Robot vacuum cleaner

Abstract

The present invention relates to a robot vacuum cleaner, wherein the robot vacuum cleaner comprises a vacuum cleaner body equipped with a drive wheel and a cleaning nozzle mounted vertically within an opening that is open downwardly at the bottom of the vacuum cleaner body. The cleaning nozzle can be supported vertically relative to the vacuum cleaner body by means of a plurality of lifting guides and a plurality of auxiliary lifting guides, in accordance with changes in the height of the cleaning surface on which the vacuum cleaner body travels. Accordingly, the problem of the cleaning nozzle getting caught on the cleaning surface is resolved by being pressed by a compressible floor, such as a carpet, thereby improving driving performance and reducing the load on the brush drive unit.

Description

Technology Field

[0001] The present invention relates to a robot vacuum cleaner capable of active movement even in road surface changes with large height differences. Background Technology

[0002] Robot vacuum cleaners autonomously navigate a designated area and perform vacuuming functions by sucking up dust and debris from the floor, or mopping functions through mopping.

[0003] These robot vacuum cleaners are generally equipped with a rechargeable battery and an obstacle detection sensor that can avoid obstacles while driving, allowing them to clean while driving autonomously.

[0004] The cleaning nozzle used in robot vacuums or vacuum cleaners is in close contact with the floor surface so that foreign matter on the floor along the driving path can be sucked into the interior of the nozzle.

[0005] However, with conventional cleaning nozzles, the nozzle part may get stuck due to the difference in floor height at the boundary line between a hard floor and a soft floor (e.g., carpet, rug, etc.) while driving in different floor environments.

[0006] In addition, when a robot vacuum cleaner travels on carpets, significant resistance due to friction occurs between the carpet and the brush, increasing the driving load and the load on the drive motor for operating the brush. Furthermore, the increased power consumption of the brush drive motor leads to a problem where cleaning time is shortened.

[0007] To solve these problems, KR 10-2017-0099627 A (published September 1, 2017; hereinafter, Patent Document 1) discloses a suction structure of a robot vacuum cleaner.

[0008] The robot vacuum cleaner of Patent Document 1 includes a suction part that sucks up foreign matter according to the rotation of a brush, and a support part formed to protrude from one side of the suction part and supporting the suction part so as to be able to move up and down.

[0009] However, the support member of Patent Document 1 is provided on the bottom surface of the vacuum cleaner body and is positioned to be in close contact with the floor surface, so there is a problem in that foreign matter on the floor surface gets stuck in the support member.

[0010] In addition, WO 2016 / 032257 A l (published March 3, 2016; hereinafter referred to as Patent Document 2) discloses a suction nozzle, a robot vacuum cleaner, and a method for controlling the same.

[0011] The robot vacuum cleaner of Patent Document 2 is installed at the lower part of the main body so as to be movable up and down, and is equipped with a suction nozzle that moves up and down along the surface to be cleaned and sweeps and sucks up free particles present on the surface to be cleaned using a main brush.

[0012] However, the connecting part of Patent Document 2, which connects the suction nozzle to the vacuum cleaner body so as to be movable up and down, is located at the bottom of the vacuum cleaner body, so there is a problem in that foreign matter on the floor surface gets stuck in the connecting part.

[0013] In addition, US 7,448,113 B2 (Nov. 11, 2008; Patent Document 3) discloses an autonomous cleaning robot.

[0014] The cleaning head of Patent Document 3 includes a deck that is rotatably hinged to a housing. The deck, which accommodates a brush, is lifted relative to the housing by a deck adjusting assembly as the torque of the brush increases.

[0015] However, the deck adjustment assembly of Patent Document 3 has a problem in that the link structure connecting the deck and the housing is very complex.

[0016] In addition, US 8,881,339 B2 (Nov. 11, 2014; Patent Document 4) discloses a robotic vacuum cleaner.

[0017] The cleaning assembly (cleaning head) of Patent Document 4 is configured to be lifted from the cleaning surface by a link when moving from a hard surface to a compressible surface.

[0018] However, there is a problem with the structure of the link connecting the cleaning assembly and the main body of Patent Document 4 being complex. The problem to be solved

[0019] The present invention was created to solve conventional problems, and the first objective is to provide a robot vacuum cleaner equipped with a cleaning nozzle that can extend cleaning time by reducing the load on the brush drive unit, as well as improving driving performance, by minimizing the phenomenon where the cleaning nozzle gets caught on the compressible surface when changing from a hard surface to a compressible surface.

[0020] The second objective of the present invention is to provide a robot vacuum cleaner equipped with a cleaning nozzle having a simple structure that minimizes the inflow of foreign matter through a link for the lifting and lowering movement of the cleaning nozzle.

[0021] The third objective of the present invention is to provide a robot vacuum cleaner equipped with a cleaning nozzle capable of preventing twisting during vertical lifting of the cleaning nozzle.

[0022] The fourth objective of the present invention is to provide a robot vacuum cleaner equipped with a cleaning nozzle capable of maintaining a constant shape of the suction path even when the suction path connecting the cleaning nozzle and the main body of the vacuum cleaner moves during the lifting and lowering of the cleaning nozzle. means of solving the problem

[0023] To achieve the first objective described above, a robot vacuum cleaner according to the present invention comprises: a vacuum cleaner body having a control unit and a drive wheel whose drive is controlled by the control unit; a cleaning nozzle mounted inside an opening that is downwardly open at the bottom of the vacuum cleaner body and moves up and down relative to the vacuum cleaner body according to a change in the height of the cleaning surface on which the vacuum cleaner body travels; a plurality of lifting guides provided on the cleaning nozzle and guiding the upward and downward movement of the cleaning nozzle; and a plurality of support members provided on the vacuum cleaner body and supporting each of the plurality of lifting guides so that each of the plurality of lifting guides passes through and can move up and down.

[0024] With this configuration, the cleaning nozzle rises relative to the main body of the vacuum cleaner by receiving pressure from the height of a compressible floor surface, such as a carpet, thereby resolving the problem of the cleaning nozzle getting stuck on the floor surface and improving driving performance.

[0025] To achieve the second objective described above, the cleaning nozzle may be suspended from the inner upper part of the cleaning body, and may further include a catch hook formed to protrude from the upper end of each of the plurality of lifting guides, which engages with each of the plurality of support members when the lifting guides descend.

[0026] With this configuration, the lifting guide that guides the lifting movement of the cleaning nozzle is housed inside the vacuum cleaner body and supported by being suspended from the upper inner side of the vacuum cleaner body, thereby minimizing the ingress of dust or foreign matter and simplifying the structure of the lifting guide.

[0027] To achieve the aforementioned third objective, the apparatus may further include a plurality of auxiliary lifting guides provided on the cleaning nozzle to be positioned at the lower part of the lifting guide and guiding the vertical lifting of the cleaning nozzle; and a guide receiving portion provided on the main body of the cleaner and in surface contact with both sides of the auxiliary lifting guides to guide the vertical rising and vertical lowering of the auxiliary lifting guides.

[0028] With this configuration, the auxiliary lifting guide vertically guides the lifting motion of the cleaning nozzle, thereby preventing twisting of the cleaning nozzle during lifting.

[0029] According to one example related to the present invention, the cleaning nozzle includes a brush receiving portion that accommodates a brush module, and the plurality of lifting guides may be formed to protrude from the upper part of the brush receiving portion.

[0030] According to another example related to the present invention, the cleaning nozzle accommodates a brush module, and the plurality of lifting guides may be formed to protrude upward from the front and rear of the cleaning nozzle, respectively, with the brush module in between.

[0031] According to one example related to the present invention, the cleaning nozzle may include: a nozzle base having an internal suction port communicating with the opening and having shaft supports on both sides that rotatably support a brush module exposed downward through the suction port; and a nozzle cover coupled to the upper part of the nozzle base to cover the brush module.

[0032] According to one example related to the present invention, the nozzle cover comprises a brush receiving portion that surrounds and accommodates the brush module in a circumferential direction; a flange portion that extends along the edge of the brush receiving portion and is connected to the nozzle base, and the plurality of lifting guides are each formed to protrude from the upper surface of the flange portion and may be spaced apart in the front-rear direction of the brush receiving portion.

[0033] The plurality of lifting guides are respectively positioned on the left and right sides of the cleaning nozzle and can guide the left and right ends of the cleaning nozzle to lift independently.

[0034] According to one example related to the present invention, the vacuum cleaner body further includes a nozzle receiving portion installed to cover the cleaning nozzle and accommodating the cleaning nozzle, and the plurality of support members are formed to penetrate the nozzle receiving portion in an upward and downward direction, thereby allowing each of the plurality of lifting guides to penetrate in an upward direction.

[0035] According to one example related to the present invention, the nozzle cover may further include: a brush receiving portion that surrounds and accommodates the brush module in a circumferential direction; a flange portion that extends along the edge of the brush receiving portion and is connected to the nozzle base; and an auxiliary lifting guide disposed at the lower part of each of the plurality of lifting guides and formed to protrude from the front of the flange portion to guide the vertical lifting of the cleaning nozzle.

[0036] According to one example related to the present invention, the vacuum cleaner body further includes a nozzle receiving portion installed to cover the cleaning nozzle and receiving the cleaning nozzle, wherein the guide receiving portion has a guide groove in which the auxiliary lifting guide slides and may be formed to protrude from the nozzle receiving portion to surround the auxiliary lifting guide.

[0037] According to one example related to the present invention, the cleaning nozzle may include: a brush module that sweeps up foreign matter from the cleaning surface through the opening; a suction guide mounted downwardly inclined on the lower part of the nozzle base to receive and lift the foreign matter swept up by the brush module; and a suction guide holder coupled to the lower part of the nozzle base with the suction guide in between to fix the suction guide.

[0038] To achieve the aforementioned fourth objective, the device may further include: a nozzle receiving portion installed inside the main body of the vacuum cleaner to cover the cleaning nozzle; a discharge port formed at the rear of the cleaning nozzle to discharge foreign matter sucked in through the opening; a communication portion formed at the rear of the nozzle receiving portion to communicate with the discharge port; and a suction passage portion formed of an elastic material to communicate the discharge port and the communication portion and to elastically support the cleaning nozzle so as to be vertically movable.

[0039] According to this configuration, the suction channel is formed of an elastic material, so that the shape of the channel can be maintained consistently even when the suction channel connecting the cleaning nozzle and the main body of the vacuum cleaner moves during the lifting and lowering of the cleaning nozzle.

[0040] According to one example related to the present invention, the suction passage can elastically pressurize the cleaning nozzle, which has been raised by the height of the cleaning surface, back to its original position.

[0041] According to one example related to the present invention, the suction passage may further include a fastening flange that is formed to protrude outward along the circumferential direction at the end of the suction passage that extends backward from the discharge port and is fastened to the connecting part.

[0042] According to one example related to the present invention, the cleaning nozzle may include: a brush receiving portion that receives a brush module for sweeping foreign matter from the cleaning surface through the opening; and a brush driving portion mounted at one end of the brush receiving portion to rotate the brush module.

[0043] According to one example related to the present invention, the cleaning device body further includes a nozzle receiving portion installed to cover the cleaning nozzle and receiving the cleaning nozzle, and the nozzle receiving portion may further include a through portion that passes through the brush driving portion so that the brush driving portion, which protrudes outward from one end of the brush receiving portion, can move up and down together with the cleaning nozzle.

[0044] According to one example related to the present invention, the cleaning nozzle may include a suction passage that extends backward from the discharge port of the brush receiving portion to discharge the foreign matter and elastically supports the cleaning nozzle to correct the uneven load of the brush driving portion.

[0045] According to one example related to the present invention, the suction passage may be formed in a closed-loop shape.

[0046] According to one example related to the present invention, the suction channel may be formed of an elastic material and may further include a reinforcing member formed to have an increased thickness along the inner circumference of a section of the suction channel that is close to the brush driving part.

[0047] According to one example related to the present invention, the suction passage may be formed of an elastic material and may further include a plurality of reinforcing ribs that are spaced apart along the outer circumference of a section of the suction passage close to the brush driving part and formed to protrude outward.

[0048] A robot vacuum cleaner according to another aspect of the present invention may include: a vacuum cleaner body having a control unit and a drive wheel whose drive is controlled by the control unit; a cleaning nozzle mounted inside an opening that is downwardly open at the bottom of the vacuum cleaner body and moves up and down relative to the vacuum cleaner body according to a change in the height of the cleaning surface on which the vacuum cleaner body travels; a nozzle receiving part installed inside the vacuum cleaner body to cover the upper part of the cleaning nozzle; a brush module mounted to be received inside the cleaning nozzle; a brush driving part mounted at one end of the cleaning nozzle and driving the brush module; and a suction passage part that connects the cleaning nozzle and the nozzle receiving part to suck up foreign matter swept by the brush module, elastically supports the cleaning nozzle so as to be up and down, and corrects the uneven load of the brush driving part. Effects of the invention

[0049] The effects of the robot vacuum cleaner according to the present invention are described as follows.

[0050] First, a plurality of lifting guides are formed protruding upward from the upper part of the cleaning nozzle, and a plurality of support members are formed to penetrate vertically from the upper part of the nozzle receiving portion configured to cover the upper part of the cleaning nozzle. As the lifting guides penetrate the support members and are supported by them to move up and down, the cleaning nozzle can move up and down from an opening that is open downward at the bottom of the vacuum cleaner body according to the height difference of the floor. Accordingly, when the vacuum cleaner body moves from a hard floor surface to a compressible floor surface, the phenomenon of the cleaning nozzle getting caught on the compressible floor surface is minimized, thereby improving driving performance. In addition, since the brush of the brush module rotates while floating above the compressible floor surface, the rotational resistance of the brush module is reduced, thereby reducing the load on the brush drive unit. The power consumption of the brush drive unit is reduced, allowing the cleaning time to be extended.

[0051] Second, a locking hook is formed to protrude from the upper part of the lifting guide and engages with the support, thereby allowing the cleaning nozzle to be supported while suspended above the nozzle receiving part of the vacuum cleaner body. Accordingly, the locking hook can limit the minimum lowering height of the cleaning nozzle.

[0052] Third, a plurality of auxiliary lifting guides are formed to protrude from the front and rear of the cleaning nozzle, respectively, so as to be positioned at the bottom of the lifting guide, and a plurality of guide receiving portions are formed to protrude outwardly from the front and rear of the nozzle receiving portion, respectively, so as to be positioned at the bottom of the support portion, and the auxiliary lifting guides can be supported so as to slide up and down along guide grooves formed on the inner side of the guide receiving portions. Accordingly, the auxiliary lifting guides slide up and down while being received in the guide receiving portions, thereby stably supporting the vertical lifting of the cleaning nozzle. In addition, the plurality of auxiliary lifting guides and the guide receiving portions can prevent twisting during the vertical lifting of the cleaning nozzle.

[0053] Fourth, the upper part of the guide receiving portion is formed with a closed structure that blocks the upper part of the guide groove, so that when the upper part of the auxiliary lifting guide rises due to pressure from the height of the floor, the maximum rising height of the auxiliary lifting guide may be limited due to the closed structure of the guide receiving portion.

[0054] Fifth, the lifting guide and auxiliary lifting guide, which guide the lifting movement of the cleaning nozzle, are positioned above the brush receiving section, which is the inner upper part of the vacuum cleaner body, thereby minimizing the inflow of foreign matter. In addition, the support section and the guide receiving section, which respectively support the lifting guide and auxiliary lifting guide so that they can move up and down, have simple structures, which can significantly contribute to the miniaturization and cost reduction of the robot vacuum cleaner.

[0055] Sixth, the suction channel for sucking up foreign matter swept by the brush module is extended to protrude from the rear of the cleaning nozzle and connected to the nozzle receiving portion, and the suction channel is formed of an elastic material so as to elastically support the cleaning nozzle that moves up and down according to the height of the floor.

[0056] Seventh, a brush drive unit is mounted on one end of the cleaning nozzle to drive a brush module housed inside the cleaning nozzle, and the suction passage is further provided with a reinforcing member that increases the thickness or forms a plurality of protrusions around the suction passage located close to the brush drive unit, thereby compensating for the uneven load of the brush drive unit. Brief explanation of the drawing

[0057] FIG. 1 is a perspective view showing a cleaning nozzle assembly mounted inside a robot vacuum cleaner according to the present invention. Figure 2 is a conceptual diagram showing the cleaning nozzle assembly disassembled from Figure 1. Figure 3 is a rear perspective view showing the cleaning nozzle assembly in Figure 1 as viewed from the rear. Figure 4 is an exploded view showing the cleaning nozzle assembly disassembled from Figure 3. Figure 5 is a conceptual diagram showing the cleaning nozzle in Figure 4 viewed from the rear. Figure 6 is a cross-sectional view taken along VI-VI in Figure 5. Figure 7 is a cross-sectional view taken along VII-VII in Figure 6. FIG. 8 is a conceptual diagram showing the position of the lifting guide when the robot vacuum cleaner of the present invention travels on a hard floor. FIG. 9 is a conceptual diagram showing the position of the lifting guide when the robot vacuum cleaner of the present invention travels on a compressible floor such as a carpet. FIG. 10 is a conceptual diagram showing a cleaning nozzle according to another embodiment of the present invention. FIG. 11 is a cross-sectional view taken along XI-XI in FIG. 10. FIG. 12 is a conceptual diagram showing another form of the suction passage according to the present invention. FIG. 13 is a conceptual diagram showing another form of a cleaning nozzle according to the present invention. Specific details for implementing the invention

[0058] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols will be assigned the same reference number, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification and do not inherently possess distinct meanings or roles. Furthermore, in describing embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted. Additionally, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification; the technical concept disclosed in this specification is not limited by the attached drawings, and it should be understood that they include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0059] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0060] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0061] A singular expression includes a plural expression unless the context clearly indicates otherwise.

[0062] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0063] FIG. 1 is a perspective view showing a cleaning nozzle (110) assembly mounted inside a robot vacuum cleaner according to the present invention.

[0064] Figure 2 is a conceptual diagram showing the cleaning nozzle assembly disassembled from Figure 1.

[0065] Figure 3 is a rear perspective view showing the cleaning nozzle assembly in Figure 1 as viewed from the rear.

[0066] Figure 4 is an exploded view showing the cleaning nozzle assembly disassembled from Figure 3.

[0067] FIG. 5 is a conceptual diagram showing the cleaning nozzle (110) in FIG. 4 viewed from the rear.

[0068] Figure 6 is a cross-sectional view taken along VI-VI in Figure 5.

[0069] Figure 7 is a cross-sectional view taken along VII-VII in Figure 6.

[0070] A robot vacuum cleaner is configured to perform the function of cleaning the floor while autonomously navigating a designated area. Here, floor cleaning can be understood as a concept that includes vacuuming dust and debris from the floor or mopping the floor.

[0071] This example shows a robot vacuum cleaner configured to autonomously navigate a designated area, suck in air from the floor, and perform a vacuum cleaning function by separating dust and debris from the sucked-in air.

[0072] A robot vacuum cleaner is configured to include a vacuum cleaner body (100). It forms the exterior of the vacuum cleaner. Various components, including a control unit for controlling the vacuum cleaner, are built into or mounted in the vacuum cleaner body (100).

[0073] A circuit board (not shown) constituting a control unit may be disposed on the main body (100) of the vacuum cleaner. Various modules, such as a brush module (123) or a mop module (not shown), may be detachably coupled to the main body (100).

[0074] A drive wheel (101; see FIG. 13) is provided on the bottom surface of the vacuum cleaner body (100). The drive wheel (101) is configured to rotate by receiving driving force from a wheel drive motor (1011). The wheel drive motor (1011) can be controlled by receiving a control signal from a control unit.

[0075] The drive wheels (101) may be provided on the bottom surface of the vacuum cleaner body (100), on both the left and right sides. A wheel drive motor (1011) may be connected to each drive wheel (101) for independent driving of each drive wheel (101).

[0076] The vacuum cleaner body (100) can be moved forward, backward, left, and right or rotated by the rotation of the drive wheel (101).

[0077] An auxiliary wheel (1012; see FIG. 13) may be additionally provided on the bottom surface of the vacuum cleaner body (100). The auxiliary wheel (1012) can be distinguished from the drive wheel (101) in that it only has a rolling function on the floor.

[0078] The auxiliary wheel (1012) can support the vacuum cleaner body (100) together with the drive wheel (101). The auxiliary wheel (1012) is configured to assist in the movement of the vacuum cleaner body (100).

[0079] A plurality of auxiliary wheels (1012) can be rotatably installed at the center of the front and rear of the vacuum cleaner body (100), respectively, centered on a lateral centerline passing through the center of the plurality of drive wheels (101).

[0080] The vacuum cleaner body (100) is equipped with a battery (not shown) that supplies power to the robot vacuum cleaner. The battery is configured to be rechargeable and can be configured to be detachably attached to the bottom of the vacuum cleaner body (100).

[0081] A sensing unit (not shown) may be positioned at the front of the vacuum cleaner body (100). The sensing unit may be located at a certain height on the front surface of the vacuum cleaner body (100).

[0082] The sensing unit can be configured to detect obstacles or terrain features in front using ultrasound so that the vacuum cleaner body (100) does not collide with obstacles.

[0083] When a robot vacuum cleaner is configured to perform a vacuum cleaning function, air containing dust and foreign matter can be sucked in through an opening (102) formed at the bottom of the vacuum cleaner body (100).

[0084] The opening (102) may be formed long along the left-right direction relative to the driving direction of the vacuum cleaner body (100). The opening (102) may be formed in a rectangular shape. The opening (102) may be formed to penetrate in the up-down direction from the bottom surface of the vacuum cleaner body (100).

[0085] A cleaning nozzle (110) for cleaning dust and foreign matter from the floor surface is provided on the inside of the opening (102).

[0086] A nozzle receiving portion (104) is provided in the opening (102) of the vacuum cleaner body (100). The nozzle receiving portion (104) is mounted on the bottom surface of the vacuum cleaner body (100) to cover the opening (102). The nozzle receiving portion (104) can be extended in the left and right directions relative to the driving direction of the vacuum cleaner body (100).

[0087] The nozzle receiving portion (104) is provided with an internal receiving space to receive the cleaning nozzle (110). The lower part of the nozzle receiving portion (104) is formed to be open downward. The nozzle receiving portion (104) is configured to cover the upper part of the cleaning nozzle (110).

[0088] In order to attach the nozzle receiving portion (104) to the vacuum cleaner body (100), a plurality of bosses (103) may be spaced apart in the front-rear and left-right directions along the perimeter of the opening (102). The plurality of bosses (103) may be formed to protrude upward in a cylindrical shape from the vacuum cleaner body (100).

[0089] Each of the multiple bosses (103) may have a fastening groove formed inside.

[0090] A plurality of fastening parts (1041) may be formed on the front and rear ends of the nozzle receiving part (104), spaced apart in the left-right longitudinal direction and protruding in the front-rear direction. A fastening hole may be formed on the inner side of the fastening part (1041).

[0091] A fastening member such as a screw can be fastened to the boss (103) by passing through the fastening portion (1041), thereby connecting the nozzle receiving portion (104) and the vacuum cleaner body (100).

[0092] The cleaning nozzle (110) is configured to accommodate a brush module (123) inside. The cleaning nozzle (110) may be configured to include a nozzle cover (111) and a nozzle base (116).

[0093] The nozzle cover (111) may be composed of a brush receiving portion (112) and a flange portion (114).

[0094] The brush receiving portion (112) may be formed in the shape of a hollow cylinder. The brush receiving portion (112) has an internal receiving space to accommodate a brush module (123). Due to the cylindrical structure of the brush receiving portion (112), the flow resistance of air sucked into the brush receiving portion (112) can be minimized.

[0095] The brush module (123) is equipped with a brush attached to the outer surface of a cylindrical brush body and is configured to sweep up dust and foreign matter from the floor by rotating the brush.

[0096] The lower part of the brush receiving portion (112) is open so that the brush module (123) can be exposed toward the bottom surface through the lower part of the brush receiving portion (112). The brush module (123) can be rotatably mounted inside the cleaning nozzle (110).

[0097] Rotation axes are formed protruding axially at both ends of the brush module (123), and the brush module (123) is configured to rotate around the rotation axes.

[0098] A brush driving unit (124) is mounted on one end of the brush receiving unit (112). The brush driving unit (124) may be configured to include a brush motor (125) that drives the brush module (123) and a gearbox (126) that transmits the power of the brush motor (125) to the brush module (123).

[0099] The gearbox (126) may be equipped with a plurality of gears inside. The gearbox (126) may be configured to connect the brush motor (125) and the brush module (123).

[0100] The gearbox (126) is positioned on the side of one end of the brush receiving portion (112), and one side of the gearbox (126) can be coupled to the rotation axis of the brush module (123) to transmit power. The rotation axis of the brush module (123) can be coupled to the brush module (123) by penetrating one end of the brush receiving portion (112).

[0101] The brush drive unit (124) may be configured to protrude outward from the nozzle receiving unit (104). A penetration portion (108) may be formed on one side of the nozzle receiving unit (104) to penetrate in the vertical direction. The nozzle receiving unit (104) may allow the brush drive unit (124) to pass through the penetration portion (108).

[0102] According to this configuration, the brush drive unit (124) is mounted on one end of the cleaning nozzle (110) and can be configured to move up and down together with the cleaning nozzle (110) by passing through the penetration part (108) of the nozzle receiving part (104).

[0103] The brush module (123) receives power from the brush drive unit (124) and rotates to sweep up dust and debris from the floor.

[0104] Dust and foreign matter in the air sucked in through the brush module (123) is filtered and collected in the dust bin (127), and the air from which dust and foreign matter have been separated is discharged to the outside of the vacuum cleaner body (100).

[0105] Inside the vacuum cleaner body (100), a suction passage (136) that guides air introduced through an opening (102) to a dust bin (127) and an exhaust passage (not shown) that guides the flow of air from the dust bin (127) to the outside of the vacuum cleaner body (100) may be formed.

[0106] The suction passage (136) may be extended so as to protrude toward the dust bin (127) from the rear portion of the brush receiving portion (112). The suction passage (136) may be connected to communicate with an inlet formed on the front of the dust bin (127).

[0107] The dustbin (127) can be detachably accommodated inside the vacuum cleaner body (100).

[0108] The dust bin (127) may be equipped with at least one of a filter or a cyclone for filtering dust and foreign matter from the inhaled air.

[0109] A flange portion (114) is provided at the lower end of the brush receiving portion (112). The flange portion (114) is formed to protrude outward along the lower circumference of the brush receiving portion (112). The flange portion (114) may be formed in a rectangular shape.

[0110] The nozzle base (116) can be formed to correspond to the opening (102). The nozzle base (116) can be formed slightly smaller than the opening (102).

[0111] It is configured to be fastened to the lower part of the nozzle cover (111). The nozzle base (116) can be fastened to the flange portion (114). The nozzle base (116) can be arranged to overlap the flange portion (114) in the vertical direction.

[0112] The nozzle base (116) can be formed in a rectangular closed loop shape.

[0113] A suction port (121) may be formed on the inner side of the nozzle base (116). The suction port (121) is formed to communicate with the opening (102). External air around the cleaning surface on which the vacuum cleaner body (100) travels can be sucked into the inner side of the brush receiving portion (112) through the suction port (121).

[0114] A plurality of axial support members (122) may be formed to protrude axially at both ends along the longitudinal direction of the nozzle base (116).

[0115] A plurality of shaft support members (122) are configured to support a rotation axis protruding from both ends of the brush module (123). Both ends of the rotation axis may be rotatably supported by bearings. The shaft support members (122) may be formed in a downwardly concave curved shape.

[0116] The height of the front part of the nozzle base (116) can be formed to be smaller than the height of the rear part of the nozzle base (116).

[0117] A plurality of inclined surfaces may be formed on the left and right sides of the nozzle base (116). The inclined surfaces may be formed to slope downward from the front side to the rear side of the nozzle base (116). The inclined surfaces may be positioned at the bottom of the shaft support (122).

[0118] The step difference between the lower front part of the nozzle base (116) and the lower rear part of the nozzle base (116) can be connected by the inclined surface.

[0119] The rear portion of the nozzle base (116) is in close contact with the bottom surface, and a gap may be formed between the lower front portion of the nozzle base (116) and the bottom surface.

[0120] According to this configuration, even if the rear part of the nozzle base (116) is in close contact with the floor surface, the outer air in front of the vacuum cleaner body (100) can be smoothly sucked into the suction port (121) through the gap.

[0121] In order to connect the nozzle cover (111) and the nozzle base (116), a plurality of connecting protrusions (117) may be formed to protrude in the front and rear directions on the front and rear portions of the nozzle base (116).

[0122] Each of the plurality of fastening protrusions (117) may be formed as a rectangle that is elongated along the longitudinal direction of the nozzle base (116). The plurality of fastening protrusions (117) may be spaced apart along the left and right longitudinal directions of the nozzle base (116).

[0123] A plurality of fastening holes (115) may be formed to penetrate in the front and rear directions of the flange portion (114). The plurality of fastening holes (115) are formed to correspond to a plurality of fastening protrusions (117), so that the fastening protrusions (117) can be fitted into the fastening holes (115).

[0124] A plurality of fastening protrusions (117) can be formed in a wedge shape that is inclined downward in the front-rear direction. Accordingly, when the nozzle base (116) is inserted into the inside of the flange portion (114), the fastening protrusions (117) can be easily assembled into the fastening hole (115).

[0125] A suction guide (134) can be mounted on the lower part of the nozzle base (116).

[0126] The suction guide (134) is configured to function as a dustpan that supports foreign matter swept up by the brush module (123) into the inner side of the brush receiving portion (112).

[0127] The suction guide (134) can be positioned at the rear of the nozzle base (116).

[0128] The suction guide (134) can be formed in the shape of a thin, flat plate that is formed long in the left-right direction of the nozzle base (116).

[0129] The front end of the suction guide (134) is formed at an angle so as to be positioned lower than the rear end of the suction guide (134). This is to position the front end of the suction guide (134) as close as possible to the bottom surface so that it can be pushed up into the inner side of the suction port (121).

[0130] A portion of the suction guide (134) can be mounted on the nozzle base (116) so as to protrude downward through the suction port (121) of the nozzle base (116).

[0131] A fixing part (1341) may be formed to protrude backward from the rear end of the suction guide (134). The fixing part (1341) may be extended horizontally along the longitudinal direction of the suction guide (134).

[0132] A plurality of fitting holes (1342) may be formed to penetrate the fixing part (1341) in the vertical direction. The plurality of fitting holes (1342) may be spaced apart along the length direction of the fixing part (1341). The fitting holes (1342) may be formed with a narrow width and a long length in the extension direction of the fixing part (1341).

[0133] A protruding end (1343) may be formed protruding downward on the lower surface of the suction guide (134). The protruding end (1343) may extend in the longitudinal direction of the suction guide (134).

[0134] A suction guide holder (135) is provided inside the nozzle base (116) to secure the suction guide (134) to the inner rear portion of the nozzle base (116).

[0135] The suction guide holder (135) may be composed of a front holder part (1351) and a rear holder part (1353).

[0136] The front holder portion (1351) and the rear holder portion (1353) can be extended laterally to the left and right with a length corresponding to the suction guide (134) at a constant angle from each other.

[0137] The front holder portion (1351) can be formed in a curved shape that slopes downward from the front portion of the rear holder portion (1353) toward the rear portion of the suction guide (134).

[0138] The front holder portion (1351) may be positioned between the bottom of the brush receiving portion (112) and the rear end of the suction guide (134). Each of the brush receiving portion (112), the front holder portion (1351), and the suction guide (134) may be arranged to overlap in the circumferential direction and formed to have a cross-sectional shape of a single arc.

[0139] According to this configuration, foreign matter swept by the brush module (123) can be smoothly lifted up to the inside of the suction port (121) without obstruction along the suction guide (134) and the front holder part (1351).

[0140] A plurality of fixing holes (118) may be formed to penetrate vertically in the rear portion of the nozzle base (116). The plurality of fixing holes (118) may be spaced apart in the left and right lateral directions of the nozzle base (116). Each of the fixing holes (118) may be formed with a narrow width and a long length in the left and right lateral directions.

[0141] A plurality of fixing protrusions (1352) may be formed to protrude downward from the lower surface of the front holder portion (1351). The plurality of fixing protrusions (1352) may be spaced apart in the left and right lateral directions of the front holder portion (1351).

[0142] The rear holder portion (1353) can be arranged to overlap vertically with a portion of the rear part of the nozzle base (116) where the fixing hole (118) is formed.

[0143] A plurality of fixed protrusions (1352), fitting holes (1342), and fixed holes (118) can be arranged to overlap in the vertical direction.

[0144] A plurality of fixing protrusions (1352) are fitted and coupled by passing through the fitting hole (1342) and the fixing hole (118), so that the front holder part (1351) can be fixed to the nozzle base (116) by pressing the fixing part (1341) of the suction guide (134) downward.

[0145] A stopper (1211) may be formed at the rear end of the opening (102) of the nozzle base (116). The stopper (1211) may be positioned in front of a plurality of fixing holes (118). The stopper (1211) forms the rear end of the opening (102) and may be formed vertically with a height that is high in the upward direction.

[0146] The protruding end (1343) of the suction guide (134) is positioned to make surface contact with the front of the catch (1211), thereby preventing the front end of the suction guide (134) from rotating downward or the fixing part (1341) from being lifted upward.

[0147] When the fixing projection (1352) is inserted and coupled through the insertion hole (1342) and the fixing hole (118), the fixing part (1341) can be stably seated and fixed on the inner surface of the nozzle base (116).

[0148] The rear holder portion (1353) can be horizontally extended rearward from the rear end of the front holder portion (1351).

[0149] A plurality of coupling holes (1354) may be formed to penetrate in the vertical direction so that the rear holder portion (1353) is fastened to the rear portion of the nozzle base (116). The plurality of coupling holes (1354) may be spaced apart along the longitudinal direction of the rear holder portion (1353).

[0150] A plurality of connecting bosses (119) may be formed protruding upward from the inner surface of the nozzle base (116) so that the rear holder portion (1353) is connected. A plurality of connecting bosses (119) may be spaced apart along the longitudinal direction of the nozzle base (116).

[0151] Multiple connecting holes (1354) and connecting bosses (119) are arranged to overlap in the vertical direction.

[0152] A fastening member such as a screw passes through the coupling hole (1354) and is screwed into a fastening groove formed inside the coupling boss (119), so that the rear holder and the nozzle base (116) can be fastened.

[0153] According to this configuration, the suction guide holder (135) can firmly fasten the suction guide (134) to the inner rear portion of the nozzle base (116) using the fixing projection (1352) and the fixing hole (118).

[0154] The suction guide holder (135) is fastened to the inside of the nozzle base (116) with the suction guide (134) mounted inside the suction port (121) of the nozzle base (116), and can support the suction guide (134).

[0155] A plurality of positioning guides (120) that guide the suction guide holder (135) to be positioned on the nozzle base (116) may be formed to protrude upward from the inner rear portion of the nozzle base (116).

[0156] The positioning guide (120) can be formed in a structure that is closed at the front and left and right sides and open at the rear, i.e., in the shape of a "C".

[0157] A plurality of position guide receiving holes (1355) may be formed to penetrate in the vertical direction to accommodate a position guide (120) on the lower surface of the rear holder part (1353).

[0158] The position guide receiving hole (1355) and the position guide (120) can be arranged to overlap in the vertical direction.

[0159] As the positioning guide (120) is inserted into the positioning guide receiving hole (1355) and joined, the coupling hole (1354) of the rear holder part (1353) and the coupling boss (119) of the nozzle base (116) are arranged to overlap each other in the vertical direction, thereby improving assembly.

[0160] The cleaning nozzle (110) can be mounted so as to be raised and lowered relative to the main body (100) according to changes in floor height while traveling from a hard floor (1) to a compressible floor such as a carpet (10).

[0161] The cleaning nozzle (110) can move up and down between the first position and the second position.

[0162] The first position is the initial position, and the initial position of the cleaning nozzle (110) can be set to fit the hard floor (1).

[0163] The second position is higher than the first position. The second position is the position where the cleaning nozzle (110) rises due to the height of the compressible floor when driving on a compressible floor such as a carpet (10).

[0164] The cleaning nozzle (110) can be supported so as to be vertically movable in a suspended form on the inner upper part of the cleaning body (100) by means of a plurality of lifting guides (128) and a plurality of support members (130).

[0165] For example, the cleaning nozzle (110) can be supported so as to be vertically movable in a suspended form on the upper part of the nozzle cover (111).

[0166] A plurality of lifting guides (128) may be formed to protrude upward from the upper part of the brush receiving portion (112).

[0167] A plurality of lifting guides (128) may be spaced apart along the longitudinal direction of the brush receiving portion (112).

[0168] The lifting guide (128) may be formed in the shape of a rectangular body with a narrow width and a vertical height that is longer than the width. The lifting guide (128) may have a thin plate shape and may extend in the front-rear direction of the brush receiving portion (112).

[0169] Each of the multiple lifting guides (128) can be extended in the vertical direction.

[0170] The thickness of the lifting guide (128) can be formed to be smaller than the vertical height and horizontal width of the lifting guide (128).

[0171] A plurality of support members (130) are provided on the upper part of the nozzle receiving part (104). A plurality of support members (130) may each be formed to penetrate in the vertical direction on the upper part of the nozzle receiving part (104). The support members (130) may be arranged to overlap in the protruding direction of the lifting guide (128).

[0172] The support member (130) can be formed in the same shape as the lifting guide (128) to wrap around the front, rear, left, and right sides of the lifting guide (128).

[0173] A plurality of lifting guides (128) can be supported by a plurality of support members (130) so as to be movable up and down by the support members (130).

[0174] A catch hook (129) is formed on the upper part of the lifting guide (128) so as to protrude outward. The catch hook (129) is formed so that the upper part of the lifting guide (128) catches on the upper part of the nozzle receiving part (104).

[0175] The hook (129) is formed to be hooked onto the support member (130).

[0176] According to this configuration, the lifting guide (128) can pass through the support member (130) and rise from a first position (initial position) to a second position (rising position). At this time, the support member (130) guides the rising and lowering movements of the lifting guide (128).

[0177] Additionally, when the lifting guide (128) descends from the second position (rising position) to the first position (initial position), the catch hook (129) is caught on the support member (130). At this time, the catch hook (129) can limit the initial position (lowest position) of the cleaning nozzle (110).

[0178] A plurality of support members (130) may be located at the top of the nozzle receiving member (104) in an upward direction from the bottom of the nozzle receiving member (104).

[0179] However, the position of the support member (130) is not limited thereto and may be located at a certain height of the nozzle receiving member (104) in an upward direction from the bottom of the nozzle receiving member (104).

[0180] The position of the lifting guide (128) is not limited to the top of the brush receiving portion (112), but can be positioned at the front and rear of the brush receiving portion (112). Alternatively, a plurality of lifting guides (128) may be formed on the front upper surface and the rear upper surface of the flange portion (114).

[0181] Multiple support members may be formed to protrude in the front and rear directions, respectively, from the front and rear portions of the nozzle receiving portion (104).

[0182] A plurality of support members may be formed to protrude from the front and rear of the nozzle receiving portion (104), respectively.

[0183] Among the multiple supports, the first support (106) can protrude forward of the nozzle receiving portion (104).

[0184] Among the multiple supports, the second support (107) can protrude to the rear of the nozzle receiving portion (104).

[0185] The first and second supports (106, 107) can be extended to the left and right sides of the nozzle receiving portion (104).

[0186] The upper surface of each of the first and second supports (106, 107) can be formed in a flat shape at a certain height upward from the bottom of the nozzle receiving portion (104).

[0187] A plurality of auxiliary lifting guides (131) may be provided on the flange portion (114) to assist the lifting operation of the cleaning nozzle (110).

[0188] A plurality of auxiliary lifting guides (131) can be formed to protrude in the front and rear directions, respectively, from the front and rear of the flange portion (114).

[0189] Multiple auxiliary lifting guides (131) can be arranged spaced apart in the left and right lateral directions from the front and rear of the flange portion (114), respectively.

[0190] The auxiliary lifting guide (131) may protrude vertically outwardly from the front or rear of the lifting guide (128). Additionally, the auxiliary lifting guide (131) may extend vertically in the height direction of the flange portion (114).

[0191] A plurality of guide receiving portions (132) may be formed to protrude from the front of the first support member (106) and the rear of the second support member (107), respectively. The plurality of guide receiving portions (132) may be spaced apart along the longitudinal direction of the support member.

[0192] A plurality of guide receiving portions (132) may have guide grooves (133) formed inside so that the auxiliary lifting guide (131) can slide. The guide grooves (133) are formed to surround the auxiliary lifting guide (131).

[0193] The vertical height of the guide home (133) can be formed to be longer than the vertical height of the auxiliary lifting guide (131).

[0194] The guide receiving portion (132) is formed so that the top of the guide groove (133) is blocked.

[0195] The vertical length of the guide home (133) may limit the maximum sliding height of the auxiliary lifting guide (131).

[0196] The upper height of the guide home (133) can limit the maximum height of the auxiliary lifting guide (131), as well as the maximum height that can be raised of the lifting guide (128) and the maximum height that can be raised of the cleaning nozzle (110).

[0197] Hereinafter, the operation and effect of the lifting guide (128) and auxiliary lifting guide (131) that guide the lifting operation of the cleaning nozzle (110) according to the present invention will be explained.

[0198] FIG. 8 is a conceptual diagram showing the position of the lifting guide (128) when the robot vacuum cleaner of the present invention travels on a hard floor (1).

[0199] FIG. 9 is a conceptual diagram showing the position of the lifting guide (128) when the robot vacuum cleaner of the present invention travels on a compressible floor such as a carpet (10).

[0200] The robot vacuum cleaner can travel on a hard floor (1) or on a compressible floor such as a carpet (10).

[0201] When driving on a hard floor (1), the height of the floor pressed by the drive wheel (101) and the height of the cleaning surface cleaned by the cleaning nozzle (110) are the same.

[0202] However, when driving on a compressible floor such as a carpet (10), there is a difference between the height of the floor that the drive wheel (101) pressurizes and the height of the cleaning surface that is cleaned by the cleaning nozzle (110).

[0203] In the case of the carpet (10), since it is made of a fiber material, the driving wheel (101) is pressed down, so the height of the cleaning surface is higher than the floor that the driving wheel (101) presses against. The lower surface of the cleaning nozzle (110) is pressed upward due to the height of the cleaning surface.

[0204] When the robot vacuum cleaner moves from a hard floor (1) to a compressible floor and passes the boundary line of the different floor environment, the cleaning nozzle (110) can be raised by the pressure of the cleaning surface.

[0205] A plurality of lifting guides (128) located at the top of the nozzle cover (111) or brush receiving portion (112) guide the upward movement of the cleaning nozzle (110).

[0206] A plurality of lifting guides (128) can protrude and rise by penetrating a plurality of support members (130) formed through the uppermost part of the nozzle receiving part (104).

[0207] Multiple support members (130) allow the lifting guide (128) to rise, but can restrict the movement of the lifting guide (128) in all directions (front, back, left, and right).

[0208] Accordingly, the cleaning nozzle (110) is supported by a plurality of lifting guides (128) and a plurality of support members (130) and can rise from an initial position (first position) to a second position higher than the first position.

[0209] Additionally, auxiliary lifting guides (131) formed on the front, back, left, and right sides of the cleaning nozzle (110), the front, back, left, and right sides of the nozzle cover (111), or the front, back, left, and right sides of the flange portion (114) can guide the vertical upward movement of the cleaning nozzle (110).

[0210] A plurality of auxiliary lifting guides (131) are positioned lower than the lifting guide (128) to assist the lifting guide (128) of the cleaning nozzle (110).

[0211] The auxiliary lifting guide (131) protruding from the front and rear of the flange portion (114) is received in the guide groove (133) of the guide receiving portion (132) provided on the front, rear, left, and right sides of the nozzle receiving portion (104) and is arranged to be slidable in the vertical direction, so that it can slide upward along the guide groove (133).

[0212] The guide receiving portion (132) is formed with a vertical height higher than that of the auxiliary lifting guide (131), and the upper end of the guide groove (133) provided inside the guide receiving portion (132) is blocked, thereby limiting the maximum rising height of the auxiliary lifting guide (131).

[0213] Conversely, when the robot vacuum cleaner moves from a compressible floor to a hard floor (1) and passes the boundary line between different floor environments, the cleaning nozzle (110) can descend to its original initial position as the height of the cleaning surface and the hard floor (1) become equal, thereby releasing the pressure on the cleaning surface.

[0214] At this time, the hook (129) formed at the top of the lifting guide (128) is caught on the support member (130), so that the cleaning nozzle (110) is supported while suspended at the top of the nozzle receiving member (104), and the lowest position of the cleaning nozzle (110) can be maintained at a constant level.

[0215] FIG. 10 is a conceptual diagram showing a cleaning nozzle (210) according to another embodiment of the present invention.

[0216] FIG. 11 is a cross-sectional view taken along XI-XI in FIG. 10.

[0217] In this embodiment, a plurality of lifting guides (228) may be extended so as to protrude upward from the front and rear portions of the cleaning nozzle (210), respectively.

[0218] A plurality of support members (230) may be formed to penetrate the upper surface of the nozzle receiving portion (204) in the vertical direction. The plurality of support members (230) may be spaced apart in the front-rear direction and the left-right side direction on the upper surface of the nozzle receiving portion (204).

[0219] A plurality of lifting guides (228) are supported so as to be able to rise and fall by passing through a plurality of support members (230) respectively, thereby allowing the cleaning nozzle (210) to be guided to be able to rise and fall.

[0220] A catch hook (229) may be formed on the upper end of each of the multiple lifting guides (228) so as to protrude outward. The catch hook (229) may limit the minimum lowering height of the lifting guide (228) by engaging with the support member (230). The catch hook (229) may support the cleaning nozzle (210) by using the lifting guide (228) so that it is suspended above the nozzle receiving part (204) of the vacuum cleaner body (100).

[0221] The suction passage (236) is configured to connect the discharge port (113) of the cleaning nozzle (210) and the connecting portion (209) of the nozzle receiving portion (204).

[0222] A fastening flange (237) may be provided on each side of the suction channel (236). The fastening flange (237) may be further extended outward along the circumference from both ends of the suction channel (236).

[0223] The fastening flange (237) can be formed to be thicker than the thickness of the suction channel (236).

[0224] A fastening flange (237) provided on one side of the suction passage (236) is connected to the discharge port (113; see FIG. 5) of the cleaning nozzle (210), and a fastening flange (237) provided on the other side of the suction passage (236) is connected to the connecting portion (209) of the nozzle receiving portion (204).

[0225] In order to fasten the fastening flange (237) to the connecting portion (209), a flange fixing slot (1091) may be provided around the connecting portion (209). The flange fixing slot (1091; see FIG. 6) may be formed to be identical in shape to the fastening flange (237).

[0226] A fixing projection (1371; see FIG. 6) formed protruding from the outer and inner ends of the fastening flange (237) is inserted and coupled into the flange fixing slot (1091; see FIG. 6) to be fixed.

[0227] Alternatively, the fastening flange (237) may have a fastening groove formed concavely along the circumference of the fastening flange (237) to insert and secure the discharge port (113; see FIG. 5) or the connecting part (209).

[0228] The suction passage (236) is formed of an elastic material so as to be elastically supported to allow the cleaning nozzle (210) to be raised and lowered when the cleaning nozzle (210) is raised and lowered. The suction passage (236) can be formed in the shape of a bellows or a flexible bellows that is adjustable in length and can be extended and retracted.

[0229] The suction passage section (236) may be formed in a closed loop shape. The closed loop of the suction passage section (236) may be composed of a plurality of straight sections (2361) spaced apart in the vertical direction and a plurality of curved sections (2362) spaced apart in the left and right lateral directions to connect the plurality of straight sections (2361).

[0230] The straight section (2361) can be formed in a flat shape. The curved section (2362) can be formed in an arc-shaped curved surface shape.

[0231] One end of the suction passage (236) is connected to the discharge port (113) of the cleaning nozzle (210), and the other end of the suction passage (236) can be connected to the connecting part (209) of the nozzle receiving part (204).

[0232] Both ends of the suction passage section (236), which are respectively connected to the cleaning nozzle (210) and the nozzle receiving section (204), may be formed with a thick thickness. A connecting groove may be formed along the circumference of each end of the suction passage section (236). As the discharge port (113) of the cleaning nozzle (210) and the connecting section (209) of the nozzle receiving section (204) are fitted into the connecting groove, the suction passage section (236) can be firmly connected to the cleaning nozzle (210) and the nozzle receiving section (204) while maintaining airtightness.

[0233] The suction passage (236) can be configured to compensate for the uneven load of the brush drive unit (224) mounted on one end of the cleaning nozzle (210).

[0234] The suction passage (236) can be positioned at an angle between the rear surface of the cleaning nozzle (210) and the rear surface of the nozzle receiving portion (204).

[0235] The suction passage (236) can be configured to compensate for the uneven load of the brush drive unit (224) mounted on one end of the cleaning nozzle (210).

[0236] To this end, the intake passage (236) may be composed of a passage body and a reinforcing part (238).

[0237] The reinforcing part (238) can be integrally formed with the same elastic material as the suction channel part (236).

[0238] The reinforcing portion (238) may be formed with a thicker thickness in one section along the inner circumference of the Eurobody.

[0239] At the starting part where the reinforcing part (238) is formed, an inclined section may be formed so that the thickness gradually increases.

[0240] The reinforcing part (238) can be located adjacent to the brush driving part (224).

[0241] For example, when looking from the rear at the suction passage (236) formed at the rear of the cleaning nozzle (210), the brush drive unit (224) may be positioned at the right end of the cleaning nozzle (210).

[0242] When the reinforcing section (238) divides each of the two straight sections (2361) facing each other in the vertical direction of the suction channel section (236) into three equal parts, the right curved section (2362) connecting the 1 / 3 section of the total length of each of the two straight sections (2361) arranged adjacently toward the brush driving section (224) can be formed with a thicker thickness than the other 2 / 3 section of the straight section (2361) and the left curved section (2362).

[0243] According to this configuration, one side of the suction passage (236) positioned adjacent to the brush drive unit (224) can compensate for the uneven load of the brush drive unit (224) by increasing the strength of the reinforcing member (238). That is, the reinforcing member (238) can minimize the downward tilt of one side of the cleaning nozzle (210) relative to the other side of the cleaning nozzle (210) due to the uneven load of the brush drive unit (224).

[0244] Since other configurations are identical or similar to the embodiments of FIGS. 1 to 9 described above, redundant descriptions will be omitted.

[0245] FIG. 12 is a conceptual diagram showing another form of the suction passage (236) according to the present invention.

[0246] This embodiment differs from the suction passage (236) of FIG. 11 described above in that it is equipped with a plurality of protrusions (239) to compensate for the uneven load of the brush drive unit (224).

[0247] A plurality of protrusions (239) may be formed in one section of the outer circumference of the suction channel (236). A plurality of protrusions (239) may be spaced apart within the right 1 / 3 section of the straight section (2361) of the suction channel (236) adjacent to the brush drive section (224). The spacing between the plurality of protrusions (239) may be formed differently.

[0248] For example, the spacing of the multiple protrusions (239) can be arranged to be narrower as they move further away from the curved portion (2362).

[0249] This is because, as the straight section (2361) of the suction channel (236) moves from the curved section (2362) toward the center of the straight section (2361), it is more affected by gravity than by the supporting force of the curved section (2362). Therefore, more protrusions (239) are formed in the straight section (2361) that are not far from the curved section (2362) to compensate for the reduction in the supporting force of the curved section (2362).

[0250] FIG. 13 is a conceptual diagram showing another form of a cleaning nozzle (320) according to the present invention.

[0251] This embodiment differs from the embodiments of FIGS. 1 to 9 described above in that a part of the cleaning nozzle (320) protrudes outward from the front of the vacuum cleaner body (300).

[0252] The vacuum cleaner body (300) can be formed in a cylindrical shape.

[0253] The cleaning nozzle (320) can be configured to protrude outward from the front of the vacuum cleaner body (300).

[0254] A nozzle receiving portion (310) for receiving a cleaning nozzle (320) may be formed to protrude outward from the front of the vacuum cleaner body (300). The nozzle receiving portion (310) may be extended to protrude in the left and right lateral directions from the front lower portion of the vacuum cleaner body (300).

[0255] The sensing unit (301) may be formed to protrude outward from the upper front of the vacuum cleaner body (300). It may be arranged to overlap with the cleaning nozzle (320) in the vertical direction.

[0256] The sensing unit (301) can be placed on the upper part of the nozzle receiving portion (310).

[0257] The sensing unit (301) is configured to detect obstacles or terrain features in front so that the nozzle receiving portion (310) does not collide with an obstacle. The sensing unit (301) can be implemented using an ultrasonic sensor, etc.

[0258] The vacuum cleaner body (300) may be provided with a dust bin receiving portion (324). A dust bin (323) that separates and collects dust from the sucked-in air may be detachably connected to the dust bin receiving portion (324).

[0259] The dustbin receiving portion (324) may be formed at the rear of the vacuum cleaner body (300). The dustbin receiving portion (324) may have a shape that is open toward the rear of the vacuum cleaner body (300). It may be formed as a recess facing from the rear side of the vacuum cleaner body (300) toward the front side.

[0260] A part of the dust bin (323) is received in the dust bin receiving portion (324), while another part of the dust bin (323) may be formed to protrude toward the rear of the vacuum cleaner body (300).

[0261] A dust container (323) cover may be provided on the upper part of the dust container (323). The front end of the dust container (323) cover may be hinge-connected to the dust container receiving part (324) of the vacuum cleaner body (300), so that the rear end of the dust container (323) cover may be configured to rotate in the up and down direction.

[0262] When the dust bin (323) cover is positioned to cover the upper surface of the dust bin (323), the dust bin (323) can be prevented from being separated from the vacuum cleaner body (300) by the dust bin (323) cover.

[0263] The cleaning nozzle (320) is installed so as to be able to rise and fall in the vertical direction with respect to the nozzle receiving portion (310) of the main body (300) of the vacuum cleaner.

[0264] The cleaning nozzle (320) is provided with a plurality of lifting guides (321) formed to protrude upward.

[0265] The nozzle receiving portion (310) is provided with a plurality of support portions (311) that support the vertical movement of the lifting guide (321).

[0266] A plurality of support members (311) are formed to penetrate the front and rear of the nozzle receiving member (310) in the vertical direction, respectively, and can support the lifting guide (321) so as to slide vertically by penetrating the lifting guide (321).

[0267] A catch hook (322) is formed on the upper part of the lifting guide (321) to protrude outward. The catch hook (322) is configured to catch on the support member (311) when the lifting guide (321) is lowered.

[0268] According to this configuration, the catch hook (322) can limit the lowest position (initial position) of the lifting guide (321).

[0269] The cleaning nozzle (320) may be equipped with a plurality of auxiliary lifting guides (131; see FIG. 6 and FIG. 7). The auxiliary lifting guides (131; see FIG. 6 and FIG. 7) may protrude outwardly from the cleaning nozzle (320). The auxiliary lifting guides (131) may extend vertically in the up-and-down direction. The auxiliary lifting guides (131) may be positioned below the lifting guide (321).

[0270] The auxiliary lifting guide (131) is configured to vertically raise and lower the cleaning nozzle (320).

[0271] The nozzle receiving portion (310) may be provided with a plurality of guide receiving portions (132). The guide receiving portion (132; see FIG. 6 and FIG. 7) may have a guide groove (133; see FIG. 6 and FIG. 7) on the inside to support the auxiliary lifting guide (131) so that it can slide in the up and down direction. The guide receiving portion (132) may be disposed at the lower part of the support portion (311).

[0272] A plurality of lifting guides (321) and a plurality of auxiliary lifting guides (131) can be positioned at the front and rear of the cleaning nozzle (320), respectively, with the brush module (123) housed inside the cleaning nozzle (320) in between.

[0273] A plurality of support members (311) and a plurality of guide receiving members (132) can be respectively positioned at the front and rear of the nozzle receiving member (310) with the brush module (123) in between.

[0274] Accordingly, according to the present invention, a plurality of lifting guides (128, 228, 321) are formed protruding upward on the upper part of a cleaning nozzle (110, 210, 320), and a plurality of support members (130, 230, 311) are formed penetrating in the upper part of a nozzle receiving part (104, 204, 310) configured to cover the upper part of the cleaning nozzle (110, 210, 320), so that the lifting guides (128, 228, 321) penetrate the support members (130, 230, 311) and are supported so as to be able to rise and fall by the support members (130, 230, 311), so that the cleaning nozzle (110, 210, 320) can be raised and lowered in an opening (102) that is open downward at the bottom of the cleaning body (300) according to the height difference of the floor. According to this, when the vacuum cleaner body (300) moves from a hard floor (1) surface to a compressible floor surface, the phenomenon of the cleaning nozzle (110, 210, 320) getting caught on the compressible floor surface is minimized, thereby improving driving performance. In addition, since the brush of the brush module (123) rotates while floating above the compressible floor surface, the rotational resistance of the brush module (123) is reduced, thereby reducing the load on the brush drive unit (124, 224). The power consumption of the brush drive unit (124, 224) is reduced, thereby extending the cleaning time.

[0275] Additionally, a catch hook (129, 229, 322) is formed protruding from the upper part of the lifting guide (128, 228, 321) and engages with the support part (130, 230, 311), thereby allowing the cleaning nozzle (110, 210, 320) to be supported while suspended above the nozzle receiving part (104, 204, 310) of the vacuum cleaner body (300). Accordingly, the catch hook can limit the minimum lowering height of the cleaning nozzle (110, 210, 320).

[0276] In addition, a plurality of auxiliary lifting guides (131) are formed to protrude from the front and rear of the cleaning nozzle (110, 210, 320) respectively so as to be positioned at the bottom of the lifting guide (128, 228, 321), and a plurality of guide receiving portions (132) are formed to protrude outwardly from the front and rear of the nozzle receiving portion (104, 204, 310) respectively so as to be positioned at the bottom of the support portion (130, 230, 311), and the auxiliary lifting guide (131) can be supported so as to be slidable in the up and down direction along the guide groove (133) formed on the inside of the guide receiving portion (132). Accordingly, the auxiliary lifting guide (131) slides up and down while being received in the guide receiving portion (132), thereby stably supporting the vertical lifting of the cleaning nozzle (110, 210, 320). In addition, the plurality of auxiliary lifting guides (131) and guide receiving portions (132) can prevent twisting during vertical lifting of the cleaning nozzles (110, 210, 320).

[0277] In addition, the upper part of the guide receiving portion (132) is formed with a closed structure that blocks the upper part of the guide groove (133), so that when the upper part of the auxiliary lifting guide (131) rises due to pressure from the height of the floor, the maximum rising height of the auxiliary lifting guide (131) can be limited due to the closed structure of the guide receiving portion (132).

[0278] In addition, the lifting guide (128, 228, 321) and auxiliary lifting guide (131) that guide the lifting movement of the cleaning nozzle (110, 210, 320) are positioned on the upper part of the brush receiving portion (112), which is the inner upper part of the vacuum cleaner body (300), thereby minimizing the inflow of foreign matter. Furthermore, the support portion (130, 230, 311) and the guide receiving portion (132), which respectively support the lifting guide (128, 228, 321) and the auxiliary lifting guide (131) so as to be movable up and down, have a simple structure, which can greatly contribute to the miniaturization and cost reduction of the robot vacuum cleaner.

[0279] Furthermore, a suction channel (236) for sucking up foreign matter swept by a brush module (123) is extended to protrude from the rear of a cleaning nozzle (110, 210, 320) and connected to a nozzle receiving portion (104, 204, 310), and the suction channel (236) is formed of an elastic material so as to elastically support a cleaning nozzle (110, 210, 320) that moves up and down according to the height of the floor.

[0280] Additionally, a brush driving unit (124, 224) is mounted on one end of the cleaning nozzle (110, 210, 320) to drive a brush module (123) housed inside the cleaning nozzle (110, 210, 320), and the suction passage (236) is further provided with a reinforcing unit (238) that increases the thickness or forms a plurality of protrusions (239) around the suction passage (236) located close to the brush driving unit (124, 224), thereby correcting the uneven load of the brush driving unit (124, 224). Explanation of the symbols

[0281] First embodiment 1 : Hard floor 10 : Carpet 100 : Vacuum cleaner body 101 : Drive wheel 1011 : Wheel drive motor 1012 : Auxiliary Wheel 102 : Opening 103 : Boss 104: Nozzle receiving part 1041 : Connecting part 106 : First support 107 : Second support 108 : Penetration 109 : Connecting part 1091 : Flange fixing slot 110: Cleaning nozzle 111 : Nozzle cover 112 : Brush receiving section 113 : Discharge port 114 : Flange section 115 : Fastening hole 116 : Nozzle base 117 : Fastening projection 118 : Fixing hole 119 : Combined Boss 120 : Correct Positioning Guide 121 : Intake port 1211 : Stopper 122 : Shaft support 123 : Brush Module 124 : Brush drive unit 125 : Brush motor 126 : Gearbox 127 : Dustbin 128 : Elevator Guide 129 : Hook 130 : Support 131 : Auxiliary Lift Guide 132 : Guide reception section 133 : Guide Home 134 : Inhalation Guide 1341 : Fixed part 1342 : Insertion hole 1343 : Protruding end 135: Suction guide holder 1351 : Front holder part 1352 : Fixed projection 1353 : Rear holder part 1354 : Connection hole 1355 : Correct Position Guide Receiving Hole 136 : Intake passage 137 : Fastening flange 1371 : Fixed projection Second embodiment 204: Nozzle receiving section 209 : Connecting part 210: Cleaning nozzle 224 : Brush drive unit 228 : Elevator Guide 229 : Hook 230 : Support 236 : Intake passage 2361 : Straight line section 2362 : Curved section 237 : Fastening flange 238 : Reinforcement part 239 : Protrusion Third embodiment 300 : Vacuum cleaner body 301: Sensing unit 310: Nozzle receiving part 311 : Support 320: Cleaning nozzle 321 : Elevator Guide 322 : Hook 323 : Dustbin 324 : Dustbin cover

Claims

Claim 1 A robot vacuum cleaner comprising: a vacuum cleaner body having a drive wheel; a cleaning nozzle mounted in a downwardly open opening at the bottom of the vacuum cleaner body, which moves up and down relative to the vacuum cleaner body and includes a brush receiving portion and a brush module received in the brush receiving portion; a plurality of lifting guides provided in the cleaning nozzle and guiding the upward and downward movement of the cleaning nozzle; a plurality of support portions each supporting the plurality of lifting guides so that each of the plurality of lifting guides passes through and can move up and down; and a brush driving portion mounted in the brush receiving portion, which rotates the brush module and is configured to move up and down together with the cleaning nozzle. Claim 2 A robot vacuum cleaner according to claim 1, wherein the plurality of lifting guides are formed to protrude from the upper portion of the brush receiving portion. Claim 3 A robot vacuum cleaner according to claim 1, wherein the brush driving unit comprises a brush motor disposed above the brush receiving unit. Claim 4 A robot vacuum cleaner according to claim 1, wherein the brush driving unit is mounted on one end of the brush receiving portion. Claim 5 A robot vacuum cleaner according to claim 1, wherein the brush driving unit comprises: a brush motor that drives the brush module; and a gearbox that transmits the power of the brush motor to the brush module. Claim 6 In paragraph 5, the above gearbox is positioned on the side of one end of the brush receiving portion, in a robot vacuum cleaner. Claim 7 A robot vacuum cleaner according to claim 5, wherein one side of the gearbox is coupled to the rotation axis of the brush module to transmit power. Claim 8 A robot vacuum cleaner according to claim 1, further comprising: a nozzle receiving portion for receiving the cleaning nozzle; a discharge port formed at the rear of the cleaning nozzle to discharge foreign matter sucked in through the opening; a communication portion formed at the rear of the nozzle receiving portion to communicate with the discharge port; and a suction passage portion communicating the discharge port and the communication portion. Claim 9 A robot vacuum cleaner according to claim 8, wherein the suction passage is formed of an elastic material to elastically support the cleaning nozzle. Claim 10 A robot vacuum cleaner according to claim 1, wherein the cleaning nozzle is supported so as to be vertically movable in a suspended form on the inner upper part of the vacuum cleaner body by the plurality of lifting guides and the plurality of support members, and the upper end of each of the plurality of lifting guides is caught on each of the plurality of support members when the lifting guides are lowered. Claim 11 A robot vacuum cleaner according to claim 1, further comprising: a plurality of auxiliary lifting guides provided on the cleaning nozzle to be positioned below the lifting guide and guiding the lifting of the cleaning nozzle; and a plurality of guide receiving portions provided on the vacuum cleaner body and guiding the auxiliary lifting guides.

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