Station for robot cleaner, and robot cleaner system having same

Abstract

This station for a robot cleaner comprises: a base comprising a mop mounting unit; a mop receiving container installed so as to be spaced a predetermined distance above the base and comprising two mop loading units; a horizontal moving device installed above the base and formed so as to pick up a mop pad and move same in the horizontal direction; and a vertical moving device installed on one side of the base and formed so as to vertically move the horizontal moving device. The mop pad may be transported between the mop receiving container and the mop mounting unit of the base by means of the horizontal moving device and the vertical moving device.

Description

Station for robot vacuum cleaner and robot vacuum cleaner system equipped therewith

[0001] The present disclosure relates to a station for a robot vacuum cleaner, and more particularly, to a station for a robot vacuum cleaner capable of replacing a mop pad and a robot vacuum cleaner system having the same.

[0002] As technology advances, various types of robot vacuum cleaners are available on the market.

[0003] A typical robot vacuum cleaner is designed to autonomously move around the surface to be cleaned and suck up and collect dust and dirt on the surface to be cleaned.

[0004] Some robot vacuum cleaners have a mopping function that cleans the surface to be cleaned, but do not have a function to collect dirt from the surface to be cleaned.

[0005] Some robot vacuum cleaners have both the function of collecting dirt from the surface to be cleaned and the function of mopping the surface to be cleaned.

[0006] Some robot vacuum cleaners with mopping functions are configured to require the user to manually change the mop.

[0007] Some robot vacuum cleaners with mopping functions may include a robot vacuum cleaner station capable of automatically replacing mops. The robot vacuum cleaner station may be configured to automatically supply new mops to the robot vacuum cleaner and automatically collect used (i.e., dirty) mops.

[0008] A station for a robot cleaner according to one or more embodiments of the present disclosure may include: a base including a mop holder; a mop receiving container installed at a predetermined distance above the base and including two mop loading portions; a horizontal moving device installed on an upper side of the base and configured to pick up a mop pad and move it horizontally; and a vertical moving device installed on one side of the base and configured to move the horizontal moving device up and down. The mop pad may be transported between the mop receiving container and the mop receiving container of the base by the horizontal moving device and the vertical moving device.

[0009] According to one or more embodiments of the present disclosure, the horizontal movement device may include: a lifting arm that moves up and down by the vertical movement device; a swivel arm rotatably installed at one end of the lifting arm; a swivel device that rotates the swivel arm; and a pickup device installed at one end of the swivel arm and configured to pick up the mop pad.

[0010] According to one or more embodiments of the present disclosure, the swing device may include a swing motor installed on the lifting arm; and a power transmission member that transmits the rotational force of the swing motor to the swing arm.

[0011] According to one or more embodiments of the present disclosure, the power transmission member may include: a driving pulley installed on the swing motor; a driven pulley installed on the other end of the swing arm; and a belt connecting the driving pulley and the driven pulley.

[0012] According to one or more embodiments of the present disclosure, the horizontal movement device may include: a rectangular-shaped lifting frame; a moving bar installed on a lower surface of the lifting frame so as to be linearly movable relative to the lifting frame; a pickup device installed on a lower surface of the moving bar so as to be linearly movable relative to the moving bar and configured to pick up the mop pad; and a driving device that moves the moving bar and the picking device.

[0013] According to one or more embodiments of the present disclosure, the driving device may include a first motor and a second motor installed at opposite corners of one end of the lifting frame; a first belt, both ends of which are fixed to the pickup device, and driven by the first motor; a second belt, both ends of which are fixed to the pickup device below the first belt, and driven by the second motor; a plurality of upper pulleys installed on a lower surface of the lifting frame and a lower surface of the moving bar, and guiding movement of the first belt; and a plurality of lower pulleys installed on a lower surface of the lifting frame and a lower surface of the moving bar, and guiding movement of the second belt.

[0014] According to one or more embodiments of the present disclosure, the horizontal movement device may further include a pair of first linear movement guide members installed between the lifting frame and the moving bar and guiding linear movement of the moving bar; and a second linear movement guide member installed between the moving bar and the pickup device and perpendicular to the pair of first linear movement guide members and guiding linear movement of the pickup device.

[0015] According to one or more embodiments of the present disclosure, the vertical movement device may include a vertical guide member that guides the vertical movement of the horizontal movement device; and a vertical driving member that is formed to move the horizontal movement device up and down.

[0016] According to one or more embodiments of the present disclosure, the distance between the mop holder and the lower surface of the mop receiving container may be greater than the height of the robot cleaner.

[0017] According to one or more embodiments of the present disclosure, the mop holder may include two mop holders. The two mop loading portions of the mop container may be parallel to the two mop holders, and when viewed from the top of the mop container, the two mop loading portions may be arranged so as not to overlap the two mop holders.

[0018] According to one or more embodiments of the present disclosure, a disposable mop pad may be inserted into the bottom of the mop loading portion of the mop container, and a mop separation member formed to prevent the inserted disposable mop pad from falling out may be installed.

[0019] According to one or more embodiments of the present disclosure, the mop separation member may include: a support bar fixed to the bottom of the mop loading portion; and an insertion portion installed on the upper end of the support bar and formed to prevent the disposable mop pad from falling off the support bar.

[0020] According to one or more embodiments of the present disclosure, the pickup device may include a through hole formed such that the mop separating member can be inserted.

[0021] A robot cleaner system according to one or more embodiments of the present disclosure may include a robot cleaner configured to mop a surface to be cleaned using a mop pad; and a robot cleaner station configured to supply the mop pad to the robot cleaner and collect the used mop pad when the robot cleaner completes mopping. The robot cleaner station may include a base including two mop holders; a mop receiving container installed at a predetermined distance above the base and including two mop loading containers; a horizontal moving device installed on an upper side of the base and configured to transport a mop pad between the mop receiving container and the mop receiving container of the base; a vertical moving device installed on one side of the base and configured to linearly move the horizontal moving device up and down; and a processor controlling the horizontal moving device and the vertical moving device.

[0022] According to one or more embodiments of the present disclosure, the two mop loading units may include a first mop loading unit having a plurality of new mop pads loaded thereon and a second mop loading unit configured to load used mop pads. The processor may control the vertical movement device and the horizontal movement device to move the two new mop pads loaded on the first mop loading unit to the two mop placement units, and load the two used mop pads located on the two mop placement units by the robot cleaner onto the second mop loading unit.

[0023] The above-described and other aspects, features, and advantages of the embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings. In the accompanying drawings:

[0024] FIG. 1 is a perspective view illustrating a station for a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0025] Fig. 2 is a perspective view showing the case removed from the station for the robot cleaner of Fig. 1.

[0026] Figure 3 is a side view of the station for the robot cleaner of Figure 2.

[0027] Fig. 4 is a perspective view showing a mop receiving container of the robot vacuum cleaner station of Fig. 2.

[0028] Fig. 5 is a perspective view showing the horizontal movement device and the vertical movement device of the station for the robot cleaner of Fig. 2.

[0029] Fig. 6 is a plan view of the station for the robot cleaner of Fig. 2.

[0030] Fig. 7 is a perspective view showing a state in which the pickup device of the robot vacuum cleaner station of Fig. 2 is located in the mop mounting portion of the base.

[0031] FIG. 8 is a perspective view illustrating a station for a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0032] Fig. 9 is a side view of the station for the robot cleaner of Fig. 8.

[0033] Fig. 10 is a plan view of the station for the robot cleaner of Fig. 8.

[0034] Fig. 11 is a drawing showing the state in which the upper surface of the lifting arm of the horizontal moving device of the robot cleaner station of Fig. 8 is removed.

[0035] FIG. 12 is a perspective view showing a mop transport device of a station for a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0036] Fig. 13 is a front view of the mop transport device of Fig. 12.

[0037] Fig. 14 is a bottom perspective view showing the mop transport device of Fig. 12.

[0038] Fig. 15 is a plan view of the mop transport device of Fig. 12.

[0039] FIG. 16 is a diagram illustrating a robot vacuum cleaner system according to one or more embodiments of the present disclosure.

[0040] FIG. 17 is a functional block diagram illustrating a robot vacuum cleaner system according to one or more embodiments of the present disclosure.

[0041] FIGS. 18A to 18G are drawings illustrating a method for replacing a mop pad in a robot vacuum cleaner system according to one or more embodiments of the present disclosure.

[0042] FIG. 19 is a perspective view showing a disposable mop pad used in a station for a robot cleaner according to one or more embodiments of the present disclosure;

[0043] Figure 20 is a drawing showing a mop loading unit for loading used disposable mop pads.

[0044] Fig. 21a is a perspective view showing a state in which a pickup device is inserted into the mop loading section of Fig. 20.

[0045] Fig. 21b is a perspective view showing a state in which the pickup device in Fig. 21a moves upward and is removed from the mop loading portion and the disposable mop pad is caught on the mop separation member.

[0046] FIG. 22 is a drawing showing a state in which a mop separation member is installed in a mop receiving container of a station for a robot cleaner according to one or more embodiments of the present disclosure.

[0047] Fig. 23 is a cross-sectional view showing the mop separation member of Fig. 22.

[0048] Fig. 24a is a drawing showing a state in which a pair of wings of the mop separation member of Fig. 22 are folded.

[0049] Figure 24b is a drawing showing a state in which the mop separation member of Figure 24a is moved to the bottom of the mop container and a plurality of disposable mop pads are separated.

[0050] FIG. 25a is a drawing showing a state in which a mop separation member is installed in a mop receiving container of a station for a robot cleaner according to one or more embodiments of the present disclosure.

[0051] Figure 25b is a drawing showing the mop separation member of Figure 25a separated from the mop receiving container.

[0052] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather include various modifications, equivalents, or alternatives of the embodiments.

[0053] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0054] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0055] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0056] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0057] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0058] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0059] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0060] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0061] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0062] In addition, terms such as 'front end', 'rear end', 'upper end', 'lower end', 'top end', and 'bottom end' used in the present disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0063] The present disclosure relates to a station (1) for a robot cleaner having a mop receiving container (20) including a first mop loading section (21) loaded with a plurality of new mop pads (80) and a second mop loading section (22) loaded with a plurality of used mop pads (80). In addition, the present disclosure relates to a station (1) for a robot cleaner configured to automatically supply new mop pads (80) accommodated in the first mop loading section (21) of the mop receiving container (20) to a robot cleaner (100) and automatically collect used mop pads (80) in the second mop loading section (22).

[0064] Hereinafter, with reference to FIGS. 1 to 6, a station (1) for a robot cleaner according to one or more embodiments of the present disclosure will be described in detail.

[0065] FIG. 1 is a perspective view showing a station (1) for a robot cleaner according to one or more embodiments of the present disclosure. FIG. 2 is a perspective view showing the station (1) for a robot cleaner of FIG. 1 with the case removed. FIG. 3 is a side view of the station (1) for a robot cleaner of FIG. 2. FIG. 4 is a perspective view showing a mop container (20) of the station (1) for a robot cleaner of FIG. 2. FIG. 5 is a perspective view showing a horizontal movement device (40) and a vertical movement device (60) of the station (1) for a robot cleaner of FIG. 2. FIG. 6 is a plan view of the station (1) for a robot cleaner of FIG. 2.

[0066] Referring to FIGS. 1 to 6, a station (1) for a robot cleaner according to one or more embodiments of the present disclosure may include a base (10), a mop container (20), and a mop transport device (30).

[0067] The base (10) is formed to support a station (1) for a robot vacuum cleaner. The base (10) may include a mop holder (11). The mop holder (11) may be provided on the upper surface of the base (10).

[0068] The mop mounting portion (11) can be formed in a shape corresponding to the mop pad (80). For example, when the mop pad (80) is formed in a circular shape, the mop mounting portion (11) can be formed in a circular groove.

[0069] The mop mounting portion (11) may be provided in accordance with the number of mop pads (80) mounted on the robot cleaner (100) (see FIG. 16). For example, when two mop pads (80) are mounted on the robot cleaner (100), two mop mounting portions (11) may be provided on the upper surface of the base (10).

[0070] An access road (13) may be provided on the front of the base (10) for the robot cleaner (100) to ascend to the upper surface of the base (10). The access road (13) may be formed as a slope.

[0071] When the robot cleaner (100) enters the interior of the robot cleaner station (1) along the access road (13), the lower surface of the robot cleaner (100) can face the mop holder (11) provided on the upper surface of the base (10).

[0072] The mop container (20) may be installed at a certain distance upward from the base (10). The mop container (20) is installed so that the robot cleaner (100) can pass underneath it. Accordingly, the mop container (20) may be installed so that the distance between the mop holder (11) of the base (10) and the lower surface of the mop container (20) is greater than the height of the robot cleaner (100).

[0073] The mop container (20) can be configured to accommodate a plurality of mop pads (80). The mop container (20) is configured to accommodate a plurality of new mop pads (80), i.e., a plurality of unused mop pads (80), and a plurality of used mop pads (80), i.e., a plurality of dirty mop pads (80).

[0074] Referring to FIG. 4, the mop container (20) may include two mop loading sections, i.e., a first mop loading section (21) and a second mop loading section (22). The first mop loading section (21) may be configured to load a plurality of new mop pads (80). The second mop loading section (22) may be configured to load a plurality of used mop pads (80). The plurality of mop pads (80) may be laminated in layers on the first and second mop loading sections (21, 22).

[0075] The two mop loading sections (21, 22) may be formed in the same shape. The mop loading sections (21, 22) may be formed in the shape of a cylindrical container with a bottom. That is, the upper ends of the mop loading sections (21, 22) are open, and the lower ends are closed. Accordingly, the mop pad (80) can be loaded or unloaded from the mop loading sections (21, 22) through the openings at the upper ends.

[0076] The mop container (20) can be installed parallel to the mop mounting portions (11) of the base (10). That is, the two mop loading portions (21, 22) of the mop container (20) can be parallel to the two mop mounting portions (11) of the base (10). As illustrated in Fig. 6, when viewed from the upper side of the mop container (20), the mop container (20) can be installed so that the two mop loading portions (21, 22) do not overlap the two mop mounting portions (11) of the base (10).

[0077] The mop pad (80) accommodated in the mop loading section (21, 22) may be formed in a roughly circular shape. One side of the mop pad (80) is formed as a mop surface capable of mopping a surface to be cleaned, and the opposite side is formed as a detachable surface capable of being attached to a pickup device (50). The detachable surface may be formed of Velcro.

[0078] As illustrated in Fig. 4, a plurality of mop pads (80) can be stacked and accommodated on the bottom of the mop loading section (21, 22). The plurality of mop pads (80) can be stacked with the mop surface facing downward.

[0079] The mop transport device (30) can be formed to transport the mop pad (80) between the mop mounting portion (11) of the base (10) and the mop loading portions (21, 22) of the mop container (20). For example, the mop transport device (30) can pick up the mop pad (80) placed on the mop mounting portion (11) of the base (10) and load it onto the second mop loading portion (22) of the mop container (20). The mop transport device (30) can pick up the mop pad (80) loaded on the first mop loading portion (21) and position it on the mop mounting portion (11) of the base (10).

[0080] The mop transport device (30) may include a horizontal movement device (40) and a vertical movement device (60).

[0081] A horizontal movement device (40) may be installed on the upper side of the base (10). The horizontal movement device (40) may be configured to pick up one mop pad (80) and move it in a horizontal direction. That is, the horizontal movement device (40) may move the mop pad (80) on the same plane.

[0082] Referring to FIGS. 2, 3, and 5, a horizontal moving device (40) according to one or more embodiments of the present disclosure may include a lifting arm (41), a swivel arm (42), a swivel device (43), and a pickup device (50).

[0083] The lifting arm (41) is formed so as to be able to move up and down with respect to the base (10). The lifting arm (41) may be formed so as to be moved up and down by a vertical movement device (60). The lifting arm (41) may be formed in a roughly rod shape.

[0084] The pivot arm (42) is rotatably installed at one end of the elevating arm (41). The pivot arm (42) may be formed in a roughly rod shape. The pivot arm (42) may be connected to the elevating arm (41) by a rotating shaft (421). One end of the pivot arm (42) is fixed to the rotating shaft (421), and the rotating shaft (421) is formed to be rotatable with respect to the elevating arm (41). That is, the rotating shaft (421) rotates integrally with the pivot arm (42) and can rotate with respect to the elevating arm (41). The elevating arm (41) may be provided with an axial hole into which the rotating shaft (421) is inserted. A bearing that supports the rotation of the rotating shaft (421) may be installed in the axial hole.

[0085] The swivel device (43) is formed to be able to rotate the swivel arm (42). The swivel device (43) can be installed on the lifting arm (41). The swivel device (43) can include a swivel motor (431) and a power transmission member (432).

[0086] The swing motor (431) is configured to generate a rotational force capable of rotating the swing arm (42). The swing motor (431) includes a motor shaft. The swing motor (431) may be configured to rotate the motor shaft in both directions.

[0087] The slewing motor (431) is installed on the lifting arm (41). A lifting plate (411) may be installed on the other end of the lifting arm (41). The lifting plate (411) is installed vertically with respect to the lifting arm (41). The slewing motor (431) may be fixed to the lifting plate (411).

[0088] The power transmission member (432) may be formed to transmit the rotational power of the rotary motor (431) to the rotary arm (42). The power transmission member (432) may be formed of a pulley (433, 434) and a belt (435).

[0089] For example, the power transmission member (432) may include a driving pulley (433) installed on a turning motor (431), a driven pulley (434) installed on one end of a turning arm (42), and a belt (435) connecting the driving pulley (433) and the driven pulley (434). The driving pulley (433) is fixed to the motor shaft of the turning motor (431) and can rotate integrally with the motor shaft. The driven pulley (434) is fixed to a rotating shaft (421) fixed to one end of the turning arm (42) and can rotate integrally with the turning arm (42). Therefore, when the turning motor (431) rotates, the turning arm (42) can rotate by the driving pulley (433), the driven pulley (434), and the belt (435).

[0090] A pickup device (50) is installed at the other end of the pivot arm (42). The pickup device (50) is installed at the other end of the pivot arm (42) opposite to one end that is rotatably connected to the lifting arm (41). The pickup device (50) may be configured to pick up a mop pad (80).

[0091] The pickup device (50) may be configured to pick up a mop pad (80) using Velcro. For example, the pickup device (50) may include a pickup plate (51) having Velcro installed on the lower surface, a separator plate (52) installed below the pickup plate (51), and a separator motor (53) that rotates the separator plate (52). A plurality of Velcros may be installed at regular intervals on the pickup plate (51). A plurality of openings corresponding to the plurality of Velcros may be formed on the separator plate (52). The plurality of Velcros may be exposed below the separator plate (52) through the plurality of openings.

[0092] When the pickup device (50) presses the mop pad (80), a plurality of Velcros can be attached to the detachable surface of the mop pad (80). Then, the mop pad (80) can be attached to the pickup device (50) and moved integrally with the pickup device (50). When the separation plate (52) rotates by the separation motor (53), the separation plate (52) is inserted between the mop pad (80) and the plurality of Velcros, so that the mop pad (80) can be separated from the pickup plate (51).

[0093] The vertical movement device (60) is formed so as to be able to move the horizontal movement device (40) up and down in a straight line. The vertical movement device (60) is installed on one side of the base (10). The vertical movement device (60) can be installed vertically with respect to the base (10).

[0094] The vertical movement device (60) may include a vertical guide unit (61) and a vertical driving unit (62).

[0095] The vertical guide (61) can be formed to guide the up and down movement of the horizontal movement device (40). Accordingly, the horizontal movement device (40) can move in a straight line in the vertical direction along the vertical guide (61).

[0096] The vertical guide (61) may include a vertical plate (611), a pair of LM guides (612), and a pair of LM blocks (613) installed on each of the pair of LM guides (612). The vertical plate (611) may be installed vertically to the base (10). The pair of LM guides (612) may be installed at regular intervals on the vertical plate (611). The pair of LM guides (612) may be installed vertically to the base (10) on the vertical plate (611). The pair of LM blocks (613) may be fixed to the lifting plate (411) of the lifting arm (41). Therefore, the lifting arm (41) may move vertically in a straight line along the pair of LM guides (612).

[0097] The vertical driving unit (62) is formed so as to be able to move the horizontal moving device (40). The vertical driving unit (62) is formed so as to be able to move the horizontal moving device (40) in a straight line in the vertical direction.

[0098] For example, the vertical driving unit (62) may include a vertical motor (621) and a ball screw (622). The motor shaft of the vertical motor (621) is connected to the ball screw (622). Therefore, when the vertical motor (621) rotates, the ball screw (622) rotates. The ball screw (622) may include a ball nut (623). The ball nut (623) can move linearly when the ball screw (622) rotates. The ball nut (623) can be fixed to the lifting arm (41). Therefore, when the vertical motor (621) rotates, the lifting arm (41) can move linearly up and down. The linear movement of the lifting arm (41) is guided by the vertical moving unit (61).

[0099] Hereinafter, with reference to FIGS. 2, 6 and 7, the operation of the mop transport device (30) of the station (1) for a robot cleaner according to one or more embodiments of the present disclosure will be described.

[0100] Fig. 7 is a perspective view showing a state in which the pickup device (50) of the station (1) for the robot cleaner of Fig. 2 is located in the mop mounting portion (11) of the base (10).

[0101] As illustrated in Fig. 2, the horizontal movement device (40) can be positioned above the mop receiving container (20) by the vertical movement device (60). The horizontal movement device (40) rotates the pivot arm (42) so that the pickup device (50) is positioned above the first mop loading section (21) on which a new mop pad (80) is loaded. Then, when the vertical movement device (60) lowers the horizontal movement device (40), the pickup device (50) of the horizontal movement device (40) picks up the mop pad (80) loaded on the first mop loading section (21).

[0102] When the vertical moving device (60) raises the horizontal moving device (40), the pickup device (50) rises above the mop container (20). Then, the horizontal moving device (40) rotates the swivel arm (42) so that the swivel arm (42) is adjacent to the lifting arm (41). When the swivel arm (42) is adjacent to the lifting arm (41), the pickup device (50) is positioned above the mop holder (11) of the base (10) without interfering with the mop container (20).

[0103] Next, as illustrated in Fig. 7, the vertical movement device (60) lowers the horizontal movement device (40). Then, the mop pad (80) picked up by the pickup device (50) is positioned on the mop mounting portion (11) of the base (10). In this state, the pickup device (50) rotates the separating plate (52) to separate the mop pad (80) from the pickup plate (51) of the pickup device (50).

[0104] After that, when the vertical movement device (60) raises the horizontal movement device (40), the operation of positioning the mop pad (80) on the mop mounting portion (11) of the base (10) is completed.

[0105] Conversely, the horizontal movement device (40) and the vertical movement device (60) can pick up the mop pad (80) located in the mop mounting portion (11) of the base (10) and load it into the second mop loading portion (22) of the mop receiving container (20).

[0106] Specifically, the horizontal movement device (40) rotates the pivot rock (42) to position the pickup device (50) on the mop holder (11) of the base (10). Then, when the vertical movement device (60) lowers the horizontal movement device (40), the pickup device (50) is lowered to pick up the mop pad (80) positioned on the mop holder (11).

[0107] Next, the vertical movement device (60) raises the horizontal movement device (40) so that the mop pad (80) picked up by the pickup device (50) is positioned higher than the upper surface of the mop receiving container (20). Thereafter, the horizontal movement device (40) rotates the pivot arm (42) so that the pickup device (50) is positioned above the second mop loading section (22) where the used mop pad (80) is loaded.

[0108] After that, the pickup device (50) operates the separator plate (52) to separate the mop pad (80). Then, the mop pad (80) can be loaded onto the second mop loading section (22).

[0109] A station (1) for a robot cleaner may include a case (70). The case (70) is formed to accommodate and support a base (10), a mop container (20), and a mop transport device (30). An inlet (61) through which a robot cleaner (100) enters may be provided at the front of the case (70). The robot cleaner (100) may be raised to the upper surface of the base (10) through the inlet (61) of the case (70).

[0110] The mop container (20) can be detachably installed through the front of the case (70). For this purpose, the case (70) may include a front cover (71). When the front cover (71) is opened, the mop container (20) can be separated from the station (1) for the robot cleaner.

[0111] A station (1) for a robot vacuum cleaner may include a water tank (72) and a dust tank (73). The water tank (72) and the dust tank (73) may be installed on the upper side of a mop container (20).

[0112] The water tank (72) is formed to supply water to the robot cleaner (100) located on the upper surface of the base (10). The dust tank (73) is formed to collect dust and dirt collected by the robot cleaner (100) located on the upper surface of the base (10).

[0113] Hereinafter, a station (1) for a robot cleaner according to one or more embodiments of the present disclosure will be described in detail with reference to FIGS. 8 to 11.

[0114] FIG. 8 is a perspective view showing a station (1) for a robot cleaner according to one or more embodiments of the present disclosure. FIG. 9 is a side view of the station (1) for a robot cleaner of FIG. 8. FIG. 10 is a plan view of the station (1) for a robot cleaner of FIG. 8. FIG. 11 is a drawing showing a state in which the upper surface of the lifting arm (41) of the horizontal movement device (40) of the station (1) for a robot cleaner of FIG. 8 is removed.

[0115] Referring to FIGS. 8 to 11, a mop transport device (30) according to one or more embodiments of the present disclosure may include a horizontal movement device (40) and a vertical movement device (60).

[0116] A horizontal movement device (40) may be installed on the upper side of the base (10). The horizontal movement device (40) may be configured to pick up one mop pad (80) and move it in a horizontal direction. That is, the horizontal movement device (40) may move the mop pad (80) on the same plane.

[0117] The horizontal moving device (40) may include a lifting arm (41), a swivel arm (42), a swivel device (43), and a pickup device (50).

[0118] The lifting arm (41) is formed to be able to move up and down with respect to the base (10). The lifting arm (41) may be formed to move up and down by a vertical movement device (60). The lifting arm (41) may be formed in an approximately rod shape. A fixed shaft (441) may be installed at one end of the lifting arm (41). The fixed shaft (441) may be installed on the lower surface of the lifting arm (41). The lower end of the fixed shaft (441) may be supported by a support bracket (442). The support bracket (442) may be installed on the lower surface of the lifting arm (41).

[0119] The pivot arm (42) is rotatably installed at one end of the lifting arm (41). The pivot arm (42) may be formed in a roughly rod shape. The pivot arm (42) may be rotatably connected to a fixed shaft (441) of the lifting arm (41). The pivot arm (42) may have a pivot hole (443) formed therein into which the fixed shaft (441) is inserted. A driven pulley (434) may be installed on an upper surface of the pivot hole (443). A through hole (434a) formed at the center of the driven pulley (434) into which the fixed shaft (441) is inserted may be formed. Bearings (445, 446) may be installed in the pivot hole (443) of the pivot arm (42) and the through hole (434a) of the driven pulley (434). Therefore, the pivot rock (42) can rotate with respect to the fixed shaft (441) of the lifting rock (41).

[0120] The swivel device (43) is formed to be able to rotate the swivel arm (42). The swivel device (43) can be installed on the lifting arm (41). The swivel device (43) can include a swivel motor (431) and a power transmission member (432).

[0121] The swing motor (431) is configured to generate a rotational force capable of rotating the swing arm (42). The swing motor (431) includes a motor shaft. The swing motor (431) may be configured to rotate the motor shaft in both directions.

[0122] The swing motor (431) is installed on the upper surface of the lifting arm (41). A pair of guide holes (444) may be formed at the other end of the lifting arm (41). The pair of guide holes (444) may be formed on both sides of the swing motor (431).

[0123] A belt fixing bracket (414) may be installed on one side of the other end of the elevator arm (41). The belt fixing bracket (414) is installed vertically with respect to the elevator arm (41).

[0124] The power transmission member (432) may be formed to transmit the rotational power of the rotary motor (431) to the rotary arm (42). The power transmission member (432) may be formed of a pulley (433, 434) and a belt (435).

[0125] For example, the power transmission member (432) may include a driving pulley (433) installed on a swing motor (431), a driven pulley (434) installed on one end of a swing arm (42), and a belt (435) connecting the driving pulley (433) and the driven pulley (434). The driving pulley (433) is fixed to the motor shaft of the swing motor (431) and can rotate integrally with the motor shaft. The driven pulley (434) is installed concentrically with a swing hole (443) formed on one end of the swing arm (42) and can rotate integrally with the swing arm (42). Therefore, when the motor shaft of the swing motor (431) rotates, the swing arm (42) can rotate around the fixed shaft (441) of the lifting arm (41) by the driving pulley (433), the belt (435), and the driven pulley (434).

[0126] The pickup device (50) is installed at the other end of the pivot arm (42). The pickup device (50) is installed at the other end of the pivot arm (42) opposite to one end that is rotatably connected to the lifting arm (41). The pickup device (50) may be configured to pick up a mop pad (80). Since the pickup device (50) is the same as the pickup device (50) of the mop transport device (30) according to the above-described embodiment, a detailed description thereof will be omitted.

[0127] The vertical movement device (60) is formed so as to be able to move the horizontal movement device (40) in a straight line in a vertical direction. The vertical movement device (60) is installed on one side of the base (10). The vertical movement device (60) can be installed vertically with respect to the base (10).

[0128] The vertical movement device (60) may include a vertical guide unit (61) and a vertical driving unit (62).

[0129] The vertical guide (61) can be formed to guide the up and down movement of the horizontal movement device (40). Accordingly, the horizontal movement device (40) can move in a straight line in the vertical direction along the vertical guide (61).

[0130] The vertical guide (61) may include a vertical column (615) and a pair of linear shafts (616).

[0131] A vertical column (615) can be installed perpendicular to the base (10). A pair of linear shafts (616) can be installed at regular intervals parallel to the vertical column (615). The lower ends of the pair of linear shafts (616) can be fixed to the upper surface of the base (10), and the upper ends can be supported by the vertical column (615). The upper ends of the pair of linear shafts (616) can be fixed to a support bracket (617) installed on the upper end of the vertical column (615).

[0132] A linear bush (616a) may be installed on each of a pair of linear shafts (616). The linear bush (616a) may be installed in a guide hole of a lifting arm (41) of a horizontal movement device (40). Accordingly, the lifting arm (41) may move linearly up and down along the pair of linear shafts (616).

[0133] The vertical driving unit (62) is formed so as to be able to move the horizontal moving device (40). The vertical driving unit (62) is formed so as to be able to move the horizontal moving device (40) in a straight line in the vertical direction.

[0134] For example, the vertical drive unit (62) may include a vertical motor (621) and a belt power transmission member (625). The vertical motor (621) may be installed on the upper side of the base (10) and at the lower end of the vertical column (615).

[0135] The belt power transmission member (625) may include a driving pulley fixed to the motor shaft of the vertical motor (621), a driven pulley (627) rotatably installed on one side of the upper portion of the vertical column (615), and a belt (628) connecting the driving pulley and the driven pulley (627). The belt (628) is installed parallel to the vertical column (615). Therefore, the belt (628) can move in the vertical direction. Since the belt (628) is connected to the lifting arm (41) by the belt fixing bracket (414), the lifting arm (41) can move up and down as one unit with the belt (628).

[0136] Therefore, when the motor shaft of the vertical motor (621) rotates, the drive pulley rotates. When the drive pulley rotates, the belt (628) can move vertically. Therefore, when the motor shaft of the vertical motor (621) rotates, the lifting arm (41) can move up and down linearly. The linear movement of the lifting arm (41) is guided by the vertical moving part (61).

[0137] The horizontal movement device (40) rotates the pivot rock (42) so that the pickup device (50) can be positioned at one of the two mop placement units (11) and two mop loading units (21, 22) shown in Fig. 10. The vertical movement device (60) moves the horizontal movement device (40) up and down so that the pickup device (50) is positioned adjacent to one of the mop placement units (11) and mop loading units (21, 22).

[0138] The operation of the mop transport device (30) of the station (1) for a robot cleaner according to one or more embodiments of the present disclosure having the above-described structure is the same as or similar to the operation of the mop transport device (30) of the station (1) for a robot cleaner illustrated in FIGS. 2 to 7 described above, and therefore, a detailed description thereof will be omitted.

[0139] In the above, the structure in which the horizontal movement device (40) determines the position of the pickup device (50) by the rotation of the pivot arm (42) installed at one end of the lifting arm (41) has been described, but the present disclosure is not limited thereto. As another example, the horizontal movement device (40) may be formed into a structure in which the position of the pickup device (50) is determined by linearly moving the pickup device (50) in the X-axis and Y-axis directions.

[0140] Hereinafter, a mop transport device (30) according to one or more embodiments of the present disclosure having such a structure will be described in detail with reference to FIGS. 12 to 15.

[0141] FIG. 12 is a perspective view showing a mop transport device (30) of a station (1) for a robot vacuum cleaner according to one or more embodiments of the present disclosure. FIG. 13 is a front view of the mop transport device (30) of FIG. 12. FIG. 14 is a bottom perspective view showing the mop transport device (30) of FIG. 12. FIG. 15 is a plan view of the mop transport device (30) of FIG. 12.

[0142] Referring to FIGS. 12 to 15, a mop transport device (30) according to one or more embodiments of the present disclosure may include a horizontal movement device (40) and a vertical movement device (60).

[0143] A horizontal movement device (40) may be installed on the upper side of the base (10). The horizontal movement device (40) may be configured to pick up one mop pad (80) and move it in a horizontal direction. That is, the horizontal movement device (40) may move the mop pad (80) on the same plane.

[0144] The horizontal moving device (40) may include a lifting frame (45), a moving bar (46), a pickup device (50), and a driving device (47).

[0145] The lifting frame (45) is formed so as to be able to support the moving bar (46), the pickup device (50), and the driving device (47). The lifting frame (45) can be moved up and down in a straight line by the vertical moving device (60). The lifting frame (45) can be formed in an approximately rectangular shape. Hereinafter, with reference to FIG. 15, the size of the lifting frame (45) in the X-axis direction is referred to as the width of the lifting frame (45), and the size of the lifting frame (45) in the Y-axis direction is referred to as the length of the lifting frame (45).

[0146] The lifting frame (45) may be formed to a size that can cover the two mop holders (11) of the base (10) and the two mop loading portions (21, 22) of the mop container (20). To prevent interference with the mop container (20) when the lifting frame (45) moves up and down, a front opening corresponding to the mop container (20) may be formed on the front of the lifting frame (45). The front opening may be formed to a size corresponding to the cross-section of the mop container (20). In addition, the lifting frame (45) may include at least one opening formed on the upper surface to reduce weight.

[0147] The moving bar (46) is installed on the lower surface of the lifting frame (45) so as to be able to move linearly with respect to the lifting frame (45). The moving bar (46) may be formed in the shape of a flat plate having a narrow width and a long length. The length of the moving bar (46) may be formed to correspond to the width of the lifting frame (45). The moving bar (46) is installed so as to be able to move linearly in the longitudinal direction of the lifting frame (45) (Y-axis direction in FIG. 15).

[0148] A pair of first linear movement guide members (481) that guide the linear movement of the movable bar (46) may be installed between the movable bar (46) and the lifting frame (45). An LM guide and an LM block may be used as the first linear movement guide members (481).

[0149] A pair of LM guides can be installed parallel to the Y-axis direction on the lower surface of the lifting frame (45). The pair of LM guides can be installed adjacent to both sides of the lifting frame (45). An LM block is installed on each of the pair of LM guides. A moving bar (46) is fixed to the LM block. Therefore, a pair of LM blocks are installed on both ends of the moving bar (46). Since the pair of LM blocks move linearly along the pair of LM guides, the moving bar (46) can move linearly in the Y-axis direction along the pair of LM guides.

[0150] A pickup device (50) is installed on the lower surface of the moving bar (46). The pickup device (50) is installed so as to be able to move linearly with respect to the moving bar (46). To this end, a second linear movement guide member (483) capable of guiding the linear movement of the pickup device (50) is installed on the lower surface of the moving bar (46). The second linear movement guide member (483) is installed perpendicular to a pair of first linear movement guide members (481) that guide the moving bar (46).

[0151] As the second linear movement guide member (483), an LM guide and an LM block can be used. The LM guide is installed longitudinally on the lower surface of the moving bar (46). The LM guide can be formed to have a length corresponding to the length of the moving bar (46). An LM block is installed on the LM guide. A pickup device (50) is fixed to the LM block. The pickup device (50) can be fixed to the LM block using a fixing block (55). That is, the fixing block (55) can be positioned between the pickup device (50) and the LM block.

[0152] Since the LM block moves in a straight line along the LM guide installed on the moving bar (46), the pickup device (50) can move in a straight line in the X-axis direction along the LM guide of the moving bar (46).

[0153] The pickup device (50) can be configured to pick up a mop pad (80). Since the pickup device (50) is the same as the pickup device (50) of the mop transport device (30) according to the above-described embodiment, a detailed description thereof will be omitted.

[0154] The driving device (47) is formed so as to be able to move the moving bar (46) and the pickup device (50). The pickup device (50) can be moved in the X-axis direction, the Y-axis direction, or the diagonal direction by the driving device (47).

[0155] The driving device (47) may include a first motor (471), a second motor (472), a first belt (473), a second belt (474), a plurality of upper pulleys (475), and a plurality of lower pulleys (476).

[0156] The first motor (471) and the second motor (472) may be configured to generate a driving force for moving the moving bar (46) and the pickup device (50). The first motor (471) and the second motor (472) may be installed at both corners of one end of the lifting frame (45). In other words, the first motor (471) and the second motor (472) may be installed at both ends of the lifting frame (45) in the width direction of the lifting frame (45).

[0157] The first motor (471) and the second motor (472) can be installed vertically to the lifting frame (45) below the lifting frame (45). The first motor (471) and the second motor (472) can be fixed to the first motor bracket (451) and the second motor bracket (452) provided on both sides of the lifting frame (45).

[0158] A first drive pulley (4711) is fixed to the motor shaft of the first motor (471). A second drive pulley (4721) is fixed to the motor shaft of the second motor (472). The first motor (471) may be installed such that the first drive pulley (4711) is positioned in a straight line with the first linear movement guide member (481) on one side, i.e., the LM guide. The second motor (472) may be installed such that the second drive pulley (4721) is positioned in a straight line with the first linear movement guide member (481) on the other side, i.e., the LM guide.

[0159] The first belt (473) is installed so that both ends are fixed to the pickup device (50) and can be driven by the first motor (471). Specifically, the first belt (473) can be fixed to a fixed block (55) installed on the top of the pickup device (50). Both ends of the first belt (473) can be fixed to both sides of the fixed block (55). For example, referring to FIG. 15, the first end of the first belt (473) is fixed to the left side of the fixed block (550), and the second end is fixed to the right side of the fixed block (55). The first and second ends of the first belt (473) are fixed to the fixed block (55) so as to be spaced apart by a certain distance in the Y-axis direction.

[0160] Since a first drive pulley (4711) is installed on the motor shaft of the first motor (471), when the motor shaft of the first motor (471) rotates, the first belt (473) can be driven by the first drive pulley (4711). The first belt (473) can be supported by a plurality of upper pulleys (475) installed below the lifting frame (45). Therefore, when the first drive pulley (4711) of the first motor (471) rotates, the first belt (473) can be guided and supported by the plurality of upper pulleys (475) and move.

[0161] A plurality of upper pulleys (475) are installed to support the first belt (473) and guide the movement of the first belt (473). For example, the first belt (473) can be arranged in an approximately rectangular shape by four upper pulleys (475). Two upper pulleys (4751, 4754) are rotatably installed on the lower surface of both ends of the moving bar (46), and the remaining two upper pulleys (4752, 4753) are rotatably installed on the lower surface of the lifting frame (45).

[0162] Specifically, the first upper pulley (4751) is installed on the lower surface of one end of the moving bar (46) to support a portion of the first belt (473) between the fixed block (55) of the pickup device (50) and the first driving pulley (4711) of the first motor (471). The portion of the first belt (473) between the fixed block (55) and the first driving pulley (4711) can be bent at an approximately right angle by the first upper pulley (4751).

[0163] The second upper pulley (4752) is installed on the lower surface of the first edge of the elevating frame (45) facing the first motor (471) in the Y-axis direction. The second upper pulley (4752) may be installed on the first edge of the elevating frame (45) so that the portion of the first belt (473) between the first drive pulley (4711) and the second upper pulley (4752) is parallel to the side of the elevating frame (45). The second upper pulley (4752) may be installed so as to be in a straight line with the first drive pulley (4711) of the first motor (471).

[0164] The third upper pulley (4753) is installed on the lower surface of the second edge of the elevating frame (45) facing the first edge of the elevating frame (45) in the X-axis direction. That is, the third upper pulley (4753) is installed on the lower surface of the second edge of the elevating frame (45) facing the second motor (472) in the Y-axis direction. The third upper pulley (4753) may be installed on the lower surface of the elevating frame (45) so that the portion of the first belt (473) between the second upper pulley (4752) and the third upper pulley (4753) is parallel to the rear surface of the elevating frame (45). The third upper pulley (4753) may be installed so as to be in a straight line with the second drive pulley (4721) of the second motor (472).

[0165] The fourth upper pulley (4754) is installed on the lower surface of the other end of the moving bar (46) to support a portion of the first belt (473) between the third upper pulley (4753) and the fixed block (55). The portion of the first belt (473) between the fixed block (55) and the third upper pulley (4753) can be bent at an approximately right angle by the fourth upper pulley (4754).

[0166] The portion of the first belt (473) between the first drive pulley (4711) and the third upper pulley (4753) can be bent at an approximately right angle by the second upper pulley (4752). The portion of the first belt (473) between the second upper pulley (4752) and the fourth upper pulley (4754) can be bent at an approximately right angle by the third upper pulley (4753). Accordingly, the first belt (473) can be arranged in an approximately rectangular shape by the first upper pulley (4751), the second upper pulley (4752), the third upper pulley (4753), and the fourth upper pulley (4754).

[0167] The second belt (474) can be installed under the first belt (473). The second belt (474) is installed so that both ends are fixed to the pickup device (50) under the first belt (473) and can be driven by the second motor (472). Both ends of the second belt (474) can be fixed to the fixing block (55) so as to be symmetrical with both ends of the first belt (473).

[0168] Specifically, the second belt (474) can be fixed to a fixed block (55) installed at the top of the pickup device (50). Both ends of the second belt (474) can be fixed to both sides of the fixed block (55). For example, referring to FIG. 15, the first end of the second belt (474) is fixed to the right side of the fixed block (55), and the second end is fixed to the left side of the fixed block (55). The first and second ends of the second belt (474) are fixed to the fixed block (55) so as to be spaced apart by a certain distance in the Y-axis direction. Both ends of the second belt (474) are located below both ends of the first belt (473). Both ends of the second belt (474) are spaced apart from both ends of the first belt (473) in the Y-axis direction.

[0169] Since a second drive pulley (4721) is installed on the motor shaft of the second motor (472), when the motor shaft of the second motor (472) rotates, the second belt (474) can be driven by the second drive pulley (4721). The second belt (474) can be supported by a plurality of lower pulleys (476) installed under the lifting frame (45). Therefore, when the second drive pulley (4721) of the second motor (472) rotates, the second belt (474) can be guided and supported by the plurality of lower pulleys (476) and move.

[0170] A plurality of lower pulleys (476) are installed to support the second belt (474) and guide the movement of the second belt (474). For example, the second belt (474) can be arranged in an approximately rectangular shape by four lower pulleys (476). Two lower pulleys (4761, 4764) are rotatably installed on the lower surface of both ends of the moving bar (46), and the remaining two lower pulleys (4762, 4763) are rotatably installed on the lower surface of the lifting frame (45).

[0171] Specifically, the first lower pulley (4761) is installed on the lower surface of the other end of the moving bar (46) to support a portion of the second belt (474) between the fixed block (55) of the pickup device (50) and the second drive pulley (4721) of the second motor (472). The portion of the second belt (474) between the fixed block (55) and the second drive pulley (4721) can be bent at an approximately right angle by the first lower pulley (4761). The portion of the second belt (474) between the first end of the second belt (474) and the first lower pulley (4761) and the portion of the first belt (473) between the first end of the first belt (473) and the first upper pulley (4751) can be positioned on the same plane.

[0172] The second lower pulley (4762) is installed on the lower surface of the second edge of the elevating frame (45) facing the second motor (472) in the Y-axis direction. The second lower pulley (4762) may be installed on the second edge of the elevating frame (45) such that a portion of the second belt (474) between the second drive pulley (4721) and the second lower pulley (4762) is parallel to the side of the elevating frame (45). The second lower pulley (4762) may be installed in a straight line with the second drive pulley (4721) of the second motor (472). The second lower pulley (4762) may be installed coaxially with the third upper pulley (4753). The second lower pulley (4762) may be located below the third upper pulley (4753).

[0173] The third lower pulley (4763) is installed on the lower surface of the first edge of the elevating frame (45) at a certain distance in the X-axis direction from the second lower pulley (4762). That is, the third lower pulley (4763) is installed on the lower surface of the first edge of the elevating frame (45) facing the first motor (471) in the Y-axis direction. The third lower pulley (4763) may be installed on the lower surface of the elevating frame (45) so that a portion of the second belt (474) between the second lower pulley (4762) and the third lower pulley (4763) is parallel to the rear surface of the elevating frame (45). The third lower pulley (4763) may be installed so as to be in a straight line with the first drive pulley (4711) of the first motor (471). The third lower pulley (4763) may be installed coaxially with the second upper pulley (4752). The third lower pulley (4763) may be located below the second upper pulley (4752).

[0174] The fourth lower pulley (4764) is installed on the lower surface of one end of the moving bar (46) to support a portion of the second belt (474) between the third lower pulley (4763) and the fixed block (55). The portion of the second belt (474) between the fixed block (55) and the fourth lower pulley (4764) can be bent at an approximately right angle by the fourth lower pulley (4764).

[0175] The portion of the second belt (474) between the second drive pulley (4721) and the third lower pulley (4763) can be bent at an approximately right angle by the second lower pulley (4762). The portion of the second belt (474) between the second lower pulley (4762) and the fourth lower pulley (4764) can be bent at an approximately right angle by the third lower pulley (4763). Accordingly, the second belt (474) can be arranged in an approximately rectangular shape by the first lower pulley (4761), the second lower pulley (4762), the third lower pulley (4763), and the fourth lower pulley (4764).

[0176] In the horizontal movement device (40) having the above structure, when the first motor (471) and the second motor (472) rotate in the same direction, that is, when the first drive pulley (4711) and the second drive pulley (4721) rotate in the same direction, the pickup device (50) moves in a straight line in the X-axis direction by the first belt (473) and the second belt (474).

[0177] When the first motor (471) and the second motor (472) rotate in different directions, that is, when the first drive pulley (4711) and the second drive pulley (4721) rotate in different directions, the moving bar (46) moves in the Y-axis direction along a pair of first linear movement guide members (481) by the first belt (473) and the second belt (474). That is, the pickup device (50) moves linearly in the Y-axis direction.

[0178] When the first motor (471) rotates and the second motor (472) does not rotate, that is, when the first drive pulley (4711) rotates and the second drive pulley (4721) does not rotate, the pickup device (50) moves in the first diagonal direction of the elevating frame (45). When the second motor (472) rotates and the first motor (471) does not rotate, that is, when the second drive pulley (4721) rotates and the first drive pulley (4711) does not rotate, the pickup device (50) moves in the second diagonal direction of the elevating frame (45). At this time, the first diagonal direction and the second diagonal direction of the elevating frame (45) intersect each other.

[0179] The vertical movement device (60) is formed so as to be able to move the horizontal movement device (40) up and down in a straight line. The vertical movement device (60) is installed on the base (10). The vertical movement device (60) can be installed vertically with respect to the base (10).

[0180] The vertical movement device (60) may include a pair of vertical guides (61) and a vertical driving unit (62).

[0181] A pair of vertical guides (61) may be formed to guide the vertical movement of the horizontal movement device (40). The pair of vertical guides (61) may be installed on both sides of the base (10). That is, the pair of vertical guides (61) are installed to face each other with the base (10) as the center. Accordingly, the horizontal movement device (40) can move in a straight line in the vertical direction along the pair of vertical guides (61).

[0182] A pair of vertical guides (61) may each include a vertical plate (611), an LM guide (612), and an LM block (613). The vertical plate (611) may be installed vertically on one side of the base (10). The LM guide (612) may be installed vertically with respect to the base (10) on the vertical plate (611). The LM block (613) may be installed so as to be able to slide on the LM guide (612) and may be fixed to the side of the lifting frame (45). Therefore, the lifting frame (45) may be moved vertically in a straight line along the pair of LM guides (612).

[0183] The vertical driving unit (62) is formed so as to be able to move the horizontal moving device (40). The vertical driving unit (62) is formed so as to be able to move the horizontal moving device (40) in a straight line in the vertical direction.

[0184] For example, the vertical driving unit (62) may include a ball screw (622) and a vertical motor (621). The motor shaft of the vertical motor (621) is connected to the ball screw (622). Therefore, when the vertical motor (621) rotates, the ball screw (622) rotates. The ball screw (622) may include a ball nut (623). The ball nut (623) can move linearly when the ball screw (622) rotates. The ball nut (623) can be fixed to the lifting frame (45). Therefore, when the vertical motor (621) rotates, the lifting frame (45) can move linearly up and down. The linear movement of the lifting frame (45) is guided by a pair of vertical guides (61).

[0185] Hereinafter, with reference to FIGS. 16 and 17, a robot cleaner system (200) according to one or more embodiments of the present disclosure will be described in detail.

[0186] FIG. 16 is a diagram illustrating a robot cleaner system (200) according to one or more embodiments of the present disclosure. FIG. 17 is a functional block diagram illustrating a robot cleaner system (200) according to one or more embodiments of the present disclosure.

[0187] Referring to FIGS. 16 and 17, a robot cleaner system (200) according to one or more embodiments of the present disclosure may include a station for a robot cleaner (1) and a robot cleaner (100).

[0188] A station (1) for a robot cleaner is configured to supply a new mop pad (80) to a robot cleaner (100) and collect a used mop pad (80). The station (1) for a robot cleaner includes a mop receiving container (20). The mop receiving container (20) may include a first mop loading section (21) in which a plurality of new mop pads (80) are loaded and a second mop loading section (22) in which a plurality of used mop pads (80) are loaded.

[0189] A station (1) for a robot vacuum cleaner may include a base (10), a mop container (20), a horizontal movement device (40), and a vertical movement device (60). The base (10), the mop container (20), the horizontal movement device (40), and the vertical movement device (60) are the same as those described above, so a detailed description thereof will be omitted.

[0190] A station (1) for a robot vacuum cleaner may include a position sensor (91), a mop sensor (92), a communication unit (93), and a processor (90).

[0191] The position sensor (91) is formed so as to be able to detect the position of the pickup device (50). Specifically, the position sensor (91) can be formed so as to recognize where the pickup device (50) is located among the two mop mounting portions (11) of the base (10) and the two mop loading portions (21, 22) of the mop receiving container (20).

[0192] The position sensor (91) may be implemented with multiple physical sensors. Alternatively, the position sensor (91) may be implemented in software using the rotation angles of the vertical motor (621) and the rotary motor (431).

[0193] The mop sensor (92) is formed to detect whether the mop pad (80) has been picked up by the pickup device (50).

[0194] The communication unit (93) is configured to be capable of wireless communication with the robot cleaner (100). For example, the communication unit (93) can transmit a signal to the robot cleaner (100) indicating that the mop pad (80) is ready. In addition, the communication unit (93) can receive a signal from the robot cleaner (100) indicating that the mop pad (80) has been mounted and a signal indicating that the mop pad (80) has been detached.

[0195] The communication unit (93) may be configured to communicate with mobile devices such as smartphones, tablet computers, etc. The communication unit (93) may be connected to the mobile device via various mobile communication methods such as Bluetooth, WiFi, 4G, and 5G.

[0196] The processor (90) may be configured to control a station (1) for a robot cleaner. The processor (90) may control a vertical motor (621) of a vertical movement device (60) to position the horizontal movement device (40) on one of the mop placement units (11) and the mop receiving container (20) of the base (10). The processor (90) may control a rotation motor (431) to position the pickup device (50) on one of the two mop placement units (11) of the base (10) and the two mop loading units (21, 22) of the mop receiving container (20).

[0197] The processor (90) can recognize the position of the pickup device (50) using a signal transmitted from the position sensor (91). That is, the processor (90) can recognize where the pickup device (50) is located among the two mop holders (11) of the base (10) and the two mop loading portions (21, 22) of the mop receiving container (20) using the position sensor (91). In addition, the processor (90) can recognize whether the pickup device (50) has picked up the mop pad (80) using a signal transmitted from the mop sensor (92).

[0198] The robot cleaner (100) is configured to be able to autonomously move around a surface to be cleaned. The robot cleaner (100) is configured to be able to receive a new mop pad (80) from a robot cleaner station (1).

[0199] The robot vacuum cleaner (100) can mop the surface to be cleaned using the supplied mop pad (80).

[0200] When mopping is completed, the robot cleaner (100) is configured to return the used mop pad (80) to the robot cleaner station (1) and receive a new mop pad (80). That is, the robot cleaner (100) is configured to be able to replace the mop pad (80) using the robot cleaner station (1).

[0201] A robot vacuum cleaner (100) may include a moving device (101), a position recognition sensor (102), a suction device (103), a mopping device (104), a mop pad (80) attachment / detachment device (105), a robot communication unit (106), and a robot processor (109).

[0202] The moving device (101) may be configured to move the robot cleaner (100) on the surface to be cleaned. For example, the moving device (101) may include a pair of wheels. The pair of wheels may be rotatably installed on the left and right sides of the robot cleaner (100).

[0203] The position recognition sensor (102) is formed so that the robot cleaner (100) can recognize its own position. The robot cleaner (100) can recognize its own position using the position recognition sensor (102). For example, a sensor capable of recognizing the current position of the robot cleaner (100), such as an image sensor or a lidar sensor, can be used as the position recognition sensor (102).

[0204] The suction device (103) may be configured to generate suction force to collect dirt from a surface to be cleaned. For example, the suction device (103) may include a suction motor and a dust collector. The suction motor may be configured to generate suction force. The dust collector may be connected to a suction nozzle provided at the bottom of the robot cleaner (100) so as to face the surface to be cleaned. The dust collector may be configured to separate and collect dirt that is sucked in together with air through the suction nozzle by the suction force of the suction motor.

[0205] The mopping device (104) is formed to be able to mop the surface to be cleaned by rotating the mop pad (80). The mopping device (104) may be provided on the lower surface of the robot cleaner (100). The mopping device (104) is formed to be able to rotate the mop pad (80) while the mop pad (80) is in contact with the surface to be cleaned. In the present embodiment, the mopping device (104) is formed to be able to rotate two mop pads (80).

[0206] The mop pad attachment / detachment device (105) is formed so that the mop pad (80) can be attached to the mop device (104) on the bottom of the robot cleaner (100). In addition, the mop pad attachment / detachment device (105) is formed so that the mop pad (80) attached to the mop device (104) can be detached. In the present embodiment, the mop pad attachment / detachment device (105) is formed so that two mop pads (80) can be attached and detached.

[0207] The robot communication unit (106) may be configured to communicate wirelessly with the robot cleaner station (1). For example, when the robot cleaner (100) completes mounting the mop pad (80), the robot communication unit (106) may transmit a mop pad mounting signal to the robot cleaner station (1). In addition, when the robot cleaner (100) completes detaching the mop pad (80), the robot communication unit (106) may transmit a mop pad detachment signal to the robot cleaner station (1).

[0208] The robot communication unit (106) may be configured to communicate with mobile devices such as smartphones, tablet computers, etc. The robot communication unit (106) may be connected to the mobile device via various mobile communication methods such as Bluetooth, WiFi, 4G, and 5G.

[0209] The robot processor (109) is configured to control the robot cleaner (100). For example, the robot processor (109) may be configured to control a moving device (101), a position recognition sensor (102), a suction device (103), a mopping device (104), a mop pad attachment / detachment device (105), and a robot communication unit (106).

[0210] The robot processor (109) can control the moving device (101) to move the robot cleaner (100). The robot processor (109) can recognize the current location of the robot cleaner (100) using the position recognition sensor (102). The robot processor (109) can move the robot cleaner (100) to an arbitrary location using the position recognition sensor (102) and the moving device (101).

[0211] The robot processor (109) can control the suction device (103) to suck up dirt from the surface to be cleaned. The robot processor (109) can move the robot cleaner (100) with the moving device (101) and suck up dirt from the surface to be cleaned with the suction device (103).

[0212] The robot processor (109) can control the mopping device (104) to rotate the mopping pad (80) to mop the surface to be cleaned. The robot processor (109) can move the robot cleaner (100) with the moving device (101) and rotate the mopping pad (80) with the mopping device (104) to mop the surface to be cleaned.

[0213] The robot processor (109) can control the mop pad attachment / detachment device (105) to mount the mop pad (80) on the mopping device (104). In addition, the robot processor (109) can control the mop pad attachment / detachment device (105) to detach the mop pad (80) mounted on the mopping device (104).

[0214] Hereinafter, a method for replacing a mop pad of a robot cleaner system (200) including a robot cleaner station (1) and a robot cleaner (100) will be described in detail with reference to FIGS. 18a to 18g.

[0215] FIGS. 18a to 18g are drawings for explaining a method of replacing a mop pad of a robot vacuum cleaner system (200) according to one or more embodiments of the present disclosure.

[0216] Fig. 18a is a drawing showing a state in which a robot cleaner (100) is positioned on the upper surface of a base (10) of a station (1) for a robot cleaner.

[0217] As illustrated in Fig. 18a, a robot cleaner (100) is positioned on the upper surface of the base (10) of the robot cleaner station (1). At this time, a mop pad (80) mounted on a mop device (104) of the robot cleaner (100) is positioned on the mop mounting portion (11) of the base (10). A robot processor (109) controls a mop pad attachment / detachment device (105) to detach the used mop pad (80) mounted on the mop device (104). The detached mop pad (80) is positioned on the mop mounting portion (11) of the base (10).

[0218] As shown in Fig. 18b, when the separation of the mop pad (80) is completed, the robot processor (109) controls the moving device (101) to position the robot cleaner (100) outside the robot cleaner station (1) so as to be spaced a certain distance from the base (10).

[0219] Next, the robot processor (109) controls the robot communication unit (106) to transmit a mop pad separation signal to the robot cleaner station (1).

[0220] When the processor (90) of the station (1) for the robot cleaner receives a mop pad separation signal, the processor (90) controls the mop transport device (30) to pick up the mop pad (80) positioned on the mop mounting portion (11) with the pickup device (50), as illustrated in FIG. 18C. Specifically, when the mop pad separation signal is received, the processor (90) controls the rotation motor (431) of the horizontal movement device (40) to position the pickup device (50) above the mop mounting portion (11) of the base (10). Subsequently, the processor (90) controls the vertical motor (621) of the vertical movement device (60) to cause the pickup device (50) to contact the mop pad (80) positioned on the mop mounting portion (11). Then, the mop pad (80) can be attached to the pickup plate (51) of the pickup device (50).

[0221] Next, as illustrated in FIG. 18d, the processor (90) controls the vertical motor (621) of the vertical movement device (60) to position the pickup device (50) on the second mop loading portion (22) of the mop receiving container (20). Specifically, when the pickup device (50) picks up the mop pad (80), the processor (90) controls the vertical motor (621) of the vertical movement device (60) to move the horizontal movement device (40) to near the top of the vertical movement device (60). Subsequently, the processor (90) controls the rotation motor (431) of the horizontal movement device (40) to rotate the rotation arm (42) so that the pickup device (50) is positioned on the second mop loading portion (22).

[0222] Thereafter, the processor (90) controls the separation motor (53) of the pickup device (50) to separate the mop pad (80). Then, the mop pad (80) can be dropped and loaded onto the second mop loading section (22). At this time, the processor (90) can control the vertical motor (621) to separate the mop pad (80) attached to the pickup device (50) so that the pickup device (50) is adjacent to the bottom of the second mop loading section (22) or the mop pad (80) loaded onto the second mop loading section (22).

[0223] Next, as illustrated in FIG. 18e, the processor (90) controls the rotary motor (431) to position the pickup device (50) on the first mop loading section (21). Specifically, after the used mop pad (80) attached to the pickup device (50) is loaded onto the second mop loading section (22), the processor (90) controls the rotary motor (431) to rotate the rotary arm (42) so that the pickup device (50) is positioned on the first mop loading section (21). A plurality of new, unused mop pads (80) are loaded onto the first mop loading section (21).

[0224] After that, the processor (90) controls the vertical motor (621) to lower the pickup device (50) and bring it into contact with the mop pad (80) loaded on the first mop loading section (21). Then, the mop pad (80) is picked up by the pickup device (50). At this time, the mop pad (80) at the top among the multiple mop pads (80) loaded on the first mop loading section (21) is picked up by the pickup device (50).

[0225] Next, as illustrated in FIG. 18f, the processor (90) controls the mop transport device (30) to position the mop pad (80) on the mop mounting portion (11) of the base (10). Specifically, the processor (90) controls the rotation motor (431) of the horizontal movement device (40) to rotate the rotation arm (42) so that the pickup device (50) is positioned at a position corresponding to the mop mounting portion (11) of the base (10). At this time, the mop pad (80) picked up by the pickup device (50) is located upwardly far from the mop mounting portion (11).

[0226] After that, the processor (90) controls the vertical motor (621) of the vertical movement device (60) to lower the horizontal movement device (40) so that the pickup device (50) is positioned adjacent to the mop holder (11) of the base (10). Then, the mop pad (80) picked up by the pickup device (50) is positioned on the mop holder (11). In this state, the processor (90) controls the separation motor (53) of the pickup device (50) to separate the mop pad (80). Then, a new mop pad (80) is placed on the mop holder (11).

[0227] In the case where two mop mounting parts (11) are provided on the base (10) as in the present embodiment, the processor (90) performs the operations of FIGS. 18c to 18f described above once more.

[0228] When two mop pads (80) are placed on two mop mounting portions (11) of the base (10), the robot cleaner (100) is equipped with two mop pads (80), as shown in FIG. 18g.

[0229] Specifically, when two mop pads (80) are positioned on two mop mounting portions (11) of the base (10), the processor (90) can control the communication portion (93) to transmit a mop pad preparation signal to the robot cleaner (100).

[0230] When the robot cleaner (100) receives a mop pad preparation signal from the robot cleaner station (1), the robot cleaner (100) enters the robot cleaner station (1) and mounts two mop pads (80) from the mop mounting portion (11) of the base (10).

[0231] Specifically, when the robot processor (109) receives a mop pad preparation signal through the robot communication unit (106), the robot processor (109) controls the moving device (101) to move the robot cleaner (100) to the base (10) of the robot cleaner station (1).

[0232] When the robot cleaner (100) is positioned on the upper surface of the base (10), the mopping device (104) of the robot cleaner (100) is positioned on the mop pad (80). Then, the robot processor (109) controls the mop pad attachment / detachment device (105) to attach the mop pad (80) to the mopping device (104).

[0233] When the installation of the mop pad (80) is completed, the robot processor (109) controls the moving device (101) to move the robot cleaner (100) outside the robot cleaner station (1) and perform mopping of the surface to be cleaned.

[0234] When the mopping of the surface to be cleaned is completed using the mop pad (80), the robot cleaner (100) separates the used mop pad (80) from the mop holder (11). Specifically, as shown in Fig. 18a, the robot cleaner (100) returns to the robot cleaner station (1), separates the used mop pad (80), and places it on the mop holder (11) of the base (10).

[0235] The processor (90) and the robot processor (109) can repeat the above-described operation until all of the new mop pads (80) loaded in the mop container of the station (1) for the robot cleaner are used.

[0236] In the above, a mop pad (80) that can be washed and reused multiple times has been described as an example. However, as another example, a disposable mop pad (80') may be used. Below, a mop container (20) for using a disposable mop pad (80') will be described in detail.

[0237] FIG. 19 is a perspective view showing a disposable mop pad (80') used in a station (1) for a robot cleaner according to one or more embodiments of the present disclosure.

[0238] Referring to Fig. 19, the disposable mop pad (80') is formed in a circular shape. The disposable mop pad (80') (hereinafter referred to as the mop pad (80')) has a thickness thinner than the thickness of the reusable mop pad (80) described above. The mop pad (80') can be attached to the pickup plate (51) of the pickup device (50) by means of Velcro.

[0239] A cross-shaped separation slit (82) is formed at the center of the mop pad (80'). The separation slit (82) is formed to help separate the mop pad (80) used in the mop loading section (22) from the pickup device (50).

[0240] Fig. 20 is a drawing showing a mop loading section (22) of a mop container (20) for loading used disposable mop pads (80').

[0241] Referring to Fig. 20, a mop separation member (300) is installed at the center of the mop loading section (22) of the mop container (20). The mop separation member (300) is installed vertically to the bottom of the mop loading section. The mop separation member (300) is installed in the second mop loading section (22) among the two mop loading sections (21, 22) of the mop container (20), where the used mop pad (80') is loaded.

[0242] The mop separation member (300) can be inserted with a disposable mop pad (80'), and is formed to prevent the mop pad (80') inserted into the mop separation member (300) from coming off from the mop separation member (300). The mop separation member (300) can include a support bar (301) and an insertion portion (302).

[0243] The support bar (301) is fixed to the center of the bottom of the mop loading section (22). An insertion section (302) is installed at the top of the support bar (301).

[0244] The insertion portion (302) can be formed to prevent the mop pad (80') from passing through the insertion portion (302) and coming off the support bar (301). Specifically, the insertion portion (302) is formed to allow the separation slit (82) of the mop pad (80') to be inserted. The lower surface of the insertion portion (302) is formed to allow the separation slit (82) of the mop pad (80') to be caught.

[0245] For example, the insertion portion (302) may be formed in a cone shape, and the area of ​​the lower surface of the cone may be formed to be larger than the separation slit (82). When the insertion portion (302) is formed in a cone shape, the mop pad (80') may be inserted into the support rod (301) through the separation slit (82). However, the mop pad (80') inserted into the support rod (301) is not separated from the support rod (301) because the separation slit (82) catches the lower surface of the insertion portion (302).

[0246] As shown in Fig. 20, a plurality of mop pads (80') can be loaded onto the mop loading section (22) while being inserted into the support bar (301).

[0247] Hereinafter, with reference to FIGS. 21a and 21b, a method for loading a mop pad (80') onto a mop loading section (22) by a pickup device (50) according to one or more embodiments of the present disclosure will be described.

[0248] Fig. 21a is a perspective view showing a state in which a pickup device (50) is inserted into a mop loading portion (22) of Fig. 20. Fig. 21b is a perspective view showing a state in which the pickup device (50) of Fig. 21a moves upward and is removed from the mop loading portion (22) and a disposable mop pad (80') is caught on a mop separation member (300).

[0249] Referring to Fig. 21a, a pickup device (50) to which a mop pad (80') is attached is positioned inside a mop loading section (22). A through hole (303) is formed at the center of the pickup device (50) through which a mop separation member (300) can pass. Accordingly, when the pickup device (50) to which the mop pad (80') is attached is lowered while the through hole (303) of the pickup device (50) is positioned above the mop separation member (300), the insertion portion (302) of the mop separation member (300) can pass through the separation slit (82) of the mop pad (80') and the through hole (303) of the pickup device (50) and protrude upward from the pickup device (50). At this time, the pickup device (50) is installed on one end of the swivel arm (42) of the horizontal movement device (40) of the mop transport device (30), and the swivel arm (42) is lowered by the vertical movement device (60), so that the pickup device (50) can be lowered and inserted into the mop separation member (300) of the mop loading unit (22).

[0250] As illustrated in Fig. 21b, the pickup device (50) can be raised by the vertical movement device (60) and positioned above the mop separation member (300). At this time, the mop pad (80') attached to the pickup device (50) gets caught on the lower surface of the insertion part (302) of the mop separation member (300) and cannot pass through the insertion part (302). The mop pad (80') that cannot pass through the insertion part (302) falls due to its own weight. As another example, the processor (90) of the station (1) for the robot cleaner can operate the separation motor (53) before raising the pickup device (50) to separate the mop pad (80) from the pickup device (50).

[0251] Hereinafter, with reference to FIGS. 22 to 24b, another example of a mop separation member (300) used in a mop receiving container (20) according to one or more embodiments of the present disclosure will be described in detail.

[0252] FIG. 22 is a drawing showing a state in which a mop separation member (300) is installed in a mop container (20) of a station (1) for a robot cleaner according to one or more embodiments of the present disclosure. FIG. 23 is a cross-sectional view showing the mop separation member (300) of FIG. 22. FIG. 24a is a drawing showing a state in which a pair of insertion wings (321) of the mop separation member (300) of FIG. 22 are folded. FIG. 24b is a drawing showing a state in which the mop separation member (300) of FIG. 24a is moved below the mop container (20) and a plurality of disposable mop pads (80') are separated.

[0253] Referring to Fig. 22, a mop separation member (300) is installed at the center of the mop loading section (22) of the mop receiving container (20). The mop separation member (300) is inserted into a guide pipe (330) installed vertically on the bottom of the mop loading section (22).

[0254] The mop separating member (300) can have a disposable mop pad (80') inserted into it, and is formed to prevent the mop pad (80') inserted into the mop separating member (300) from coming off from the mop separating member (300).

[0255] The mop separation member (300) may include a support bar (301) and an insertion part (302).

[0256] The support rod (301) is inserted into the guide pipe (330) of the mop separation member and is formed so as to be able to slide relative to the guide pipe (330). The tip (301a) of the support rod (301) is formed so as to be able to be inserted into the separation slit (82) of the mop pad (80'). For example, the tip (301a) of the support rod (301) may be formed as an inclined surface.

[0257] The support bar (301) may include a receiving groove (301b) in which a pair of insertion wings (321) forming an insertion portion (302) are received. The support bar (301) may include a guide hole (325) formed at the bottom to communicate with the receiving groove (301b) in the longitudinal direction.

[0258] The support bar (301) is formed so that the upper diameter is larger than the lower diameter. Therefore, a step (301c) may be formed between the upper and lower portions of the support bar (301). A spring (331) supporting the support bar (301) is installed between the lower portion of the support bar (301) and the guide pipe (330). One end of the spring (331) is supported by the step (301c) of the support bar (301), and the other end is supported by the bottom of the mop loading portion (22). Therefore, the support bar (301) may be elastically supported by the spring (331) installed in the guide pipe (330). The spring (331) may be formed as a coil spring.

[0259] A support rod hole (332) is formed at the bottom of the mop loading portion (22). The lower part of the support rod (301) can protrude below the mop loading portion (22) through the support rod hole (332). Since the support rod hole (332) is smaller than the diameter of the upper part of the support rod (301), the upper part of the support rod (301) cannot pass through the support rod hole (332).

[0260] The insertion portion (302) may include a pair of insertion wings (321). The pair of insertion wings (321) may be installed in a receiving groove (301b) of the support rod (301) so as to be rotatable at a certain angle. The upper end (321a) of the pair of insertion wings (321) is installed in a rotatably manner at the lower end (301a) of the upper end (301a) of the support rod (301).

[0261] A pair of insertion wings (321) are connected to a moving block (324) by a pair of connecting links (322). The pair of connecting links (322) are formed identically. One end (322a) of the connecting link (322) is rotatably connected to the middle of the insertion wing (321), and the other end (322b) is rotatably connected to the moving block (324).

[0262] A guide rod (323) is installed at the bottom of the moving block (324). The guide rod (323) is inserted into the guide hole (325) of the support bar (301). The guide rod (323) is formed so as to be able to slide relative to the guide hole (325).

[0263] When the moving block (324) and the guide rod (323) move downward, a pair of insertion wings (321) can be folded and accommodated in the accommodation groove (301b) of the support rod (301). When the moving block (324) rises, a pair of insertion wings (321) are unfolded by a pair of connecting links (322), so that the lower ends of the pair of insertion wings (321) protrude outside the support rod (301).

[0264] A cam (328) is installed at the bottom of the guide rod (323). The cam (328) is rotatably installed on a cam support (326) installed at the bottom of the guide rod (323). The cam (328) is rotatably installed with respect to a cam shaft (327) installed on the cam support (326).

[0265] The cam (328) is formed so that the guide rod (323) can move up and down. The cam (328) includes a low point and a high point.

[0266] A cam handle (329) is installed at one end of the cam (328). The user can rotate the cam (328) using the cam handle (329). That is, the user can position the cam (328) at either a low point or a high point using the cam handle (329).

[0267] When the cam (328) is positioned at a low point, the guide rod (323) and the moving block (324) descend by their own weight, causing a pair of insertion wings (321) to fold. When the cam (328) is positioned at a high point, the guide rod (323) and the moving block (324) rise, causing a pair of insertion wings (321) to unfold.

[0268] When removing a plurality of mop pads (80') loaded on the mop loading section (22) as shown in Fig. 22, the user folds a pair of insertion wings (321) as shown in Fig. 24a. Specifically, the user rotates the cam handle (329) downwards at a certain angle so that the low point of the cam (328) is positioned at the lower end of the guide rod (323). Then, the guide rod (323) and the moving block (324) descend, causing the pair of insertion wings (321) to fold.

[0269] In this state, the user pulls down the cam handle (329). Then, the spring (331) installed inside the guide pipe (330) is compressed, and the upper portion of the support rod (301) having a pair of insertion wings (321) installed thereon is inserted into the guide pipe (330). Therefore, as illustrated in FIG. 25b, the user can easily remove the mop pad (80') located in the mop loading section (22).

[0270] FIG. 25a is a drawing showing a state in which a mop separation member (300) is installed in a mop container (20) of a station (1) for a robot cleaner according to one or more embodiments of the present disclosure. FIG. 25b is a drawing showing a state in which the mop separation member (300) of FIG. 25a is separated from the mop container (20).

[0271] Referring to FIGS. 25a and 25b, a mop separation member (300) is installed at the center of the mop loading section (22) of the mop receiving container (20). The mop separation member (300) is installed vertically on the bottom of the mop loading section (22). The mop separation member (300) can be detachably installed on the bottom of the mop loading section (22).

[0272] The mop separation member (300) can be inserted with a disposable mop pad (80'), and is formed to prevent the mop pad (80') inserted into the mop separation member (300) from coming off from the mop separation member (300). The mop separation member (300) can include a support bar (301) and an insertion portion (302).

[0273] The support bar (301) is detachably installed at the center of the bottom of the mop loading section (22). A circular support plate (310) is installed at the bottom of the support bar (301), and a fixing pin (311) is formed on the lower surface of the support plate (310). A fixing hole (312) into which the fixing pin (311) is inserted is formed at the bottom of the mop loading section (22). Therefore, when the fixing pin (311) of the support bar (301) is inserted into the fixing hole (312) of the mop loading section (22), the support bar (301) can be installed vertically on the bottom of the mop loading section (22) by the fixing pin (311) and the support plate (310).

[0274] A plurality of insertion portions (302) may be installed on the support bar (301). The plurality of insertion portions (302) may be installed at regular intervals along the support bar (301). In the present embodiment, three insertion portions (302) are installed on the support bar (301).

[0275] Each of the plurality of insertion portions (302) may be formed so that the mop pad (80') passes through the insertion portion (302) and prevents the inserted mop pad (80') from falling out of the support bar (301). Specifically, the insertion portion (302) is formed so that the separation slit (82) of the mop pad (80') can be inserted. The lower surface of the insertion portion (302) is formed so that the separation slit (82) of the mop pad (80') is caught and prevented from passing through the insertion portion (302).

[0276] For example, the insertion portion (302) may be formed with a pair of insertion wings (321). The pair of insertion wings (321) may be installed below the upper end (301a) of the support rod (301) formed in a cone shape. The pair of insertion wings (321) may be formed to fold when a certain force is applied from above, and to unfold when the force is not applied. The distance between the lower ends of the pair of insertion wings (321) may be formed to be greater than the separation slit (82). Therefore, when the mop pad (80') is pressed downward from the upper end of the mop separation member (300), the mop pad (80') may be inserted into the support rod (301) through the separation slit (82). However, the mop pad (80') inserted into the support rod (301) is not separated from the support rod (301) because the separation slit (82) is caught on the lower end of a pair of insertion wings (321).

[0277] When removing a plurality of mop pads (80') inserted into the mop separation member (300), the mop separation member (300) is separated from the mop loading portion (22). In this case, as illustrated in Fig. 25b, when the mop separation member (300) is pulled upward, the fixing pin (311) of the support bar (301) is removed from the fixing hole (312), so that the mop separation member (300) is easily separated from the mop loading portion (22).

[0278] After removing multiple mop pads (80'), when the fixing pin (311) of the mop separation member (300) is inserted into the fixing hole (312) of the mop loading part (22), the mop separation member (300) is installed vertically on the mop loading part (22).

[0279] A station (1) for a robot cleaner according to one or more embodiments of the present disclosure having the above-described structure can automatically replace a mop pad (80) of a robot cleaner (100), so it is convenient to mop a surface to be cleaned using a robot cleaner (100).

[0280] A station (1) for a robot cleaner according to one or more embodiments of the present disclosure having the above-described structure can minimize the installation area because the robot cleaner (100) is positioned below the mop container (20) when replacing the mop pad (80).

[0281] In addition, the station (1) for a robot cleaner according to one or more embodiments of the present disclosure has a mop container (20) installed on the upper side of the front, and the mop container (20) can be pulled out toward the user, so that it is convenient for the user to load a new mop pad (80) into the mop container (20) or remove a used mop pad (80).

[0282] While the present disclosure has been illustrated and described above with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. Base including mop holder; A mop receiving container installed at a certain distance upward from the above base and including two mop loading sections; A horizontal movement device installed on the upper side of the above base and formed to pick up the mop pad and move it in a horizontal direction; and A vertical movement device is installed on one side of the above base and is formed to move the horizontal movement device up and down; A station for a robot cleaner, wherein the mop pad is transported between the mop receiving bin and the mop mounting portion of the base by the horizontal moving device and the vertical moving device.

2. In paragraph 1, The above horizontal movement device is, An elevator arm that moves up and down by the above vertical movement device; A swivel arm rotatably installed on one end of the above-mentioned elevator arm; A turning device for rotating the above turning rock; and A station for a robot cleaner, comprising: a pickup device installed at one end of the pivot rock and configured to pick up the mop pad; 3. In paragraph 2, The above turning device, A slewing motor installed on the above-mentioned elevator arm; and A station for a robot cleaner, comprising a power transmission member that transmits the rotational power of the above-mentioned rotary motor to the above-mentioned rotary arm.

4. In paragraph 3, The above power transmission member is, A driving pulley installed on the above-mentioned rotary motor; A passive pulley installed at the other end of the above-mentioned turning rock; and A station for a robot cleaner, comprising: a belt connecting the driving pulley and the driven pulley.

5. In paragraph 1, The above horizontal movement device is, A rectangular shaped lifting frame; A moving bar installed on the lower surface of the above lifting frame so as to be able to move linearly with respect to the above lifting frame; A pickup device installed on the lower surface of the above moving bar so as to be able to move in a straight line with respect to the above moving bar and formed to pick up the mop pad; and A station for a robot cleaner, comprising: a driving device for moving the moving bar and the pickup device; 6. In paragraph 5, The above driving device, A first motor and a second motor installed at both corners of one end of the above-mentioned lifting frame; A first belt, both ends of which are fixed to the above pickup device and driven by the first motor; A second belt, the ends of which are fixed to the pickup device below the first belt and driven by the second motor; A plurality of upper pulleys installed on the lower surface of the above-mentioned lifting frame and the lower surface of the above-mentioned moving bar and guiding the movement of the above-mentioned first belt; and A station for a robot cleaner, comprising a plurality of lower pulleys installed on the lower surface of the above-described lifting frame and the lower surface of the above-described moving bar and guiding the movement of the second belt.

7. In paragraph 5, The above horizontal movement device is, A pair of first linear movement guide members installed between the above lifting frame and the above moving bar and guiding the linear movement of the above moving bar; and A station for a robot cleaner, further comprising: a second linear movement guide member installed vertically between the pair of first linear movement guide members and the pickup device, and guiding linear movement of the pickup device.

8. In paragraph 1, The above vertical movement device is, A vertical guide unit that guides the up and down movement of the above horizontal movement device; and A station for a robot cleaner, comprising a vertical driving unit formed to move the horizontal moving device up and down.

9. In paragraph 1, A station for a robot cleaner, wherein the distance between the mop mounting portion and the lower surface of the mop receiving container is greater than the height of the robot cleaner.

10. In paragraph 9, The above mop holder comprises two mop holders, A station for a robot cleaner, wherein the two mop loading portions of the mop container are parallel to the two mop placement portions, and when viewed from the top of the mop container, the two mop loading portions are positioned so as not to overlap the two mop placement portions.

11. In paragraph 1, A station for a robot cleaner, wherein a disposable mop pad is inserted into the bottom of the mop loading section of the mop container and a mop separation member is installed to prevent the inserted disposable mop pad from falling out.

12. In paragraph 11, The above mop separation member is, A support bar fixed to the bottom of the above mop loading section; and A station for a robot cleaner, comprising: an insertion portion installed at the top of the support rod and formed to prevent the disposable mop pad from falling off the support rod.

13. In paragraph 11, A station for a robot cleaner, wherein the pickup device includes a through hole formed so that the mop separation member can be inserted.

14. A robot vacuum cleaner configured to perform mopping of a surface to be cleaned using a mop pad; and A station for a robot cleaner configured to supply the mop pad to the robot cleaner and collect the used mop pad when the mopping of the robot cleaner is completed; The above station for the robot vacuum cleaner is, Base including two mop holders; A mop receiving container installed at a certain distance upward from the above base and including two mop loading sections; A horizontal moving device installed on the upper side of the base and formed to transport a mop pad between the mop receiving container and the mop mounting portion of the base; A vertical movement device installed on one side of the above base and formed to move the horizontal movement device up and down in a straight line; and A robot cleaner system, comprising: a processor controlling the horizontal movement device and the vertical movement device.

15. In paragraph 14, The above two mop loading sections include a first mop loading section loaded with a plurality of new mop pads and a second mop loading section formed to load used mop pads, The above processor, By controlling the vertical movement device and the horizontal movement device, two new mop pads loaded on the first mop loading unit are moved to the two mop placement units, A robot cleaner system, wherein two used mop pads located in the two mop holders are loaded onto the second mop loading unit by the robot cleaner.

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