated.

When the contact portion 2636 and the switch lead 2666 are separated, the controller may sense this and stop or reverse the operation of the cleaner.

Since the first wheel assembly 2610 is disposed on the left side of the dust housing 2100 and the second wheel assembly 2620 is disposed on the right side of the dust housing 2100, the first wheel assembly 2610 and The second wheel assembly 2620 may generate respective signals.

The controller may control the driving direction of the cleaner through a signal sensed by the first wheel assembly 2610 or the second wheel assembly 2620.

Since the wheel assembly 2600 is supported by physical contact with the floor, the wheel assembly 2600 is more reliable than detection by ultrasonic waves or infrared rays. For example, when paper is covered on a cliff, a sensor using ultrasonic or infrared rays does not detect the cliff and drives the cleaner to the cliff.

However, in the wheel assembly 2600 as in the present embodiment, the moment the wheel 2640 enters the cliff, the wheel body 2630 is moved downward, and the cliff sensor 2660 may detect this. Since the center of gravity of the vacuum cleaner according to the present embodiment is located at the rear side, the wheel 2640 can detect the cliff and move backward sufficiently even if it is floating in the air.

A photosensor is used as the cliff sensor 2670 of the wheel assembly 2600' according to the present embodiment.

In the photosensor, a light emitting part 2671 and a light receiving part 2672 are disposed, and a sensing part 2636' is disposed in the wheel body 2630'. The sensing unit 2636 ′ is disposed at the position of the contact unit 2636 of the first embodiment, and the sensing unit 2636 ′ protrudes upward. The sensing unit 2636' is disposed between the light emitting unit and the light receiving unit.

So, when the wheel 2640 is not supported on the floor, the sensing unit 2636 ′ is moved downward, and the light receiving unit 2672 receives a signal transmitted from the light emitting unit 2671 to detect the cliff.

Hereinafter, since the remaining configurations are the same as those of the first embodiment, detailed descriptions are omitted.

A Hall sensor is used as the Cliff sensor 2680 of the wheel assembly 2600" according to the present embodiment. A permanent magnet having a magnetic force may be disposed at the position of the contact portion 2636 of the first embodiment.

When the wheel 2640 is supported on the floor, the Hall sensor 2780 detects a permanent magnet. When the wheel 2640 is not supported on the floor, the contact part 2636 is moved downward, and the permanent magnet is spaced downward by the downward movement of the contact part 2636, and the hall sensor 2780 is permanently Cannot detect magnet.

When the hall sensor 2780 cannot detect the permanent magnet, the control unit determines that the wheel 2640 is located in the air.

When the floors of the pair of

spinmaps

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

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

Referring to FIG. 30, a point where the spin rotation axis Osa of the left spin map 41a and the lower side of the left spin map 41a intersect is shown, and the spin rotation axis Osb of the right spin map 41b and the right side A point where the lower side surfaces of the spinmap 41b intersect is shown. When viewed from the bottom, the clockwise direction of the rotational directions of the left spinmap 41a is defined as the first forward direction w1f and the counterclockwise direction is defined as the first reverse direction w1r. When viewed from the lower side, the counterclockwise direction of the rotational directions of the right spinmap 41b is defined as the second forward direction w2f and the clockwise direction is defined as the second reverse direction w2r. In addition, when viewed from the lower side,'the acute angle formed by the inclination direction of the lower side of the left spinmap (41a) (40a) with the left-right axis' and'the inclination direction of the lower side of the right spinmap (41b) (40b) are left and right. The acute angle formed with the direction axis' is defined as the inclined angle (Ag1a, Ag1b). The tilt direction angle Ag1a of the left spin maps 41a and 40a and the tilt direction angle Ag1b of the right spin maps 41b and 40b may be the same. In addition, referring to FIG. 6,'the angle formed by the lower side (I) of the left spinmap (41a) (40a) with respect to the virtual horizontal plane (H)' and'left spinmap (with respect to the virtual horizontal plane (H)) 41a) The angle formed by the lower side (I) of (40a) is defined as the inclination angle (Ag2a, Ag2b).

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Here, the left caster 58a and the right caster 58b may mean the first wheel assembly 2610 and the second wheel assembly 2620 of FIGS. 1 to 29 in a broad sense, and by agreement, the left and right wheels 2640 Can mean

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

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

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

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

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

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

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

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

Referring to FIG. 32, the embodiment of FIG. 32 will be described mainly on differences compared to the embodiment of FIG. 30. In FIG. 32, the configuration without special description is regarded as the same as in FIG. 30.

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

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

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

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

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

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

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

The wheel body 2630 and the storage space are disposed in front of the center of the body (geometric center TC).

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

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

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

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

Claims

body;

A mop module disposed under the body, supporting the body, and mopping the floor by rotating a pair of spin mops;

Includes; a sweep module disposed on the body and sweeping away foreign substances on the floor,

The sweep module,

An agitator rotating to collect foreign substances on the floor;

A storage space in which foreign substances collected from the agitator are stored; And

It is disposed on both sides of the storage space to support the sweep module, and includes a wheel assembly in contact with the floor,

The wheel assembly,

Including a wheel body that is equipped with a wheel and is movable up and down,

Cleaner comprising a; Cliff sensor for sensing the movement of the wheel body.
The method according to claim 1,

The cliff sensor is a cleaner disposed on the body.
The method according to claim 1,

The wheel assembly,

Cleaner further comprising a wheel elastic member for moving the wheel body by providing an elastic force to the wheel body.
The method according to claim 1,

The cliff sensor is a cleaner disposed above the wheel body.
The method according to claim 1,

The wheel body further includes a contact portion protruding upward,

The cliff sensor further comprises a reed switch disposed above the contact portion and in contact with the contact portion,

The cliff sensor is a micro switch that detects whether the wheel body is moved through contact or non-contact of the reed switch and the contact unit.
The method according to claim 1,

The wheel body further includes a contact portion protruding upward,

The cliff sensor further comprises a permanent magnet disposed in the contact portion,

The Cliff sensor is a Hall sensor that detects whether the wheel body is moved through the proximity of the permanent magnet.
The method according to claim 1,

The wheel body further includes a sensing unit protruding upward,

The cliff sensor further includes a light emitting part and a light receiving part,

The sensing unit is disposed between the light emitting unit and the light receiving unit,

When the wheel body is moved, the cleaner is a photosensor that detects whether the wheel body is moved by detecting light from the light-emitting unit received by the light receiving unit.
The method according to claim 1,

The wheel body is a cleaner positioned in front of the agitator.
The method according to claim 1,

The two wheel bodies are arranged left and right, and the separation distance between the two wheel bodies is smaller than the left and right width of the agitator.
The method according to claim 1,

The mop module is a cleaner disposed behind the sweep module.
The method according to claim 1,

The wheel body and the storage space are disposed in front of the center of the body.
A body forming the exterior;

A mop module disposed under the body, supporting the body, and mopping the floor by rotating a pair of spin mops;

Includes; a sweep module disposed on the body and sweeping foreign substances on the floor through rotation of the agitator,

The sweep module,

A dust housing including a collection opening surface opened toward the floor and a storage space in which foreign substances collected through the collection opening surface are stored;

An agitator exposed to the collection opening, rotatably assembled to the dust housing, and moving foreign substances on the floor to the storage space when rotating;

A wheel assembly assembled to the dust housing and contacting the floor to support the dust housing; and

The wheel assembly is

A wheel body assembled to be movable in the vertical direction to the dust housing;

A wheel assembled under the wheel body and contacting the floor to support the wheel body;

A wheel elastic member disposed between the dust housing and the wheel body and providing elastic force to the wheel body to move the wheel body;

And a cliff sensor disposed on the body and detecting movement of the wheel body when the wheel body is moved.
The method of claim 12,

The wheel elastic member is compressed when the wheel is supported on the floor, and applies elastic force to the wheel body when the wheel is not in contact with the floor to press the wheel body downward.
The method of claim 12,

The cliff sensor is a cleaner disposed above the wheel body.
The method of claim 12,

The wheel body further includes a contact portion protruding upward,

The cliff sensor further comprises a reed switch disposed above the contact portion and in contact with the contact portion,

The cliff sensor is a micro switch that detects whether the wheel body is moved through contact or non-contact of the reed switch and the contact unit.
The method of claim 12,

The wheel body further includes a contact portion protruding upward,

The cliff sensor further comprises a permanent magnet disposed in the contact portion,

The Cliff sensor is a Hall sensor that detects whether the wheel body is moved through the proximity of the permanent magnet.
The method according to claim 1,

The wheel body further includes a sensing unit protruding upward,

The cliff sensor further includes a light emitting part and a light receiving part,

The sensing unit is disposed between the light emitting unit and the light receiving unit,

When the wheel body is moved, the cleaner is a photosensor that detects whether the wheel body is moved by detecting light from the light-emitting unit received by the light receiving unit.
The method of claim 12,

The wheel assembly is a cleaner disposed in front of the agitator.
The method of claim 12,

A collection space disposed inside the dust housing, in which the agitator is installed, and the collection opening surface is formed; And

A storage space disposed inside the dust housing, communicating with the collection space, and storing foreign substances collected by the agitator; and

The wheel assembly is a cleaner disposed in front of the collection space.
The method of claim 19,

The wheel assembly is a cleaner disposed on the side of the storage space.
The method of claim 19,

A discharge surface passing through the dust housing and forming a front surface of the storage space;

A dust cover that covers the discharge surface and is detachably assembled with the dust housing; further comprising,

The wheel assembly is located in front of the collection space and located in the rear of the dust cover.