Sweeping robot

Abstract

The utility model relates to a sweeping robot. According to the sweeping robot of one embodiment of the utility model is formed and is including main part, bottom plate, mop actuator, driver, mop board. The driver is combined with the mop shaft of mop actuator, and is formed to rise from lower position to upper position. In the upper position, the driver rotates to the first rotation direction through the mop shaft. Form the first check portion on the bottom surface of bottom plate, form the second check portion on the upper surface of mop board. In the upper position, when the mop board rotates to the first rotation direction, the second check portion is checked in the first check portion and slides to the downward inclination.

Description

Technical Field

[0001] This utility model relates to a sweeping robot, and more specifically, to a sweeping robot that can be separated from its main body and combined with a mop pad for wiping the floor. Background Technology

[0002] Robotic vacuum cleaners, which include motors, various sensors, and artificial intelligence (AI), can autonomously walk and clean the area that needs cleaning.

[0003] Robotic vacuum cleaners can clean surfaces by vacuuming in dust, sweeping in dust, or wiping with a mop.

[0004] In robotic vacuum cleaners, the mop can be used in conjunction with the mop pad, and the floor is mopped when the mop pad rotates.

[0005] On the other hand, a structure that allows the mop pad to be separated from the main body of the robot vacuum cleaner has recently been disclosed.

[0006] Regarding this structure, Chinese Publication No. CN117179634A (publication date: 2023.12.18) (hereinafter referred to as "Prior Document 1") discloses a sweeping robot in which the mop plate is attached to the lower side of a threaded, vertically movable structure (lifting structure), thereby raising the mop plate together with the lifting structure. According to the aforementioned Prior Document 1, when the lifting structure rises above a predetermined height, the mop plate is stuck on the bottom surface of the sweeping robot and cannot rise together, thus separating from the main body.

[0007] It should be noted that in the above-mentioned existing document 1, the lifting structure continues to rise through the threads while separating from the mop plate, thus increasing the distance between the separated mop plate and the lifting structure. As a result, there is a problem that the mop plate is difficult to align correctly when it is reattached to the lifting structure.

[0008] When the lifting structure reaches a high height, there is a problem that the height of the robot vacuum cleaner body must also be increased accordingly, or sufficient space must be provided inside the body for the lifting structure to rise and fall.

[0009] As another existing document, Korean Patent Publication KR10-2024-0019600A (publication date: 2024.02.14) (hereinafter referred to as "existing document 2"), a protrusion for separating the mop is formed in the charging base station of the sweeping robot. When the sweeping robot moves on the upper side of the charging base station, the protrusion squeezes between the main body of the sweeping robot and the mop, thereby separating the mop.

[0010] It should be noted that, in the aforementioned existing document 2, there is a limitation that a charging base station must be provided in order to separate the mop. Additionally, when the mop enters below the protrusion, the base station becomes contaminated by the mop. Utility Model Content

[0011] Technical issues

[0012] One problem this invention aims to solve is to provide a robotic vacuum cleaner with a structure that limits the rising height of the actuator connected to the mop plate while allowing the mop plate to be easily separated from the main body.

[0013] One problem this invention aims to solve is to provide a sweeping robot with the following structure: when the driver with the mop plate attached is raised (lifted) by the mop actuator, the mop plate is separated from the main body, thus achieving good separation between the driver and the mop plate.

[0014] One problem this invention aims to solve is to provide a sweeping robot that can stably mop the floor when the mop shaft of the mop actuator rotates in the forward direction, and stably lift and separate the mop pad when the mop shaft of the mop actuator rotates in the reverse direction.

[0015] Technical solution

[0016] A sweeping robot according to an embodiment of the present invention includes: a main body; a mop actuator disposed on the main body and configured to rotate a mop shaft; a driver coupled to the mop shaft and configured to rise from a lower position to an upper position; and a mop plate located on the lower side of the main body after being coupled with a mop, and detachably coupled to the driver, wherein a first locking portion is formed on the bottom surface of the main body, and a second locking portion is formed on the upper surface of the mop plate, and when the mop plate rotates in a first rotation direction in the upper position, the second locking portion is locked onto the first locking portion and moves downward.

[0017] According to one embodiment of the present invention, the sweeping robot is configured to include a main body, a base plate, a mop actuator, a driver, and a mop plate.

[0018] The base plate is located on the lower side of the main body. The base plate can be integrally formed with the main body.

[0019] The aforementioned mop actuator is disposed in the aforementioned main body and configured to rotate the mop shaft. The aforementioned mop shaft may be formed in the vertical direction.

[0020] The aforementioned driver is coupled to the aforementioned mop shaft.

[0021] The aforementioned mop actuator causes the aforementioned driver to rotate around the mop shaft in the up-down direction.

[0022] Relative to the main body, the actuator moves between a lower position and an upper position higher than the lower position. The actuator is configured to rise from the lower position to the upper position.

[0023] The aforementioned driver is configured such that, in the aforementioned upper position, when the aforementioned mop axis rotates in the first rotation direction, it rotates in the aforementioned first rotation direction.

[0024] The aforementioned mop plate is located on the lower side of the aforementioned main body.

[0025] The mop is attached to the aforementioned mop plate. The aforementioned mop plate is located on the underside of the aforementioned base plate. The aforementioned mop plate is detachably attached to the aforementioned drive unit.

[0026] A first locking part can be formed on the lower side of the aforementioned main body.

[0027] A first locking part can be formed on the bottom surface of the aforementioned base plate.

[0028] A second locking part is formed on the upper surface of the aforementioned mop plate.

[0029] It can be configured such that, in the aforementioned upper position, when the mop plate rotates in the aforementioned first rotation direction, the second locking portion is locked in the aforementioned first locking portion and moves downward. Also in the aforementioned upper position, when the mop plate rotates in the aforementioned first rotation direction, the second locking portion is locked in the aforementioned first locking portion and slides downward at an angle.

[0030] It can be configured such that when the mop plate is in the lower position, if the mop axis rotates in the first rotation direction, the mop plate rises to the upper position.

[0031] It can be configured such that the first locking part and the second locking part are inclined downward along the first rotation direction.

[0032] The aforementioned first locking portion includes a first contact portion that serves as the lower surface.

[0033] The second locking portion includes a second contact portion as its upper surface, which is configured to contact the first contact portion.

[0034] One or more of the first contact portion and the second contact portion are configured to be inclined downward along the first rotation direction.

[0035] The degree to which the first locking part protrudes downward can be increased along the first rotation direction.

[0036] The degree to which the second locking part protrudes upward can be increased in the direction opposite to the first rotation direction.

[0037] Multiple second locking parts can be provided, and they are repeatedly formed around the mop shaft in a circumferential direction.

[0038] The aforementioned robotic vacuum cleaner may be configured to include a stop.

[0039] The aforementioned stop can rotate together with the aforementioned mop shaft and protrude in the aforementioned first rotation direction.

[0040] At the aforementioned upper position, when the mop plate rotates in the aforementioned first rotation direction, the aforementioned driver is locked by the aforementioned stop and is prevented from moving in the downward direction.

[0041] The aforementioned sweeping robot can be configured to include a support spring and a rotor.

[0042] The aforementioned support spring is configured to elastically support the aforementioned drive on the upper side relative to the axial direction of the aforementioned mop.

[0043] The rotor described above can be configured to include a rotor base, an extension arm, and a pusher.

[0044] The rotor base is located on the upper side of the drive and is fixed to the mop shaft.

[0045] The aforementioned extension arm extends downward from the aforementioned rotor base.

[0046] The aforementioned pusher can be positioned at a point that is a first radius away from the center of the aforementioned mop shaft in a radial direction.

[0047] The aforementioned pusher can be located at the lower end of the aforementioned extension arm.

[0048] The aforementioned driver can be configured to include a movement path.

[0049] The aforementioned movement path is formed circumferentially at a point that is separated from the center of the aforementioned mop shaft by the aforementioned first radius. The aforementioned movement path forms part of the upper surface of the aforementioned drive.

[0050] The aforementioned driver can be configured to include an inclined surface as part of the upper surface.

[0051] The aforementioned movement path comprises a base surface, an inclined surface, and a pressing surface.

[0052] The aforementioned base surface may be the surface located on the lower side of the aforementioned pusher at the aforementioned upper position.

[0053] The aforementioned inclined surface can be configured to slope upwards from the aforementioned base surface along a second rotational direction that is opposite to the aforementioned first rotational direction. The aforementioned inclined surface constitutes the path for the movement of the aforementioned pusher.

[0054] The rotor described above may be configured to include a stop. The stop protrudes from the extended arm in the first rotational direction.

[0055] The aforementioned driver may be configured to include a locking groove. The locking groove is formed from the aforementioned base surface toward the aforementioned first rotational direction. The locking groove is recessed toward the aforementioned first rotational direction so that the aforementioned stop member is inserted and engaged therein.

[0056] The aforementioned driver can be configured to include a pressing surface and a locking platform.

[0057] The pressing surface extends from the upper end of the inclined plane in the second rotational direction. At the lower position, the pressing surface forms a surface located on the lower side of the pusher.

[0058] The aforementioned locking platform is configured to extend upward from the aforementioned pressing surface, thereby preventing the aforementioned extension arm from moving relative to the aforementioned driver in the aforementioned second rotational direction.

[0059] The aforementioned driver is configured to include a first sleeve and a second sleeve.

[0060] The first sleeve is configured to house the lower part of the mop shaft and the support spring.

[0061] The second sleeve is disposed outside the first sleeve.

[0062] The aforementioned inclined surface can be formed in the aforementioned second sleeve.

[0063] The aforementioned drive and rotor are rotationally symmetrical about the aforementioned mop shaft.

[0064] The aforementioned extension arm, the aforementioned pusher, and the aforementioned inclined surface can each be provided in multiples at equal intervals along a circumferential direction centered on the aforementioned mop shaft.

[0065] The aforementioned mop actuator may be configured to include a mop shaft housing that encloses the aforementioned mop shaft and has an opening to the downward side.

[0066] A first locking protrusion may be formed on the outer side of the aforementioned driver, and a second locking protrusion may be formed on the inner side of the aforementioned mop shaft housing.

[0067] At the aforementioned upper position, at least a portion of the aforementioned driver is housed inside the aforementioned mop shaft housing. When the aforementioned driver rotates in a second rotation direction that is opposite to the aforementioned first rotation direction, the aforementioned first locking protrusion is locked against the aforementioned second locking protrusion and is prevented from rotating.

[0068] The aforementioned robotic vacuum cleaner can be configured to include a support frame and bearings.

[0069] The aforementioned bracket can be combined to move up and down relative to the aforementioned base plate, and is configured to enclose the aforementioned drive.

[0070] The aforementioned bearing is sandwiched between the aforementioned driver and the aforementioned bracket.

[0071] The aforementioned sweeping robot can be configured to include a first magnetic part and a second magnetic part.

[0072] The first magnetic part can be fixedly installed on the upper side of the mop plate.

[0073] The second magnetic part can be configured to be fixedly installed on the lower side of the driver and generate an attractive force with the first magnetic part.

[0074] The mop plate described above may be configured to include a first fastening portion protruding upward from the center of the mop plate.

[0075] The first magnetic part can be fixedly installed on the upper side of the first fastening part.

[0076] The aforementioned driver may be configured to include a second fastening part that opens downward from the center of the driver and is used for inserting the aforementioned first fastening part.

[0077] The aforementioned second magnetic part can be fixedly installed inside the aforementioned second fastening part.

[0078] The first fastening part and the second fastening part can engage with each other to prevent rotation centered on the mop shaft.

[0079] Utility Model Effect

[0080] According to an embodiment of the present invention, in a robotic vacuum cleaner, the driver moves from a lower position to an upper position relative to the main body. In the upper position, when the mop axis rotates in a first rotational direction, the driver rotates in the same direction. At this time, the mop plate, which is coupled to the driver, rotates together, and the second locking portion on the upper surface of the mop plate is locked against the first locking portion on the bottom surface of the base plate and slides downwards. According to the embodiment, the first locking portion can be directly formed on the lower surface of the main body. Therefore, by applying a downward force to the mop plate, the mop plate can be separated from the driver. That is, in the upper position, the mop plate moves downwards relative to the driver without further upward movement of the driver, thereby achieving the separation of the mop plate.

[0081] The sweeping robot according to an embodiment of the present invention is configured to include a stop and a locking groove. The stop is formed on the rotor, and the locking groove is formed on the driver. When the mop shaft rotates in a first rotational direction via the mop actuator, the rotor rotates together, and the stop inserts into the locking groove, thereby preventing the driver from moving in the downward direction relative to the mop shaft and the rotor. Therefore, when the mop plate is separated in the downward direction, the driver is stably fixed without any downward movement, thus smoothly achieving the separation of the mop plate from the driver.

[0082] The sweeping robot according to an embodiment of the present invention includes a support spring and a rotor, and the driver is provided with an inclined surface and a pressing surface. When the mop axis of the mop actuator rotates in the second rotation direction (forward), the pusher of the rotor rises along the inclined surface and presses against the pressing surface, and the positions of the driver and the mop plate are stably fixed at the lower position. At this time, the mop plate rotates in the second rotation direction and mops the floor stably. When the mop axis of the mop actuator rotates in the first rotation direction (reverse), the pusher of the rotor descends along the inclined surface, and the support spring, driver, and mop plate rise. In addition, when the mop axis of the mop actuator rotates further in the first rotation direction, the stop member inserts into the locking groove, and the mop plate is effectively separated from the driver.

[0083] The specific effects and other effects of the embodiments of this utility model will be described below with reference to the accompanying drawings. Attached Figure Description

[0084] Figure 1 This is a perspective view showing a sweeping robot according to an embodiment of the present invention.

[0085] Figure 2 This is a side view showing a sweeping robot according to an embodiment of the present invention.

[0086] Figure 3 This is a plan view showing a sweeping robot according to an embodiment of the present invention.

[0087] Figure 4 This is a schematic diagram of a separated part of the structure in a sweeping robot according to an embodiment of the present invention.

[0088] Figure 5a This is a schematic diagram of a portion of the structure of a sweeping robot according to an embodiment of the present invention, and is a simplified schematic diagram of the mop actuator, the driver, and the mop plate.

[0089] Figure 5b yes Figure 5a A schematic diagram showing the rising state of the mop plate.

[0090] Figure 5c yes Figure 5bA schematic diagram showing the state of the mop plate detached from the drive.

[0091] Figure 6a This is a schematic diagram of a portion of the structure of a sweeping robot according to an embodiment of the present invention, and is a simplified schematic diagram of the mop actuator, the driver, and the mop plate.

[0092] Figure 6b yes Figure 6a A schematic diagram showing the rising state of the mop plate.

[0093] Figure 6c yes Figure 6b A schematic diagram showing the state of the mop plate detached from the drive.

[0094] Figure 7 This is an exploded perspective view showing a portion of the structure of a sweeping robot according to an embodiment of the present invention.

[0095] Figure 8a This is a cross-sectional perspective view showing a portion of the structure of a sweeping robot according to an embodiment of the present invention.

[0096] Figure 8b yes Figure 8a A schematic diagram showing the drive and the mop plate moving downwards.

[0097] Figure 9a This is a schematic diagram of a portion of the structure of a sweeping robot according to an embodiment of the present utility model.

[0098] Figure 9b This is a schematic diagram of a portion of the structure of a sweeping robot according to an embodiment of the present utility model. Figure 9a A schematic diagram of the mop shaft and the rotor rotating in the second rotation direction.

[0099] Figure 9c This is a schematic diagram of a portion of the structure of a sweeping robot according to an embodiment of the present utility model. Figure 9b A schematic diagram of the mop shaft and the rotor rotating further in the second rotation direction.

[0100] Figure 10 This is a cross-sectional perspective view showing a portion of the structure of a sweeping robot according to an embodiment of the present invention, displaying the first locking portion and the second locking portion.

[0101] Figure 11 This is a simplified illustration of a sweeping robot according to an embodiment of the present invention, in which the mop plate rotates in a first rotation direction and the second locking part tilts downward relative to the first locking part.

[0102] Figure 12This is a simplified illustration of a sweeping robot according to an embodiment of the present invention, in which the mop plate rotates in a first rotation direction and the second locking part tilts downward relative to the first locking part.

[0103] Figure 13 This is a cross-sectional view of a portion of the structure of a sweeping robot according to an embodiment of the present invention, with the rotation axis of the mop shaft as the reference. Detailed Implementation

[0104] The present invention will now be described in further detail with reference to the accompanying drawings, including various embodiments thereof. Throughout this detailed description, the same reference numerals denote the same structural elements.

[0105] The X, Y, and Z directions shown in the attached diagram are all orthogonal to each other. The X direction can be understood as the direction forward, the Y direction as the direction to the left, and the Z direction as the direction upward.

[0106] Figure 1 This is a perspective view of a sweeping robot 1 according to an embodiment of the present invention.

[0107] Figure 2 This is a side view showing a sweeping robot 1 according to an embodiment of the present invention.

[0108] Figure 3 This is a plan view showing a sweeping robot 1 according to an embodiment of the present invention.

[0109] Figure 4 This is a schematic diagram of a separated part of the structure of a sweeping robot 1 according to an embodiment of the present invention.

[0110] According to an embodiment of the present invention, the sweeping robot 1 is configured to be placed on a surface B and move along the surface B. The surface B may be the object to be cleaned. Therefore, in the following description, the vertical direction is defined with reference to the state in which the sweeping robot 1 is placed on the surface B in a cleaning-ready condition according to its intended use.

[0111] The sweeping robot 1 according to an embodiment of the present utility model is configured to include a main body 100.

[0112] The main body 100 can form the overall shape of the robot vacuum cleaner 1, or it can be configured as a frame. Various components that make up the robot vacuum cleaner 1 can be combined in the main body 100, and a part of the structure of the robot vacuum cleaner 1 can be housed inside the main body 100.

[0113] According to an embodiment of the present invention, the sweeping robot 1 can be configured to include a buffer 110 in order to absorb external impacts and / or sense contact with external objects. The buffer 110 can be attached to the edge of the main body 100, and in this case, the buffer 110 can be configured to be movable relative to the main body 100. The buffer 110 can be attached to the front edge of the main body 100.

[0114] Multiple elastic bodies (not shown) may be provided between the buffer 110 and the main body 100, and the buffer 110 is elastically supported on the main body 100 by the elastic bodies. When the buffer 110 comes into contact with an external object and is pressed towards the main body 100, the elastic body elastically deforms (compresses) and then elastically restores itself, so that the buffer 110 can return to its original position.

[0115] In embodiments of this invention, the main body 100 can be configured to have a shape that is larger in the horizontal direction (width or diameter) than in the vertical direction (parallel to the Z direction) in terms of its height. This main body 100 helps the robotic vacuum cleaner 1 to form a stable structure and provides a structure that facilitates obstacle avoidance during the movement (walking) of the robotic vacuum cleaner 1.

[0116] When viewed from above or below, the main body 100 can be formed into various shapes such as a circle, an oval, or a quadrilateral.

[0117] On the other hand, as explained in the embodiments of this utility model, based on the structural features of the sweeping robot 1, namely, that it is configured to include multiple components and is configured to be relatively flat, reducing the space occupied by the structure (components) of the sweeping robot 1 and even effectively configuring them has been regarded as a very important factor in designing the sweeping robot 1.

[0118] The sweeping robot 1 according to an embodiment of the present invention is configured to include a driver 400 and a mop actuator 200. When forming the various structures and the connection structure of the driver 400 and the mop actuator 200, the configuration is such that the space occupied in the sweeping robot 1 can be minimized while effectively realizing the function of the driver 400. Related features will be described again below.

[0119] According to an embodiment of the present invention, a sweeping robot 1 includes a water tank 120 for storing water, configured to discharge water stored in the water tank 120 as needed.

[0120] Water from the water tank 120 can be supplied to the outside of the robot vacuum cleaner 1 via a pump or similar device for cleaning.

[0121] According to the present invention, the sweeping robot 1 can supply water from the water tank 120 to the mop 705, thereby wetting the mop 705 and performing wet mopping cleaning.

[0122] The water tank 120 can be installed inside the main body 100. The water tank 120 can be detachably attached to the main body 100.

[0123] The sweeping robot 1 according to an embodiment of the present invention can be configured to include drive wheels 102. The drive wheels 102 can be configured to rotate around a rotation axis in the left-right direction (parallel to the Y direction) around the main body 100. The drive wheels 102 can be disposed on the lower side of the main body 100. The sweeping robot 1 can have two drive wheels 102, which can be respectively disposed on the left and right sides of the main body 100. Through the operation of the drive wheels 102, the sweeping robot 1 can move on the ground B.

[0124] The sweeping robot 1 according to an embodiment of the present invention can be configured to include an auxiliary wheel 103. The auxiliary wheel 103 is disposed on the lower side of the main body 100 and can support the sweeping robot 1 together with the drive wheel 102. In the main body 100, the auxiliary wheel 103 can be disposed in front of the drive wheel 102. The auxiliary wheel 103 is configured to rotate around the main body 100 about a horizontal rotation axis.

[0125] The sweeping robot 1 according to an embodiment of the present invention is configured to include a mop 705. The mop 705 can be divided into a first mop 705a and a second mop 705b.

[0126] The mop 705 is configured to be disposed on the underside of the main body 100 and in contact with the ground. Thus, when the robot vacuum cleaner 1 moves, the mop 705 wipes the ground, thereby achieving mopping by the mop 705.

[0127] The sweeping robot 1 according to an embodiment of the present invention is configured to include a mop plate 700. In the sweeping robot 1 according to an embodiment of the present invention, a pair of mop plates 700 and a pair of mops 705 can be respectively provided. In this case, one mop 705 is combined with one mop plate 700 (the first mop 705a is combined with the first mop plate 700a, and the second mop 705b is combined with the second mop plate 700b).

[0128] The mop plate 700 is attached to the lower side of the main body 100 and is configured to rotate relative to the main body 100.

[0129] The mop plate 700 is configured to have a predetermined area and is shaped as a flat plate or a flat frame. The mop plate 700 is laid horizontally, thus forming a shape where the width (or diameter) in the horizontal direction is sufficiently large compared to the height in the vertical direction. The bottom surface of the mop plate 700, which is attached to the main body 100, can be parallel to the ground B or inclined to the ground B.

[0130] The mop plate 700 can be configured as a circular plate, and the bottom surface of the mop plate 700 can be configured as approximately circular.

[0131] Holes that penetrate vertically can be repeatedly formed along the circumference of the mop plate 700.

[0132] The mop plate 700 can be configured to have an overall rotationally symmetrical shape.

[0133] The rotation axis RA of the mop plate 700 is formed at the center of the mop plate 700. The rotation axis RA of the mop plate 700 can be formed along the vertical direction or along a generally vertical direction.

[0134] In the robotic vacuum cleaner 1 according to an embodiment of the present invention, a pair of mop pads 700 (a first mop pad 700a and a second mop pad 700b) can be configured to be identical to each other, or can be configured to be symmetrical about a central line running through the front and back of the robotic vacuum cleaner 1. If one mop pad 700 is located on the left side of the robotic vacuum cleaner 1, the other mop pad 700 can be located on the right side of the robotic vacuum cleaner 1, in which case the pair of mop pads 700 can be configured to be symmetrical to each other.

[0135] The mop 705 overlaps the mop plate 700 and is attached to the underside of the mop plate 700.

[0136] The mop 705 is configured such that its bottom surface facing the ground has a predetermined area, and the mop 705 is configured in a flat shape. The mop 705 is configured such that its width (or diameter) in the horizontal direction is sufficiently large compared to its height in the vertical direction. The bottom surface of the mop 705 can be parallel to the ground B, or it can be inclined to the ground B.

[0137] The bottom surface of the mop 705 can be approximately circular. The mop 705 can be configured to have a rotationally symmetrical shape. The mop 705 can be made of various materials that come into contact with the ground B and can wipe the ground B. The bottom surface of the mop 705 can be made of woven or knitted fabric, non-woven fabric, and / or a brush with a predetermined area, etc.

[0138] The mop 705 is configured to be attached to the mop plate 700 and rotate together with the mop plate 700.

[0139] In one embodiment, the mop 705 may be fixedly attached to the bottom surface of the mop plate 700.

[0140] In another embodiment, the mop 705 can be attached to or detached from the bottom surface of the mop plate 700.

[0141] The mop 705 can be attached to and detached from the mop plate 700 using various devices and methods. In one embodiment, the mop 705 can be attached to the mop plate 700 by means of at least a portion of the mop 705 being held or clamped by the mop plate 700. In another embodiment, a separate device such as a clamp for attaching the mop 705 and the mop plate 700 can be provided. In yet another embodiment, one of a pair of fastening devices that are attached / detached from each other (as specific examples of fastening devices, a pair of magnets that attract each other, a pair of Velcro that are attached to each other, or a pair of buttons (female and female) that are attached to each other) is fixed to the mop 705, and the other is fixed to the mop plate 700.

[0142] When the mop 705 is attached to the mop plate 700, the mop 705 and the mop plate 700 can be attached to each other in an overlapping manner, and the mop 705 can be attached to the mop plate 700 in such a manner that the center of the mop 705 is aligned with the center of the mop plate 700.

[0143] Each mop plate 700, which is equipped with a mop 705, rotates around its respective rotation axis RA, thereby mopping the ground B by means of the mop 705.

[0144] A pair of mop pads 705 (first mop pad 705a and second mop pad 705b) can be configured to be identical to each other. If one mop pad 705 is located on the left side of the robot vacuum cleaner 1, the other mop pad 705 can be located on the right side of the robot vacuum cleaner 1. In this case, the pair of mop pads 705 (first mop pad 705a and second mop pad 705b) can be symmetrical to each other.

[0145] The sweeping robot 1 according to an embodiment of the present invention is configured to include a plurality of actuators 200a, 200b, 130, a suction port 104, a fan motor (not shown) and a battery (not shown).

[0146] Each actuator 200a, 200b, and 130 can be configured to include a motor and gears, etc. The first actuator (first mop actuator 200a) can be configured to transmit rotational power to the first mop plate 700a to rotate the first mop plate 700a. The second actuator (second mop actuator 200b) can be configured to transmit rotational power to the second mop plate 700b to rotate the second mop plate 700b. The third actuator 130 can be configured to transmit rotational power to the drive wheel 102 to rotate the drive wheel 102.

[0147] The suction port 104 can be formed as an opening on the bottom surface of the robot vacuum cleaner 1. By operating the fan motor, suction is transmitted to the suction port 104, so that dust on the ground B can flow into the suction port 104 and be stored inside the robot vacuum cleaner 1.

[0148] The battery of the sweeping robot 1 supplies power to various components of the sweeping robot 1, such as actuators 200a, 200b, 130, pump, and fan motor.

[0149] Figure 5a This is a schematic diagram of a portion of the structure of a sweeping robot 1 according to an embodiment of the present invention, and is a simplified schematic diagram of the mop actuator 200, the driver 400 and the mop plate 700.

[0150] Figure 5b yes Figure 5a A schematic diagram showing the raised state of the mop plate 700.

[0151] Figure 5c yes Figure 5b A schematic diagram showing the state in which the mop plate 700 is detached from the driver 400.

[0152] Figure 6a This is a schematic diagram of a portion of the structure of a sweeping robot 1 according to an embodiment of the present invention, and is a simplified schematic diagram of the mop actuator 200, the driver 400 and the mop plate 700.

[0153] Figure 6b yes Figure 6a A schematic diagram showing the raised state of the mop plate 700.

[0154] Figure 6c yes Figure 6b A schematic diagram showing the state in which the mop plate 700 is detached from the driver 400.

[0155] Figure 7 This is an exploded perspective view showing a portion of the structure of a sweeping robot 1 according to an embodiment of the present invention.

[0156] Figure 5a as well as Figure 6a These are examples of the sweeping robot 1 in the lower position according to an embodiment of the present invention. Figure 5b as well as Figure 6b These are examples of the sweeping robot 1 in the upper position according to an embodiment of the present invention.

[0157] According to an embodiment of the present invention, a sweeping robot 1 is configured to include a base plate 150 and a driver 400.

[0158] As described above, the robotic vacuum cleaner 1 according to an embodiment of the present invention is configured to include a mop 705, a mop plate 700, and a mop actuator 200. In this invention, the mop 705 can represent each of a first mop 705a and a second mop 705b, the mop plate 700 can represent each of a first mop plate 700a and a second mop plate 700b, and the mop actuator 200 can represent each of a first mop actuator 200a and a second mop actuator 200b.

[0159] It should be understood that, except in cases specifically defined otherwise, the descriptions of the rotation, raising, lowering, separation and / or joining of the mop plate 700 described in this utility model are based on the state in which the mop 705 is joined to the mop plate 700.

[0160] In one embodiment, when the first rotation direction RD1 of the first mop actuator 200a and the first mop plate 700a is clockwise, the first rotation direction RD1 of the second mop actuator 200b and the second mop plate 700b can be counterclockwise. Conversely, when the first rotation direction RD1 of the first mop actuator 200a and the first mop plate 700a is counterclockwise, the first rotation direction RD1 of the second mop actuator 200b and the second mop plate 700b can be clockwise.

[0161] The base plate 150 is located on the underside of the main body 100.

[0162] In one embodiment, the base plate 150 may be integrally formed with the main body 100. In this case, the base plate 150 may constitute all or part of the bottom surface of the main body 100.

[0163] In another embodiment, the base plate 150 can be formed separately from the body 100 and then attached to the underside of the body 100. In this case, a pair of base plates 150 are provided, and each base plate 150 can be disposed on the upper side of each of the pair of mop plates 700.

[0164] The base plate 150 can be configured as a plate with a predetermined area in the horizontal direction. The bottom surface of the base plate 150 has a predetermined area in the horizontal direction.

[0165] The mop actuator 200 is provided in the main body 100 and is configured to include the mop shaft 210.

[0166] The mop actuator 200 is configured to rotate the mop shaft 210. The mop shaft 210 rotates about the rotation axis RA.

[0167] The mop actuator 200 can be configured with various structures and devices within the range of rotation of the mop shaft 210. In one embodiment, the mop actuator 200 may be configured to include a drive motor 202 and one or more gears 203. The drive motor 202 drives the gears 203 to rotate, and the mop shaft 210 meshing with the gears 203 can also rotate together.

[0168] The mop shaft 210 can be formed along the vertical direction. The mop shaft 210 has a predetermined length in its longitudinal direction. The mop shaft 210 can be configured to be rotationally symmetrical about a central rotation axis RA.

[0169] The length direction of the mop shaft 210 can be parallel to the vertical direction (Z direction) or form a predetermined angle with the vertical direction (Z direction). The following explanation is based on the state where the length direction of the mop shaft 210 is parallel to the vertical direction (Z direction).

[0170] The driver 400 is coupled to the mop shaft 210.

[0171] According to an embodiment of the present invention, the mop actuator 200 causes the driver 400 to rotate about the mop shaft 210. When the mop shaft 210 rotates, the driver 400 can rotate together.

[0172] In an embodiment of this invention, the actuator 400 moves between a lower position and an upper position above the lower position relative to the main body 100. The actuator 400 is configured to rise from the lower position to the upper position.

[0173] In the embodiments of this utility model, the lower position and the upper position represent the position of the driver 400, which represents the position of the driver 400 relative to the main body 100.

[0174] In the embodiments of this utility model, the lower position represents a relatively low position, and the upper position represents a relatively high position, that is, a position higher than the lower position.

[0175] The lower position can be set to a height at which there is no interference between the first locking part 151 and the second locking part 710 when the driver 400 and the mop plate 700 described in this utility model rotate.

[0176] The upper position can be set to a height at which interference occurs between the first locking part 151 and the second locking part 710 when the driver 400 and the mop plate 700 described in this utility model rotate.

[0177] The lower position can be set to the height at which the bottom surface of the mop 705 contacts the ground B.

[0178] The upper position can be set to the height at which the bottom surface of the mop 705 separates from the ground B. In this case, the bottom surface of the mop 705 can be located higher than the lower end of the drive wheel 102 (and the auxiliary wheel 103). Furthermore, the lower end of the drive wheel 102 can be supported by the ground B or the main body 100 can be supported by other structures, so that the bottom surface of the mop 705 is separated from the ground B.

[0179] In an embodiment of this invention, the driver 400 can rotate when the mop shaft 210 rotates. At this time, with the driver 400 coupled with the mop plate 700, the mop plate 700 rotates together with the driver 400.

[0180] The mop shaft 210 can rotate in a first rotation direction RD1 and a second rotation direction RD2. The first rotation direction RD1 and the second rotation direction RD2 are opposite to each other. When the first rotation direction RD1 is clockwise, the second rotation direction RD2 is counterclockwise. When the first rotation direction RD1 is counterclockwise, the second rotation direction RD2 is clockwise.

[0181] In an embodiment of this invention, at the lower position, if the mop shaft 210 and the driver 400 rotate in the second rotation direction RD2, the mop plate 700 also rotates in the second rotation direction RD2, at which point mopping by the mop 705 can be achieved. That is, when the driver 400 and the mop plate 700 rotate in the second rotation direction RD2, cleaning by the mop 705 can be achieved. Therefore, in an embodiment of this invention, the second rotation direction RD2 can be referred to as the forward direction.

[0182] In an embodiment of this invention, at the lower position, if the mop shaft 210 rotates in the first rotation direction RD1, the driver 400 and the mop plate 700 are raised (lifted). That is, when the driver 400 rotates in the first rotation direction RD1, cleaning by the mop 705 stops, and the mop plate 700 is lifted. Therefore, in an embodiment of this invention, the first rotation direction RD1 can be referred to as the reverse direction.

[0183] According to an embodiment of the present invention, the driver 400 is configured to be able to move vertically relative to the main body 100, in addition to rotating via the mop actuator 200.

[0184] In one embodiment, the actuator 400 and the mop actuator 200 are configured to move up and down together, and the main body 100 may have a separately provided auxiliary actuator 250 (see reference). Figures 5a to 5c Within the range of converting rotary motion into linear motion, the auxiliary actuator 250 can be composed of various structures and devices. Through the operation of the auxiliary actuator 250, the mop actuator 200 can be raised and lowered.

[0185] Specifically, the auxiliary shaft 254 of the auxiliary actuator 250 in the vertical direction is threaded to the body 201 of the mop actuator 200. Depending on the rotation of the auxiliary shaft 254, the mop actuator 200 can rise or fall. That is, the mop actuator 200 is configured to rotate the driver 400, and the auxiliary actuator 250 can be configured to raise and lower the mop actuator 200 and the driver 400. Therefore, after the mop actuator 200, driver 400, and mop plate 700 are raised or lowered, they can be located in a lower or upper position.

[0186] In another embodiment, the mop actuator 200 is configured to simultaneously rotate the driver 400 and raise or lower the driver 400 (see reference). Figures 6a to 6c In embodiments of this utility model, within the range of converting rotational motion into linear motion, the mop actuator 200 and the driver 400 can be composed of various structures and devices. Through the operation of the mop actuator 200, the driver 400 can move up and down.

[0187] As an example, the mop shaft 210 and the driver 400 can be threaded together. In this case, a unit (e.g., a friction unit, a locking unit, etc.) can be configured to prevent the driver 400 from rotating relative to the mop shaft 210. In this configuration, if the mop shaft 210 rotates to its maximum extent in the second rotation direction RD2, the driver 400, after descending, can rotate together with the mop shaft in the second rotation direction RD2. Conversely, if the mop shaft 210 rotates to its maximum extent in the first rotation direction RD1, the driver 400, after rising, can rotate together with the mop shaft 210 in the first rotation direction RD1.

[0188] As described above, in the robotic vacuum cleaner 1 according to this embodiment, when the mop shaft 210 rotates in the second rotation direction RD2, the driver 400 rotates together in the second rotation direction RD2. As the mop shaft 210 rotates in the first rotation direction RD1, the driver 400 can rise. Therefore, after rising, the driver 400 and the mop plate 700 can be positioned at the upper level. Further details will be provided later.

[0189] In an embodiment of this utility model, the configuration is such that when the mop shaft 210 rotates in the first rotation direction RD1 at the upper position, the driver 400 rotates in the first rotation direction RD1.

[0190] The mop plate 700 is located on the underside of the main body 100. The mop plate 700 is located on the underside of the base plate 150.

[0191] The mop plate 700 can be configured to include a first plate 701, a second plate 702, and a plate buffer 703. The second plate 702 is attached to the upper side of the first plate 701, and the first plate 701 and the second plate 702 are attached in an overlapping manner. The plate buffer 703 can be made of an elastically deformable material and can be attached to the edges of the first plate 701 and the second plate 702.

[0192] In embodiments of this invention, the mop plate 700 is detachably coupled to the driver 400. According to the embodiments, the mop plate 700 and the driver 400 can be coupled by magnetic force, interference fit, snap-fit, etc., and when an external force is applied, the mop plate 700 can be separated from the driver 400 in the downward direction.

[0193] In an embodiment of this utility model, a first locking portion 151 may be formed on the lower side of the main body 100. Specifically, the bottom surface of the base plate 150 may have the first locking portion 151 formed thereon.

[0194] Additionally, a second locking portion 710 is formed on the upper surface of the mop plate 700. The second locking portion 710 may be formed on the upper surface of the second plate 702.

[0195] The first locking part 151 and the second locking part 710 are formed at the same distance along the radial direction with the center (rotation axis RA) of the mop shaft 210 as the center.

[0196] According to the embodiment of the present utility model, when the mop plate 700 rotates in the first rotation direction RD1 at the upper position, the second locking part 710 is locked in the first locking part 151 and slides downward.

[0197] When in the lower position, the mop plate 700 is separated from the base plate 150 in the vertical direction to avoid interference between the first locking part 151 and the second locking part 710.

[0198] When the mop plate 700 rises and is in the upper position, the mop plate 700 is close to the base plate 150 so that interference occurs between the first locking part 151 and the second locking part 710 when the mop plate 700 rotates. Additionally, if the mop plate 700 rotates in the first rotation direction RD1 at this time, the second locking part 710 is locked by the first locking part 151 and slides downwards, thereby applying a downward external force to the mop plate 700, thus separating the mop plate 700 from the driver 400.

[0199] As described above, when the mop shaft 210 rotates in the first rotation direction RD1 in the upper position, the driver 400 rotates together in the first rotation direction RD1. At this time, the mop plate 700 coupled to the driver 400 also rotates together. The second locking part 710 on the upper surface of the mop plate 700 is locked in the first locking part 151 on the bottom surface of the base plate 150 and slides downward, applying an external force to the mop plate 700 in the downward direction, so that the mop plate 700 can be separated from the driver 400.

[0200] Thus, according to the embodiment of this utility model, in the upper position, without the driver 400 rising further, the mop plate 700 moves in the downward direction relative to the driver 400, thereby achieving simple separation of the mop plate 700.

[0201] Figure 8a This is a cross-sectional perspective view showing a portion of the structure of a sweeping robot 1 according to an embodiment of the present invention.

[0202] Figure 8b yes Figure 8a A schematic diagram showing the drive 400 and the mop plate 700 moving downwards.

[0203] Figure 9a This is a schematic diagram of a portion of the structure of a sweeping robot 1 according to an embodiment of the present utility model.

[0204] Figure 9b This is a schematic diagram of a portion of the structure of the sweeping robot 1 according to an embodiment of the present utility model. Figure 9a A schematic diagram of the state in which the mop shaft 210 and the rotor 500 rotate in the second rotation direction RD2.

[0205] Figure 9c This is a schematic diagram of a portion of the structure of the sweeping robot 1 according to an embodiment of the present utility model. Figure 9b A schematic diagram of the state in which the mop shaft 210 and the rotor 500 further rotate in the second rotation direction RD2.

[0206] The sweeping robot 1 according to the present invention can be configured to include a support spring 490 and a rotor 500. Furthermore, the sweeping robot 1 can be configured to include a first magnetic part 610 and a second magnetic part 620. Additionally, the sweeping robot 1 can be configured to include a bracket 300 and a bearing 350.

[0207] The mop actuator 200 may be configured to include a mop shaft housing 220. The mop shaft housing 220 is configured to enclose a portion of the mop shaft 210 and open downwards. A portion of the mop shaft 210, formed in the vertical direction (Z direction), is located inside the mop shaft housing 220.

[0208] The vertical height of the mop shaft housing 220 can be determined by the height difference between the lower and upper positions. In the upper position, at least a portion of the drive 400 is located inside the mop shaft housing 220 (the upper end of the drive 400 is located at a higher position than the lower end of the mop shaft housing 220), and in the lower position, the drive 400 is located outside the mop shaft housing 220 (the upper end of the drive 400 is located at a lower position than the lower end of the mop shaft housing 220).

[0209] The bracket 300 is combined to move up and down relative to the base plate 150, and can be configured to enclose the actuator 400.

[0210] A through hole, namely a bracket support hole 152, is formed in the base plate 150, and the bracket 300 is fitted inside the bracket support hole 152. The bracket 300 fitted into the bracket support hole 152 is configured to be movable in the vertical direction, but its movement in other directions is restricted (e.g., it is prevented from rotating).

[0211] The bracket support hole 152 can be formed such that its cross-section is constant in the vertical direction, and the bracket 300 connected inside the bracket support hole 152 can move up and down relative to the base plate 150.

[0212] The bracket 300, inserted into the bracket support hole 152, is configured to prevent rotation about the mop shaft 210. For this purpose, the bracket 300 and / or the bracket support hole 152 are formed in a shape other than a circle in plan view, or have a structure that prevents rotation.

[0213] The bearing 350 is sandwiched between the driver 400 and the bracket 300. A portion of the bearing 350 may be coupled to the outer surface of the driver 400, and another portion may be coupled to the inner surface of the bracket 300. With the bearing 350, the driver 400 can rotate smoothly relative to the bracket 300 (rotation about the rotation axis RA of the mop shaft 210).

[0214] An O-ring 360 for watertight or airtight sealing can be attached to the part where the bearing 350 and the actuator 400 are joined. The O-ring 360 can be attached in a manner that wraps around the lower outer circumferential surface of the actuator 400.

[0215] The driver 400 according to an embodiment of the present invention can be configured to include a first sleeve 410 and a second sleeve 420. The driver 400 can be configured to include a shaft support portion 430, a first connecting portion 440, a second connecting portion 450, and a connecting rib 460. The first sleeve 410, the second sleeve 420, the shaft support portion 430, the first connecting portion 440, the second connecting portion 450, and the connecting rib 460 can be integrally formed.

[0216] The first sleeve 410 is configured to house the lower part 210b of the mop shaft 210 and the support spring 490.

[0217] The first sleeve 410 can be configured as a tube in the vertical direction.

[0218] The shaft support portion 430 can be configured as a tube in the vertical direction. The inner diameter of the shaft support portion 430 is formed to be smaller than the inner diameter of the first sleeve 410, and at least a portion of the shaft support portion 430 is fixed inside the first sleeve 410.

[0219] The first connecting portion 440 connects the first sleeve 410 and the shaft support portion 430. The first connecting portion 440 can be continuously formed along the circumferential direction with the rotation axis RA of the mop shaft 210 as the center.

[0220] The first connecting part 440 can connect the upper side of the first sleeve 410 and the shaft support part 430 to each other.

[0221] The first sleeve 410, the first connecting part 440 and the shaft support part 430 are combined to form a space between the first sleeve 410, the first connecting part 440 and the shaft support part 430. The upper side of the support spring 490 is inserted into this space, and the upper end of the support spring 490 is supported by the first connecting part 440.

[0222] The second connecting portion 450 connects the first sleeve 410 and the second sleeve 420. The second connecting portion 450 can be continuously formed in a circumferential direction with the rotation axis RA of the mop shaft as the center. The second connecting portion 450 can be connected to the first sleeve 410 on the lower side of the second sleeve 420. The second connecting portion 450 can be provided on the lower side of the first connecting portion 440.

[0223] The mop shaft 210 is inserted into the shaft support portion 430. The inner diameter of the shaft support portion 430 has a dimension corresponding to the outer diameter of the mop shaft 210.

[0224] The shaft support portion 430 is configured to move up and down relative to the mop shaft 210. Furthermore, the shaft support portion 430 is configured to rotate relative to the mop shaft 210. Therefore, the outer surface of the mop shaft 210 and the inner surface of the shaft support portion 430 can be formed as a circle centered on the rotation axis RA.

[0225] The support spring 490 is configured to provide an upward elastic support to the actuator 400 relative to the mop shaft 210. The support spring 490 can be a spring of elasticity or a coil spring.

[0226] Within the range of the elastic support driver 400 on the upper side relative to the mop shaft 210, the support spring 490 can be configured in various forms.

[0227] In one embodiment, the support spring 490 may be configured as a helical spring and disposed inside the driver 400. In this case, the mop shaft 210 is inserted into the support spring 490, the upper end of the support spring 490 is supported by the driver 400 (first connecting part 440), and the lower end of the support spring 490 is supported by the mop shaft 210.

[0228] To support the spring 490, a shaft flange 213 can be attached to the lower end of the mop shaft 210. The shaft flange 213 can be fixed to the lower end of the mop shaft 210. The shaft flange 213 is configured such that its outer diameter is larger than that of the lower end of the mop shaft 210, and is the same as or slightly smaller than the inner diameter of the first sleeve 410.

[0229] The upper end of the support spring 490 is supported by the first connection portion 440 of the driver 400, and the lower end of the support spring 490 is supported by the shaft flange 213, thereby the support spring 490 elastically supports the driver 400 upward relative to the mop shaft 210.

[0230] That is, in the sweeping robot 1 according to the present utility model embodiment, when no other external force is applied to the driver 400, the driver 400 can be located in an upward position relative to the mop shaft 210 (upper position), and when an external force is applied to the driver 400 in the lower direction, the driver 400 compresses the support spring 490 and can be located in a downward position relative to the mop shaft 210 (lower position).

[0231] When the external force applied to the lower side of the actuator 400 is released, the support spring 490 elastically returns to its original position, and the actuator 400 rises again to the upper position.

[0232] The sweeping robot 1 according to an embodiment of the present invention is configured to include a pusher 530. The pusher 530 may be formed on the rotor 500.

[0233] The sweeping robot 1 according to an embodiment of the present invention is configured to include a stop member 540. The stop member 540 may be formed on the rotor 500.

[0234] Both the pusher 530 and the stop 540 are fixedly connected to the mop shaft 210. Thus, the pusher 530 and the stop 540 rotate together with the mop shaft 210.

[0235] The rotor 500 is fixedly connected to the mop shaft 210. Thus, the rotor 500 rotates together with the mop shaft 210.

[0236] The rotor 500 rotates together with the mop shaft 210, while simultaneously moving the driver 400 to the lower position and the driver 400 to the upper position.

[0237] The rotor 500 may be configured to include a rotor base 510, an extension arm 520, and a pusher 530. The rotor 500 may also include a stop 540. The rotor base 510, extension arm 520, pusher 530, and stop 540 may be integrated into one unit.

[0238] The rotor base 510 is located above the driver 400 and fixed to the mop shaft 210. The rotor base 510 can be coupled to the middle portion 210a of the mop shaft 210 in the vertical direction. The rotor base 510 can be configured as a ring extending vertically through its center, and the two can be coupled by inserting the middle portion 210a of the mop shaft 210 into the center of the rotor base 510. The rotor base 510 and the mop shaft 210 are coupled in a structure that prevents relative rotation.

[0239] The rotor base 510 can form the uppermost part of the rotor 500.

[0240] The extension arm 520 extends generally downward from the rotor base 510. The extension arm 520 may extend radially outward from the rotor base 510 and then downward.

[0241] The extension arm 520 can be divided into a shoulder 521 and an arm 522. The shoulder 521 is the part that extends outward in the radial direction from the rotor base 510, and the arm 522 is the part that extends downward from the end of the shoulder 521.

[0242] The arm 522 can be located at a point that is separated from the center (rotation axis RA) of the mop shaft 210 by a first radius R1 in the radial direction.

[0243] A pusher 530 is formed at the lower end of the extension arm 520. The pusher 530 is located at a point that is separated from the center (rotation axis RA) of the mop shaft 210 by a first radius R1 in the radial direction.

[0244] The stop 540 protrudes from the extension arm 520 in the first rotational direction RD1. The stop 540 may protrude from the arm portion 522 of the extension arm 520 in the first rotational direction RD1.

[0245] The driver 400 according to an embodiment of the present invention is configured to include a movement path 425. The movement path 425 forms a portion of the upper surface of the driver 400. The movement path 425 is formed in a second sleeve 420.

[0246] The moving path 425 forms the path that the pusher 530 moves along.

[0247] The driver 400 according to an embodiment of the present invention is configured to include an inclined surface 425b as part of its upper surface. The inclined surface 425b forms part of the movement path 425.

[0248] The second sleeve 420 is disposed outside the first sleeve 410. The second sleeve 420 is configured to enclose the first sleeve 410. The second sleeve 420 can be separated from the first sleeve 410. The diameter of the second sleeve 420 can be larger than the diameter of the first sleeve 410.

[0249] The second sleeve 420 is formed along the circumferential direction at a point that is separated from the center of the mop shaft 210 by a first radius R1 in the radial direction.

[0250] The lower end of the second sleeve 420 can be integrally connected to the first sleeve 410.

[0251] A connecting rib 460 is disposed between the first sleeve 410 and the second sleeve 420. The connecting rib 460 is formed along the vertical direction. Multiple connecting ribs 460 may be provided and are arranged separately along the circumferential direction with the rotation axis RA of the mop shaft 210 as the center. The lower end of the connecting rib 460 may be connected to the second connecting part 450.

[0252] At least a portion of the upper surface of the second sleeve 420 is formed at different heights along the circumferential direction with respect to the rotation axis RA of the mop shaft 210, rather than being formed at the same height.

[0253] This creates a movement path 425 on the upper surface of the second sleeve 420.

[0254] The moving path 425 is formed along the circumferential direction at a point that is separated from the center (rotation axis RA) of the mop shaft 210 by a first radius R1 in the radial direction.

[0255] The moving path 425 can be configured to include a base surface 425a, an inclined surface 425b, and a pressing surface 425c. The base surface 425a, the inclined surface 425b, and the pressing surface 425c are all formed at points separated from the center (rotation axis RA) of the mop shaft 210 by a first radius R1.

[0256] The driver 400 may be configured to include a locking groove 423. The locking groove 423 may be formed in the second sleeve 420.

[0257] The base surface 425a may be a surface located on the lower side of the pusher 530 in the upper position.

[0258] The locking groove 423 is formed from the base surface 425a toward the first rotation direction RD1. The locking groove 423 may be formed as a groove recessed from the side of the second sleeve 420 toward the first rotation direction RD1, so that the stop 540 can be inserted and engaged therein.

[0259] The locking groove 423 can be formed at a point separated from the center (rotation axis RA) of the mop shaft 210 by a first radius R1.

[0260] The inclined surface 425b is configured to slope upward from the base surface 425a along the second rotational direction RD2. The inclined surface 425b forms the path through which the pusher 530 moves.

[0261] The driver 400 may be configured to include a pressing surface 425c and a locking platform 427.

[0262] The pressing surface 425c extends from the upper end of the inclined surface 425b in the second rotational direction RD2. The pressing surface 425c can be formed such that its height is constant along the second rotational direction RD2. In the aforementioned lower position, the pressing surface 425c constitutes a surface located below the pusher 530.

[0263] The height of the inclined surface 425b can be equal to the height difference between the lower and upper positions. When the pusher 530 is located at the lower end of the inclined surface 425b or on the base surface 425a, it is in the upper position; when the pusher 530 is located at the upper end of the inclined surface 425b or on the pressing surface 425c, it is in the lower position.

[0264] The locking platform 427 is configured to protrude upward from the pressing surface 425c. The locking platform 427 may be configured to bend vertically from the pressing surface 425c.

[0265] The locking plate 427 prevents the extension arm 520 from moving relative to the driver 400 in the second rotation direction RD2. That is, when the extension arm 520 of the rotor 500 is locked in the locking plate 427 of the driver 400, the driver 400 rotates together with the mop shaft 210 and the rotor 500 in the second rotation direction RD2 as the mop shaft 210 and the rotor 500 rotate in the second rotation direction RD2.

[0266] In the sweeping robot 1 according to the present utility model embodiment, the driver 400 and the rotor 500 can be rotated symmetrically with the mop shaft 210 (rotation shaft RA) as the center.

[0267] Multiple extension arms 520, pushers 530, and inclined surfaces 425b can be arranged at equal intervals along a circumferential direction centered on the mop shaft 210 (rotation shaft RA). When there are two extension arms 520, pushers 530, moving paths 425, and locking tables 427, each of these components can be arranged at 180° intervals along the circumferential direction. When there are three extension arms 520, pushers 530, moving paths 425, and locking tables 427, each of these components can be arranged at 120° intervals along the circumferential direction.

[0268] In the sweeping robot 1 according to the embodiment of the present invention, a first locking protrusion 470 can be formed on the outer side of the driver 400, and a second locking protrusion 221 can be formed on the inner side of the mop shaft housing 220 (see reference). Figure 13 The first locking protrusion 470 can be formed in the vertical direction from a local position on the outer side of the second sleeve 420. The second locking protrusion 221 can be formed in the vertical direction from a local position on the inner side of the mop shaft housing 220.

[0269] As described above, in the upper position, at least a portion of the driver 400 is housed inside the mop shaft housing 220. When the rotor 500 rotates in the second rotation direction RD2, the driver 400 is pushed by the rotor 500, thereby rotating the driver 400 by a certain angle in the second rotation direction RD2. Subsequently, the first locking protrusion 470 is locked by the second locking protrusion 221 and is prevented from rotating.

[0270] At this point, if the rotor 500 rotates further in the second rotation direction RD2, the pusher 530 of the rotor 500 moves upward along the inclined plane 425b, thereby pushing the driver 400 downward and moving it to the lower position. When the pusher 530 of the rotor 500 passes the upper end of the inclined plane 425b and is located on the pressing surface 425c, it stably maintains the lower position.

[0271] The first magnetic part 610 can be fixedly installed on the upper side of the mop plate 700.

[0272] The second magnetic part 620 can be fixedly disposed on the lower side of the driver 400. The second magnetic part 620 can be configured to generate an attractive force with the first magnetic part 610. Both the first magnetic part 610 and the second magnetic part 620 can be configured to include a permanent magnet. When either the first magnetic part 610 or the second magnetic part 620 is composed of a permanent magnet, the other can be configured to include a metal that generates an attractive force with the permanent magnet.

[0273] The mop plate 700 may be configured to include a first fastening portion 720 protruding upward from its center.

[0274] The first magnetic part 610 can be fixed to the upper side of the first fastening part 720.

[0275] The driver 400 may be configured to include a second fastening part 480 that opens downward from its center and is used for inserting the first fastening part 720.

[0276] The second fastening part 480 can be configured to extend downward from the lower end of the first sleeve 410. The second fastening part 480 is configured as a circular tube and can be configured to open downward.

[0277] The second magnetic part 620 can be fixedly installed inside the second fastening part 480.

[0278] The second magnetic part 620 can be inserted into the second fastening part 480. The second magnetic part 620 can be made of metal and can be configured as a cap-shaped part that is concave to the lower side (open to the upper side). The second magnetic part 620 can be fixed to the driver 400 by being inserted into the second fastening part 480 and then pressed into the first sleeve 410.

[0279] The second magnetic part 620 is located above the first magnetic part 610. When the mop plate 700 and the driver 400 are engaged, the first magnetic part 610 and the second magnetic part 620 can be positioned close to or near each other. This generates an attraction between the first magnetic part 610 and the second magnetic part 620, enabling a stable engagement between the driver 400 and the mop plate 700.

[0280] The first fastening part 720 is inserted into the second fastening part 480, and then the first fastening part 720 and the second fastening part 480 can be engaged. The first fastening part 720 and the second fastening part 480 engage with each other to prevent rotation centered on the mop shaft 210. That is, the first fastening part 720 and the second fastening part 480 can be engaged to prevent relative rotation centered on the mop shaft 210.

[0281] Figure 10 This is a cross-sectional perspective view showing a portion of the structure of the sweeping robot 1, in accordance with an embodiment of the present invention, including the first locking portion 151 and the second locking portion 710.

[0282] Figure 11 This is a simplified illustration of a sweeping robot 1 according to an embodiment of the present invention, in which the mop plate 700 rotates in the first rotation direction RD1, the second locking part 710 tilts downward relative to the first locking part 151.

[0283] Figure 12 This is a simplified illustration of a sweeping robot 1 according to an embodiment of the present invention, in which the mop plate 700 rotates in the first rotation direction RD1, the second locking part 710 tilts downward relative to the first locking part 151.

[0284] Figure 13 This is a cross-sectional view of a portion of the structure of a sweeping robot 1 according to an embodiment of the present invention, with the rotation axis RA of the mop shaft 210 as the reference.

[0285] In the sweeping robot 1 according to the present utility model embodiment, the first locking part 151 and the second locking part 710 can be configured in various forms within the following range: the range is the range in which, when the mop plate 700 rotates in the first rotation direction RD1 at the upper position, the second locking part 710 is locked in the first locking part 151 and slides downward.

[0286] The first locking portion 151 can be configured in various forms that protrude downward from the base plate 150. The second locking portion 710 can be configured in various forms that protrude upward from the mop plate 700.

[0287] In the sweeping robot 1 according to an embodiment of the present invention, the first locking part 151 and the second locking part 710 can be configured to tilt downward along the first rotation direction RD1. The degree of downward protrusion of the first locking part 151 can increase along the first rotation direction RD1. The degree of upward protrusion of the second locking part 710 can increase along the opposite direction to the first rotation direction RD1 (the second rotation direction RD2).

[0288] The first locking portion 151 includes a first contact portion 151a as its lower surface.

[0289] The second locking portion 710 includes a second contact portion 710a as its upper surface, which is configured to contact the first contact portion 151a.

[0290] The first contact portion 151a can be configured as a plane or a curved surface. The second contact portion 710a can be configured as a plane or a curved surface.

[0291] Either or more of the first contact portion 151a and the second contact portion 710a described above can be configured to be inclined downward along the first rotation direction RD1.

[0292] Multiple first locking parts 151 are provided, which can be repeatedly formed along the circumferential direction with the mop shaft 210 as the center.

[0293] Multiple second locking parts 710 are provided, which can be repeatedly formed along the circumferential direction with the mop shaft 210 as the center.

[0294] As described above, in the upper position, when the mop shaft 210 of the mop actuator 200 rotates in the second rotation direction RD2 (forward), the pusher 530 of the rotor 500 rises along the inclined plane 425b and presses against the pressing surface 425c. In the lower position, the positions of the driver 400 and the mop plate 700 are stably fixed. At this time, the driver 400 moves downward towards the mop shaft housing 220, and the first locking protrusion 470 and the second locking protrusion 221 are in a state where they are not locked together. Meanwhile, the mop plate 700 rotates in the second rotation direction RD2, simultaneously and stably mopping the floor.

[0295] Furthermore, in the lower position, when the mop shaft 210 of the mop actuator 200 rotates in the first rotation direction (opposite direction), the relative rotation between the mop shaft 210 (and rotor 500) and the driver 400 (and mop plate 700) can be achieved due to the friction between the mop 705 and the ground B. At this time, the pusher 530 of the rotor 500 descends along the inclined surface 425b of the driver 400, and in contrast, due to the elastic force of the support spring 490, the driver 400 and the mop plate 700 rise, achieving a stable and natural switching from the lower position to the upper position.

[0296] When the mop shaft 210 of the mop actuator 200 rotates further in the first rotation direction RD1, the rotor 500 also rotates together, and the stop 540 is inserted into the locking groove 423, thereby preventing the driver 400 from moving in the downward direction relative to the mop shaft 210 and the rotor 500.

[0297] In this state, when the mop shaft 210 of the mop actuator 200 rotates further in the first rotation direction RD1, the first locking part 151 contacts the second locking part 710 and moves downward, applying an external force in the downward direction to the mop plate 700. Additionally, as the first magnetic part 610 and the second magnetic part 620 move further apart, the attractive force decreases, and the mop plate 700 separates downward from the driver 400.

[0298] When the mop plate 700 separates downward through the first locking part 151 and the second locking part 710, the stop member 540 is inserted into the locking groove 423, so the position of the driver 400 is stably fixed and there is no downward movement, thus the separation of the mop plate 700 and the driver 400 is carried out smoothly.

[0299] Specific embodiments of the present invention are shown and illustrated in the accompanying drawings above. However, the present invention is not limited to the described embodiments. Those skilled in the art should understand that modifications and alterations can be made to other specific embodiments without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be defined based on the technical concept described in the claims, and not based on the described embodiments.

[0300] Industrial availability

[0301] According to an embodiment of the present invention, the sweeping robot can successfully separate the mop pad, thus having significant industrial applicability.

Claims

1. A robotic vacuum cleaner, characterized in that, The robotic vacuum cleaner includes: main body; A mop actuator is provided in the aforementioned main body and is configured to rotate the mop shaft. A drive, which is coupled to the aforementioned mop shaft, and configured to rise from a lower position to an upper position; and The mop plate, after being attached to the mop, is located on the lower side of the main body and can be detachably attached to the drive unit. Specifically, a first locking portion is formed on the bottom surface of the main body, and a second locking portion is formed on the upper surface of the mop plate. At the aforementioned upper position, when the mop plate rotates in the first rotation direction, the second locking part is locked onto the first locking part and moves downward.

2. The sweeping robot according to claim 1, characterized in that, When the mop plate is in the lower position, if the mop axis rotates in the first rotation direction, the mop plate will rise to the upper position.

3. The sweeping robot according to claim 1, characterized in that, The aforementioned first locking portion includes a first contact portion as its lower surface. The second locking portion includes a second contact portion as its upper surface, which is configured to contact the first contact portion. One or more of the first contact portion and the second contact portion are configured to be inclined downward along the first rotation direction. The aforementioned second locking part is provided in multiple forms, which are repeatedly formed along the circumferential direction with the aforementioned mop shaft as the center.

4. The sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner includes: The stop element rotates together with the aforementioned mop shaft and protrudes in the aforementioned first rotational direction. In the aforementioned upper position, when the mop plate rotates in the aforementioned first rotation direction, the aforementioned driver is locked by the aforementioned stop and is prevented from moving in the lower direction.

5. The sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner includes: A support spring, which elastically supports the drive relative to the axial upper side of the aforementioned mop; and The rotor includes a rotor base located above the drive and fixed to the mop shaft, an extension arm extending downward from the rotor base, and a pusher disposed at the lower end of the extension arm. The aforementioned drivers include: The inclined plane has its upper surface tilted upward along the second rotation direction and forms the path for the movement of the pusher, wherein the second rotation direction is opposite to the first rotation direction.

6. The sweeping robot according to claim 5, characterized in that, The rotor mentioned above includes: A stop element protrudes from the aforementioned extension arm in the aforementioned first rotational direction. The aforementioned drivers include: The locking groove is recessed in the first rotational direction to allow the stop member to be inserted and engaged therein. The aforementioned drivers include: The pressing surface extends from the upper end of the aforementioned inclined surface in the aforementioned second rotational direction; and A locking platform extends upward from the pressing surface, thereby preventing the extension arm from moving relative to the actuator in the second rotational direction.

7. The sweeping robot according to claim 5, characterized in that, The aforementioned drivers include: The first sleeve houses the lower part of the aforementioned mop shaft and the aforementioned support spring; and The second sleeve is disposed outside the first sleeve. The aforementioned inclined surface is formed in the aforementioned second sleeve. The aforementioned drive and rotor are rotationally symmetrical about the aforementioned mop shaft. The aforementioned extension arm, the aforementioned pusher, and the aforementioned inclined surface are each provided in multiples at equal intervals along a circumferential direction centered on the aforementioned mop shaft.

8. The sweeping robot according to claim 1, characterized in that, The above-mentioned mop actuator includes: A mop shaft housing that encloses the mop shaft and has an opening on the downward side. A first locking protrusion is formed on the outer surface of the aforementioned driver. A second locking protrusion is formed on the inner side of the aforementioned mop shaft housing. At the aforementioned upper position, at least a portion of the aforementioned driver is housed inside the aforementioned mop shaft housing. When the aforementioned driver rotates in a second rotation direction that is opposite to the aforementioned first rotation direction, the aforementioned first locking protrusion is locked against the aforementioned second locking protrusion and is prevented from rotating.

9. The sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner includes: A base plate, which forms the lower side of the main body, and the first locking portion is formed on the base plate; The bracket, which is designed to move up and down relative to the aforementioned base plate, and is configured to enclose the aforementioned drive; and The bearing is sandwiched between the aforementioned driver and the aforementioned bracket.

10. The sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner includes: The first magnetic part is fixedly installed on the upper side of the mop plate; and The second magnetic component is fixedly disposed on the lower side of the aforementioned driver and generates an attractive force with the aforementioned first magnetic component. The aforementioned mop board includes: The first fastening part protrudes upward from the center of the mop plate. The aforementioned drivers include: The second fastening part opens downward from the center of the aforementioned driver and is used to insert the aforementioned first fastening part. The first fastening part and the second fastening part are engaged with each other to prevent rotation centered on the mop shaft.

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