Robot cleaner having detachable mop plate

Abstract

The robot cleaner according to an embodiment of the present invention comprises a main body, a base plate, a mop actuator, a driver, and a mop plate. The driver is coupled to a mop shaft of the mop actuator and configured to rise from a lower position to an upper position. The driver is rotated in a first rotational direction by the mop shaft at the upper position. A first catching part is formed on the lower surface of the base plate, and a second catching part is formed on the upper surface of the mop plate. When the mop plate rotates in the first rotational direction at the upper position, the second catching part is caught by the first catching part and thus inclinedly slides downward.

Description

Robot vacuum cleaner with detachable map plates

[0001] The present invention relates to a robot vacuum cleaner, and more specifically, to a robot vacuum cleaner in which a mop plate combined with a mop used for wiping the floor can be separated from the main body.

[0002] A robot vacuum cleaner comprising motors, various sensors, and artificial intelligence (AI) can be configured to clean areas requiring cleaning while driving autonomously.

[0003] Robot vacuum cleaners can be configured to suck up dust and other debris by vacuuming, sweep up dust, or wipe the cleaning surface using a mop.

[0004] In a robot vacuum cleaner, the mop can be attached to the mop plate and used, and mopping can be performed as the mop plate rotates.

[0005] Meanwhile, recently, a structure has been disclosed in which the map plate is separated from the main body of the robot vacuum cleaner.

[0006] In this regard, Chinese Publication CN117179634A (Date of publication: Dec. 18, 2023) (hereinafter, 'Prior Art 1') discloses a robot vacuum cleaner in which a mop plate is attached to the lower side of a structure (lifting structure) that moves up and down with screw threads formed thereon, and accordingly, the mop plate is lifted together with the lifting structure. According to Prior Art 1, when the lifting structure rises above a predetermined height, the mop plate catches on the bottom surface of the robot vacuum cleaner and is unable to rise together with it, thus being separated from the main body.

[0007] However, in the case of the above prior art document 1, the lifting structure is configured to be separated from the map plate while continuously rising by means of screw threads, so the distance between the separated map plate and the lifting structure increases significantly, and consequently, there is a problem that it is difficult to align the map plate to the correct position when it is re-connected to the lifting structure.

[0008] When the lifting height of the lifting structure is high, there is a problem in that the height of the robot vacuum cleaner's main body must also be increased by that amount, or space must be secured inside the main body for the lifting of the structure.

[0009] As another prior art, Korean published patent KR10-2024-0019600A (publication date: 2024.02.14) (hereinafter, 'Prior Art 2') forms a protrusion for separating a mop on the docking station of a robot vacuum cleaner, and as the robot vacuum cleaner moves on the upper side of the docking station, the protrusion penetrates between the main body of the robot vacuum cleaner and the mop, thereby separating the mop.

[0010] However, in the case of the aforementioned prior art document 2, first of all, there is a limitation in that a docking station is absolutely necessary for separating the mop. Also, when the mop enters under the protrusion, a problem arises in that the station is contaminated by the mop.

[0011] The problem that the present invention aims to solve is to provide a robot vacuum cleaner with a structure that limits the height of the driver combined with the map plate, while allowing the map plate to be easily separated from the main body.

[0012] The problem that the present invention aims to solve is to provide a robot vacuum cleaner with a structure that enables excellent separation of the driver and the map plate when the driver, to which the map plate is coupled, is lifted by a map actuator and the map plate is separated from the main body.

[0013] The problem that the present invention aims to solve is to provide a robot vacuum cleaner in which mopping is performed stably when the mop shaft of the mop actuator rotates in the forward direction, and the lifting and separation of the mop plate can be performed effectively when the mop shaft of the mop actuator rotates in the reverse direction.

[0014] A robot vacuum cleaner according to one embodiment of the present invention comprises a main body, a base plate, a mop actuator, a driver, and a mop plate.

[0015] A base plate is provided on the lower side of the main body. The base plate may be formed integrally with the main body.

[0016] The above-described map actuator is provided in the main body and is configured to rotate the map shaft. The map shaft may be formed along the vertical direction.

[0017] The above driver is coupled to the above mop shaft.

[0018] The above-described mop actuator rotates the above-described driver around the up-and-down mop shaft.

[0019] The driver moves relative to the main body between a lower position and an upper position higher than the lower position. The driver is configured to rise from the lower position to the upper position.

[0020] The above driver is configured to rotate in the first rotational direction when the above mop shaft rotates in the first rotational direction in the above upper position.

[0021] The above map plate is placed on the lower side of the main body.

[0022] A mop is attached to the above-mentioned mop plate. The above-mentioned mop plate is located on the lower side of the above-mentioned base plate. The above-mentioned mop plate is detachably attached to the above-mentioned driver.

[0023] A first locking part may be formed on the lower side of the above main body.

[0024] A first locking portion may be formed on the bottom surface of the above base plate.

[0025] A second locking portion is formed on the upper surface of the above map plate.

[0026] In the upper position, when the map plate rotates in the first rotational direction, the second catch is engaged with the first catch and moves downward. In the upper position, when the map plate rotates in the first rotational direction, the second catch may be engaged with the first catch and slide downward at an angle.

[0027] When the above-mentioned map plate is in the lower position, if the above-mentioned map shaft rotates in the first rotational direction, the above-mentioned map plate may be configured to rise to the upper position.

[0028] The first locking part and the second locking part may be formed to be inclined downward along the first rotational direction.

[0029] The above first catch portion includes a first contact portion which is the lower surface.

[0030] The second locking portion includes a second contact portion formed to contact the first contact portion as an upper surface.

[0031] At least one of the first contact portion and the second contact portion may be formed to be inclined downward along the first rotational direction.

[0032] The first locking part may increase the degree of downward protrusion along the first rotational direction.

[0033] The second locking part may be increased in degree to protrude upward along the opposite direction of the first rotational direction.

[0034] The above second locking part may be provided in multiple numbers and may be repeatedly formed along the circumferential direction centered on the mop shaft.

[0035] The above robot vacuum cleaner may include a stopper.

[0036] The stopper rotates together with the mop shaft and can protrude in the first rotational direction.

[0037] When the map plate rotates in the first rotational direction in the upper position, the driver may be caught by the stopper and prevent downward movement.

[0038] The above-mentioned robot vacuum cleaner may be comprised of a support spring and a rotor.

[0039] The above support spring is configured to elastically support the driver upward against the above mop shaft.

[0040] The above rotor may comprise a rotor base, an extension arm, and a pusher.

[0041] The rotor base is fixed to the mop shaft on the upper side of the driver.

[0042] The above extension arm extends downward from the above rotor base.

[0043] The above pusher may be provided at a point spaced radially by a first radius from the center of the above mop shaft.

[0044] The above pusher may be provided at the bottom of the above extension arm.

[0045] The above driver may include a movement path.

[0046] The above movement path is formed along the circumferential direction at a point spaced apart from the center of the above map shaft by the first radius. The above movement path forms part of the upper surface of the above driver.

[0047] The above driver may be formed to include an inclined surface as part of the upper surface.

[0048] The above movement path may include a base surface, an inclined surface, and a pressing surface.

[0049] The above base surface may be a surface located on the lower side of the pusher in the above upper position.

[0050] The above inclined surface may be formed to be inclined upward along a second rotational direction opposite to the first rotational direction on the base surface. The above inclined surface forms a path along which the pusher moves.

[0051] The rotor may include a stopper. The stopper protrudes from the extension arm in the first rotational direction.

[0052] The above driver may include a locking groove. The locking groove is formed on the base surface toward the first rotational direction. The locking groove is formed concavely in the first rotational direction so that the stopper is inserted and locked.

[0053] The above driver may be formed to include a pressing surface and a locking projection.

[0054] The pressing surface extends from the top of the inclined surface in the second rotational direction. The pressing surface forms a surface located on the lower side of the pusher in the lower position.

[0055] The above-mentioned stopper is formed to extend upward from the pressing surface to prevent movement of the extension arm in the second rotational direction relative to the driver.

[0056] The above driver may comprise a first sleeve and a second sleeve.

[0057] The first sleeve is configured to accommodate the lower part of the mop shaft and the support spring.

[0058] The second sleeve is provided on the outer side of the first sleeve.

[0059] The above inclined surface can be formed on the second sleeve.

[0060] The driver and the rotor may be rotationally symmetric about the map shaft.

[0061] Each of the above extension arm, the above pusher, and the above inclined surface may be provided in multiple numbers along the circumferential direction centered on the above mop shaft and may be spaced equally apart.

[0062] The above-described map actuator may comprise a map shaft housing that surrounds the map shaft and opens downward.

[0063] A first locking projection may be formed on the outer surface of the driver, and a second locking projection may be formed on the inner surface of the mop shaft housing.

[0064] In the upper position, at least a portion of the driver is accommodated inside the mop shaft housing, and when the driver rotates in a second rotational direction opposite to the first rotational direction, the first locking projection may be caught by the second locking projection, thereby preventing rotation.

[0065] The above robot vacuum cleaner may be made including a holder and a bearing.

[0066] The above holder may be configured to be vertically movable relative to the base plate and to surround the driver.

[0067] The above bearing is interposed between the driver and the holder.

[0068] The above-mentioned robot vacuum cleaner may be comprised of a first magnetic part and a second magnetic part.

[0069] The first magnetic part may be fixedly provided on the upper side of the map plate.

[0070] The second magnetic part above may be fixedly provided on the lower side of the driver and configured to exert an attractive force with the first magnetic part.

[0071] The above map plate may be formed to include a first fastening part protruding upward from the center.

[0072] The first magnetic part may be fixedly provided on the upper side of the first fastening part.

[0073] The above driver may be formed to include a second fastening part that is opened downward from the center and into which the first fastening part is inserted.

[0074] The second magnetic part may be fixedly provided inside the second fastening part.

[0075] The first fastening part and the second fastening part can be engaged with each other to prevent rotation around the mop shaft.

[0076] In a robot vacuum cleaner according to an embodiment of the present invention, the driver moves from a lower position to an upper position relative to the main body. When the mop shaft rotates in a first rotational direction in the upper position, the driver rotates together with the driver in the first rotational direction, and at this time, the mop plate coupled to the driver rotates together, and the second catch on the upper surface of the mop plate catches on the first catch on the lower surface of the base plate and slides downward at an angle. According to an embodiment, the first catch may be formed directly on the lower surface of the main body. Accordingly, an external force is applied to the mop plate in a downward direction, so that the mop plate can be separated from the driver. That is, the separation of the mop plate is achieved by the downward movement of the mop plate relative to the driver without any additional upward movement of the driver in the upper position.

[0077] A robot vacuum cleaner according to an embodiment of the present invention comprises a stopper and a locking groove. The stopper is formed on the rotor, and the locking groove is formed on the driver. When the mop shaft rotates in a first rotational direction by the mop actuator, the rotor rotates together with it, and the stopper is inserted into the locking groove, thereby preventing the downward movement of the driver relative to the mop shaft and the rotor. Therefore, when the mop plate is separated downward, it is stably fixed without downward movement of the driver, and the separation of the mop plate and the driver is smoothly achieved.

[0078] A robot vacuum cleaner according to an embodiment of the present invention includes a support spring and a rotor, and the driver is provided with an inclined surface and a pressing surface. When the mop shaft of the mop actuator rotates in a second rotational direction (forward direction), the pusher of the rotor moves up the inclined surface and presses the pressing surface, and the driver and the mop plate are stably fixed in a lower position. At this time, mopping is stably performed as the mop plate rotates in the second rotational direction. When the mop shaft of the mop actuator rotates in a first rotational direction (reverse direction), the pusher of the rotor moves down the inclined surface, and at this time, the driver and the mop plate rise by the support spring. Then, when the mop shaft of the mop actuator rotates further in the first rotational direction, the stopper is inserted into the locking groove, and the mop plate is effectively separated from the driver.

[0079] Specific effects and additional effects according to embodiments of the present invention will be described below with reference to the attached drawings.

[0080] FIG. 1 is a perspective view illustrating a robot vacuum cleaner according to one embodiment of the present invention.

[0081] FIG. 2 is a side view illustrating a robot vacuum cleaner according to one embodiment of the present invention.

[0082] FIG. 3 is a plan view illustrating a robot vacuum cleaner according to one embodiment of the present invention.

[0083] FIG. 4 is a drawing showing some components separated from a robot vacuum cleaner according to one embodiment of the present invention.

[0084] FIG. 5a is a diagram illustrating the configuration of a part of a robot vacuum cleaner according to one embodiment of the present invention, schematically illustrating a mop actuator, a driver, and a mop plate.

[0085] Figure 5b is a diagram showing the map plate raised in Figure 5a.

[0086] Figure 5c is a drawing showing the map plate separated from the driver in Figure 5b.

[0087] FIG. 6a is a diagram illustrating the configuration of a part of a robot vacuum cleaner according to one embodiment of the present invention, schematically illustrating a mop actuator, a driver, and a mop plate.

[0088] Figure 6b is a diagram showing the map plate raised in Figure 6a.

[0089] Figure 6c is a drawing showing the map plate separated from the driver in Figure 6b.

[0090] FIG. 7 is an exploded perspective view illustrating some components of a robot vacuum cleaner according to an embodiment of the present invention.

[0091] FIG. 8a is a cross-sectional perspective view illustrating a part of the configuration of a robot vacuum cleaner according to an embodiment of the present invention.

[0092] FIG. 8b is a drawing showing the driver and map plate moved downward in FIG. 8a.

[0093] FIG. 9a is a drawing illustrating a part of the configuration of a robot vacuum cleaner according to an embodiment of the present invention.

[0094] FIG. 9b is a drawing illustrating a part of the configuration of a robot vacuum cleaner according to an embodiment of the present invention, showing the mop shaft and rotor rotated in a second rotational direction in FIG. 9a.

[0095] FIG. 9c is a drawing illustrating a part of the configuration of a robot vacuum cleaner according to an embodiment of the present invention, showing the mop shaft and rotor in FIG. 9b rotated further in a second rotational direction.

[0096] FIG. 10 is a cross-sectional perspective view illustrating a part of the configuration of a robot vacuum cleaner so that a first locking part and a second locking part according to an embodiment of the present invention are shown.

[0097] FIG. 11 is a schematic diagram illustrating that in a robot vacuum cleaner according to one embodiment of the present invention, when a map plate rotates in a first rotational direction, a second locking part moves downwardly inclined relative to a first locking part.

[0098] FIG. 12 is a schematic diagram illustrating that in a robot vacuum cleaner according to one embodiment of the present invention, when a map plate rotates in a first rotational direction, a second locking part moves downwardly inclined relative to a first locking part.

[0099] FIG. 13 is a cross-sectional view of a part of a robot vacuum cleaner according to one embodiment of the present invention, and is a cross-sectional view based on the rotation axis of the mop shaft.

[0100] Hereinafter, in order to explain the present invention more specifically, embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. Throughout the detailed description, the same reference numerals indicate the same components.

[0101] The X, Y, and Z directions indicated on the drawing are mutually orthogonal directions. The X direction can be understood as the direction facing forward, the Y direction as the direction facing left, and the Z direction as the direction facing upward.

[0102] FIG. 1 is a perspective view illustrating a robot vacuum cleaner (1) according to one embodiment of the present invention.

[0103] FIG. 2 is a side view illustrating a robot vacuum cleaner (1) according to one embodiment of the present invention.

[0104] FIG. 3 is a plan view illustrating a robot vacuum cleaner (1) according to one embodiment of the present invention.

[0105] FIG. 4 is a drawing showing some components separated from a robot vacuum cleaner (1) according to one embodiment of the present invention.

[0106] A robot vacuum cleaner (1) according to an embodiment of the present invention is configured to be placed on a floor surface (B) and to move along the floor surface (B). The floor surface (B) may be the object of cleaning. Accordingly, the following description will define the vertical direction based on the state in which the robot vacuum cleaner (1) is placed on the floor surface (B) to enable cleaning according to its intended use.

[0107] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a main body (100).

[0108] The main body (100) may form the overall shape of the robot vacuum cleaner (1) or be formed in the shape of a frame. Each component forming the robot vacuum cleaner (1) may be combined with the main body (100), and some components forming the robot vacuum cleaner (1) may be accommodated inside the main body (100).

[0109] A robot vacuum cleaner (1) according to an embodiment of the present invention may include a bumper (110) to absorb external shocks and / or detect contact with an external object. The bumper (110) may be attached to the edge of the main body (100), and the bumper (110) may be movable relative to the main body (100). The bumper (110) may be attached to the front edge of the main body (100).

[0110] A plurality of elastic bodies (not shown) may be provided between the bumper (110) and the main body (100), and the bumper (110) may be elastically supported by the elastic bodies against the main body (100). When the bumper (110) comes into contact with an external object and is pressed toward the main body (100), the elastic bodies undergo elastic deformation (compressive deformation), and then the elastic bodies are elastically restored, allowing the bumper (110) to return to its original position.

[0111] In an embodiment of the present invention, the main body (100) may be formed in a shape in which the size (width or diameter) in the horizontal direction (direction parallel to X and Y) is larger than the size (height) in the vertical direction (direction parallel to Z). Such a main body (100) helps the robot vacuum cleaner (1) form a stable structure and can provide a structure advantageous for avoiding obstacles while the robot vacuum cleaner (1) moves (drives).

[0112] When viewed from above or below, the main body (100) can be formed in various shapes, such as a circle, an oval, or a square.

[0113] Meanwhile, as described in the embodiment of the present invention, the robot vacuum cleaner (1) is composed of various parts and has a structural characteristic of being relatively flat, so the reduction or efficient arrangement of the space occupied by the components (parts) of the robot vacuum cleaner (1) is considered a very important factor in the design of the robot vacuum cleaner (1).

[0114] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a driver (400) and a mop actuator (200), and in forming the respective structures and combined structures of the driver (400) and the mop actuator (200), the driver (400) is configured to operate effectively while minimizing the space occupied by the robot vacuum cleaner (1). Details related to this will be explained further below.

[0115] A robot vacuum cleaner (1) according to an embodiment of the present invention includes a water tank (120) in which water is stored, and is configured to allow water stored in the water tank (120) to be discharged and used as needed.

[0116] The water in the water tank (120) can be supplied to the outside of the robot vacuum cleaner (1) by means of a pump, etc., provided in the robot vacuum cleaner (1) and used for cleaning.

[0117] In the robot vacuum cleaner (1) according to an embodiment of the present invention, water from the water tank (120) can be supplied toward the mop (705), and accordingly, wet mop cleaning can be performed while the water wets the mop (705).

[0118] The water tank (120) may be provided inside the main body (100). The water tank (120) may be detachably connected to the main body (100).

[0119] A robot vacuum cleaner (1) according to an embodiment of the present invention may be formed to include a drive wheel (102). The drive wheel (102) is coupled to the main body (100) to rotate around a rotation axis in the left-right direction (a direction parallel to Y). The drive wheel (102) may be provided on the lower side of the main body (100). In the robot vacuum cleaner (1), two drive wheels (102) may be provided, and the drive wheels (102) may be provided on the left and right sides of the main body (100), respectively. By operating the drive wheel (102), the robot vacuum cleaner (1) can move on the floor surface (B).

[0120] A robot vacuum cleaner (1) according to an embodiment of the present invention may be formed to include an auxiliary wheel (103). The auxiliary wheel (103) is provided on the lower side of the main body (100) and can support the robot vacuum cleaner (1) together with the driving wheel (102). The auxiliary wheel (103) may be provided in front of the driving wheel (102) on the main body (100). The auxiliary wheel (103) is coupled to rotate around a horizontal axis of rotation on the main body (100).

[0121] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a mop (705). The mop (705) may be divided into a first mop (705a) and a second mop (705b).

[0122] The mop (705) is provided on the lower side of the main body (100) and configured to come into contact with the floor surface. Accordingly, as the robot vacuum cleaner (1) moves, the mop (705) can wipe the floor surface while mopping (705).

[0123] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a mop plate (700). In the robot vacuum cleaner (1) according to an embodiment of the present invention, the mop plate (700) and the mop (705) may each be provided as a pair, and at this time, one mop (705) is coupled to one mop plate (700). (A first mop (705a) is coupled to the first mop plate (700a), and a second mop (705b) is coupled to the second mop plate (700b).)

[0124] The map plate (700) is coupled to the lower side of the main body (100) and is configured to rotate relative to the main body (100).

[0125] The map plate (700) is formed to have a predetermined area and is formed in the shape of a flat plate or a flat frame. The map plate (700) is generally laid horizontally, and accordingly, is formed in a shape where the horizontal width (or diameter) is sufficiently larger than the vertical height. The bottom surface of the map plate (700) attached to the main body (100) may be parallel to the bottom surface (B) or may be inclined with respect to the bottom surface (B).

[0126] The map plate (700) can be formed in the shape of a circular plate, and the bottom surface of the map plate (700) can generally be circular.

[0127] In the map plate (700), holes penetrating in the vertical direction may be repeatedly formed along the circumferential direction.

[0128] The map plate (700) can be formed in a rotationally symmetric shape overall.

[0129] The rotational axis (RA) of the map plate (700) is formed at the center of the map plate (700). The rotational axis (RA) of the map plate (700) may be formed along the vertical direction or generally along the vertical direction.

[0130] In a robot vacuum cleaner (1) according to an embodiment of the present invention, a pair of map plates (700) (a first map plate (700a) and a second map plate (700b)) may be formed identically to each other, or may be formed symmetrically with respect to a center line running across the front and back of the robot vacuum cleaner (1). If one of the map plates (700) is located on the left side of the robot vacuum cleaner (1), the other map plate (700) may be located on the right side of the robot vacuum cleaner (1), and in this case, the pair of map plates (700) may be symmetrical to each other.

[0131] The mop (705) overlaps with the mop plate (700) and is joined to the lower side of the mop plate (700).

[0132] The mop (705) is formed such that the bottom surface facing the floor has a predetermined area, and the mop (705) is formed in a flat shape. The mop (705) is formed such that the horizontal width (or diameter) is sufficiently larger than the vertical height. The bottom surface of the mop (705) may be parallel to the bottom surface (B) or may be inclined with respect to the bottom surface (B).

[0133] The bottom surface of the mop (705) can generally be circular. The mop (705) can be formed in a rotationally symmetrical shape overall. The mop (705) can be made of various materials capable of wiping the bottom surface (B) while in contact with the bottom surface (B). The bottom surface of the mop (705) can be made of a fabric or knitted material, a non-woven fabric, and / or a brush having a predetermined area.

[0134] The mop (705) is connected to the mop plate (700) and is configured to rotate together with the mop plate (700).

[0135] In one embodiment, the mop (705) can be fixedly attached to the bottom surface of the mop plate (700).

[0136] In another embodiment, the mop (705) can be attached to the bottom surface of the mop plate (700).

[0137] The mop (705) can be attached to and detached from the mop plate (700) using various devices and methods. In one embodiment, at least a portion of the mop (705) may be attached to the mop plate (700) by means such as hooking or fitting. In another embodiment, a separate device such as a clamp may be provided to attach the mop (705) and the mop plate (700). In yet another embodiment, one end of a pair of fastening devices that are attached and detached from each other (specific examples of the fastening devices may include a pair of magnets that exert an attractive force on each other, a pair of Velcro that are attached to each other, or a pair of buttons (female and male buttons) that are attached to each other) may be fixed to the mop (705) and the other end may be fixed to the mop plate (700).

[0138] In the case where the mop (705) is attached to the mop plate (700), the mop (705) and the mop plate (700) may be attached in an overlapping manner, and the mop (705) may be attached to the mop plate (700) such that the center of the mop (705) coincides with the center of the mop plate (700).

[0139] Each mop plate (700) to which the mop (705) is attached rotates around each rotation axis (RA), thereby mopping (705) the floor surface (B) with the mop (705).

[0140] A pair of mops (705) (first mop (705a) and second mop (705b)) can be made identical to each other. If one mop (705) is located on the left side of the robot vacuum cleaner (1), the other mop (705) can be located on the right side of the robot vacuum cleaner (1), and in this case, the pair of mops (705) (first mop (705a) and second mop (705b)) can be symmetrical to each other.

[0141] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a plurality of actuators (200a, 200b, 130), a suction port (104), a fan motor (not shown), and a battery (not shown).

[0142] Each actuator (200a, 200b, 130) may be configured to include a motor and gears, etc. The first actuator (first mop actuator (200a)) may be configured to transmit rotational power to the first mop plate (700a) to rotate the first mop plate (700a). The second actuator (second mop actuator (200b)) may be configured to transmit rotational power to the second mop plate (700b) to rotate the second mop plate (700b). The third actuator (130) may be configured to transmit rotational power to the drive wheel (102) to rotate the drive wheel (102).

[0143] The suction port (104) may be provided in a form that is open at the bottom surface of the robot vacuum cleaner (1). Suction force is transmitted to the suction port (104) by the operation of the fan motor, and accordingly, dust on the floor surface (B) can be introduced into the robot vacuum cleaner (1) through the suction port (104) and stored.

[0144] The battery of the robot vacuum cleaner (1) supplies power to each part of the robot vacuum cleaner (1), such as actuators (200a, 200b, 130), pumps, fan motors, etc.

[0145] FIG. 5a is a diagram illustrating the configuration of a part of a robot vacuum cleaner (1) according to one embodiment of the present invention, schematically illustrating a mop actuator (200), a driver (400), and a mop plate (700).

[0146] FIG. 5b is a drawing showing the map plate (700) raised in FIG. 5a.

[0147] FIG. 5c is a drawing showing the map plate (700) separated from the driver (400) in FIG. 5b.

[0148] FIG. 6a is a diagram illustrating the configuration of a part of a robot vacuum cleaner (1) according to one embodiment of the present invention, schematically illustrating a mop actuator (200), a driver (400), and a mop plate (700).

[0149] FIG. 6b is a drawing showing the map plate (700) raised in FIG. 6a.

[0150] FIG. 6c is a drawing showing the map plate (700) separated from the driver (400) in FIG. 6b.

[0151] FIG. 7 is an exploded perspective view showing some components of a robot vacuum cleaner (1) according to an embodiment of the present invention.

[0152] FIGS. 5a and FIGS. 6a each show the case where a robot vacuum cleaner (1) according to one embodiment of the present invention is in the lower position, and FIGS. 5b and FIGS. 6b each show the case where a robot vacuum cleaner (1) according to one embodiment of the present invention is in the upper position.

[0153] A robot vacuum cleaner (1) according to one embodiment of the present invention comprises a base plate (150) and a driver (400).

[0154] As described above, the robot vacuum cleaner (1) according to an embodiment of the present invention comprises a mop (705), a mop plate (700), and a mop actuator (200). In the present invention, the mop (705) may refer to a first mop (705a) and a second mop (705b), the mop plate (700) may refer to a first mop plate (700a) and a second mop plate (700b), and the mop actuator (200) may refer to a first mop actuator (200a) and a second mop actuator (200b).

[0155] In the description of the rotation of the map plate (700), the raising of the map plate (700), the lowering of the map plate (700), the separation of the map plate (700), and / or the joining of the map plate (700) as described in the present invention, it may be understood that the state in which the mop (705) is joined to the map plate (700) is the same, except where otherwise specifically limited.

[0156] In one embodiment, when the first rotation direction (RD1) in the first map actuator (200a) and the first map plate (700a) is clockwise, the first rotation direction (RD1) in the second map actuator (200b) and the second map plate (700b) may be counterclockwise. Conversely, when the first rotation direction (RD1) in the first map actuator (200a) and the first map plate (700a) is counterclockwise, the first rotation direction (RD1) in the second map actuator (200b) and the second map plate (700b) may be clockwise.

[0157] A base plate (150) is provided on the lower side of the main body (100).

[0158] In one embodiment, the base plate (150) may be formed integrally with the main body (100). In this case, the base plate (150) may form all or part of the bottom surface of the main body (100).

[0159] In another embodiment, the base plate (150) may be formed separately from the main body (100) and then coupled to the lower side of the main body (100). In this case, the base plate (150) may be provided as a pair, and each base plate (150) may be positioned on the upper side of each of the pair of map plates (700).

[0160] The base plate (150) may be formed in the shape of a plate that forms a predetermined area in the horizontal direction. The bottom surface of the base plate (150) forms a predetermined area in the horizontal direction.

[0161] The mop actuator (200) is provided in the main body (100) and comprises a mop shaft (210).

[0162] The mop actuator (200) is configured to rotate the mop shaft (210). The mop shaft (210) rotates around the rotation axis (RA).

[0163] The mop actuator (200) may be made of various structures and devices within a range that rotates the mop shaft (210). In one embodiment, the mop actuator (200) may be made of a drive motor (202) and one or more gears (203). The gear (203) may be rotated by the drive motor (202), and the mop shaft (210) that meshes with the gear (203) may rotate together.

[0164] The map shaft (210) can be formed along the vertical direction. The map shaft (210) has a predetermined length along its longitudinal direction. The map shaft (210) can be formed in a rotationally symmetric shape around a central rotation axis (RA).

[0165] The longitudinal direction of the map shaft (210) may be parallel to the vertical direction (Z direction) or may form a predetermined angle with the vertical direction (Z direction). Below, the description is based on the state in which the longitudinal direction of the map shaft (210) is parallel to the vertical direction (Z direction).

[0166] The driver (400) is connected to the mop shaft (210).

[0167] A mop actuator (200) according to an embodiment of the present invention rotates a driver (400) around a mop shaft (210). When the mop shaft (210) rotates, the driver (400) can rotate together with it.

[0168] In an embodiment of the present invention, the driver (400) moves between a lower position and an upper position higher than the lower position relative to the main body (100). The driver (400) is configured to rise from the lower position to the upper position.

[0169] The lower position and upper position described in the embodiment of the present invention refer to the position of the driver (400) and the position of the driver (400) relative to the main body (100).

[0170] In the embodiments of the present invention, the lower position refers to a relatively low position, and the upper position refers to a relatively high position, that is, a position higher than the lower position.

[0171] The lower position can be set to a height where there is no interference between the first locking part (151) and the second locking part (710) when the driver (400) and the map plate (700) described in the present invention rotate.

[0172] The upper position can be set to a height at which interference between the first locking part (151) and the second locking part (710) is possible when the driver (400) and the map plate (700) described in the present invention rotate.

[0173] The lower position can be set to a height where the bottom surface of the mop (705) contacts the floor surface (B).

[0174] The upper position can be set at a height such that the bottom surface of the mop (705) is spaced apart from the floor surface (B). At this time, the bottom surface of the mop (705) can be positioned higher than the bottom of the drive wheel (102) (and auxiliary wheel (103)). Also, at this time, so that the bottom surface of the mop (705) is spaced apart from the floor surface (B), the bottom of the drive wheel (102) may be supported on the floor surface (B), or the main body (100) may be supported by another configuration.

[0175] In an embodiment of the present invention, the driver (400) may rotate when the map shaft (210) rotates. At this time, if the map plate (700) is coupled to the driver (400), the map plate (700) rotates together with the driver (400).

[0176] The mop shaft (210) can rotate in a first rotational direction (RD1) and also in a second rotational direction (RD2). The first rotational direction (RD1) and the second rotational direction (RD2) are opposite directions. When the first rotational direction (RD1) is clockwise, the second rotational direction (RD2) is counterclockwise. When the first rotational direction (RD1) is counterclockwise, the second rotational direction (RD2) is clockwise.

[0177] In an embodiment of the present invention, when the mop shaft (210) and the driver (400) rotate in the second rotational direction (RD2) in the lower position, the mop plate (700) also rotates in the second rotational direction (RD2), and at this time, mopping can be performed by the mop (705). That is, when the driver (400) and the mop plate (700) rotate in the second rotational direction (RD2), cleaning can be performed by the mop (705). Accordingly, in an embodiment of the present invention, the second rotational direction (RD2) can be referred to as the forward direction.

[0178] In an embodiment of the present invention, when the mop shaft (210) rotates in the first rotational direction (RD1) in the lower position, the driver (400) and the mop plate (700) are lifted. That is, when the driver (400) rotates in the first rotational direction (RD1), cleaning by the mop (705) is stopped and the mop plate (700) is lifted. Accordingly, in an embodiment of the present invention, the first rotational direction (RD1) may be referred to as the reverse direction.

[0179] The driver (400) according to an embodiment of the present invention is configured to rotate by the mop actuator (200) and also move up and down relative to the main body (100).

[0180] In one embodiment, the driver (400) and the mop actuator (200) are configured to move up and down together, and a separate auxiliary actuator (250) may be provided in the main body (100). (See FIGS. 5a to 5c) The auxiliary actuator (250) may be made of various structures and devices within the range of converting rotational motion into linear motion, and the mop actuator (200) may move up and down by the operation of the auxiliary actuator (250).

[0181] Specifically, the vertical auxiliary shaft (254) of the auxiliary actuator (250) is screw-coupled to the body (201) of the mop actuator (200), and the mop actuator (200) can be raised or lowered according to the rotation of the auxiliary shaft (254) of the auxiliary actuator (250). That is, the mop actuator (200) is configured to rotate the driver (400), and the auxiliary actuator (250) can be configured to raise and lower the mop actuator (200) and the driver (400). Accordingly, the mop actuator (200), the driver (400), and the mop plate (700) can be raised and lowered to be positioned in a lower position or an upper position.

[0182] In another embodiment, the mop actuator (200) may be configured to rotate the driver (400) and also raise the driver (400) (see FIGS. 6a to 6c). In an embodiment of the present invention, the mop actuator (200) and the driver (400) may be configured with various structures and devices within the range of converting rotational motion into linear motion, and the driver (400) may be raised and lowered by the operation of the mop actuator (200).

[0183] For example, the mop shaft (210) and the driver (400) may be screw-coupled. In this case, a means to prevent the rotation of the driver (400) (e.g., friction means, locking means, etc.) may be provided to ensure relative rotation between the mop shaft (210) and the driver (400). In this case, when the mop shaft (210) rotates to its maximum in the second rotation direction (RD2), the driver (400) may descend and then rotate together with the mop shaft in the second rotation direction (RD2). And when the mop shaft (210) rotates to its maximum in the first rotation direction (RD1), the driver (400) may ascend and then rotate together with the mop shaft (210) in the first rotation direction (RD1).

[0184] As described above, in the robot vacuum cleaner (1) according to an embodiment of the present invention, when the mop shaft (210) rotates in the second rotational direction (RD2), the driver (400) rotates together in the second rotational direction (RD2), and the driver (400) can rise according to the rotation of the mop shaft (210) in the first rotational direction (RD1). Accordingly, the driver (400) and the mop plate (700) can rise and be positioned in the upper position. Further explanation regarding this will be provided later.

[0185] In an embodiment of the present invention, the driver (400) is configured to rotate in the first rotational direction (RD1) when the mop shaft (210) rotates in the first rotational direction (RD1) in the upper position.

[0186] The map plate (700) is positioned on the lower side of the main body (100). The map plate (700) is located on the lower side of the base plate (150).

[0187] The map plate (700) may comprise a first plate (701), a second plate (702), and a plate bumper (703). The second plate (702) is attached to the upper side of the first plate (701), and the first plate (701) and the second plate (702) are attached in an overlapping manner. The plate bumper (703) may be made of an elastically deformable material and may be attached to the edges of the first plate (701) and the second plate (702).

[0188] In an embodiment of the present invention, the map plate (700) is detachably coupled to the driver (400). According to the embodiment, the map plate (700) and the driver (400) may be coupled by means such as magnetic force, interference fit, or locking, and the map plate (700) may be separated downward from the driver (400) when an external force is applied.

[0189] In an embodiment of the present invention, a first locking part (151) may be formed on the lower side of the main body (100). Specifically, the first locking part (151) may be formed on the bottom surface of the base plate (150).

[0190] And a second locking part (710) is formed on the upper surface of the map plate (700). The second locking part (710) can be formed on the upper surface of the second plate (702).

[0191] The first locking part (151) and the second locking part (710) are formed at equal radial distances from the center (rotation axis (RA)) of the mop shaft (210).

[0192] A robot vacuum cleaner (1) according to an embodiment of the present invention is configured such that when the map plate (700) rotates in the first rotational direction (RD1) in the upper position, the second catch (710) catches on the first catch (151) and slides downward in an inclined manner.

[0193] When in the lower position, the map plate (700) is spaced apart from the base plate (150) in the vertical direction so as not to interfere between the first locking part (151) and the second locking part (710).

[0194] When the map plate (700) is raised to the upper position, the map plate (700) approaches the base plate (150) so that interference occurs between the first locking part (151) and the second locking part (710) when the map plate (700) rotates. At this time, when the map plate (700) rotates in the first rotation direction (RD1), the second locking part (710) catches on the first locking part (151) and slides downward at an angle, and accordingly, an external force in the downward direction is applied to the map plate (700), causing the map plate (700) to be separated from the driver (400).

[0195] As described above, when the driver (400) rotates in the first rotational direction (RD1) when the map shaft (210) rotates in the upper position, the map plate (700) coupled to the driver (400) rotates together with it, and the second catch (710) on the upper surface of the map plate (700) catches on the first catch (151) on the lower surface of the base plate (150) and slides in a downward inclined direction, and an external force is applied to the map plate (700) in a downward direction so that the map plate (700) can be separated from the driver (400).

[0196] Thus, according to an embodiment of the present invention, the downward movement of the map plate (700) relative to the driver (400) is achieved without additional upward movement of the driver (400) in the upper position, thereby enabling easy separation of the map plate (700).

[0197] FIG. 8a is a cross-sectional perspective view illustrating a part of the configuration of a robot vacuum cleaner (1) according to an embodiment of the present invention.

[0198] FIG. 8b is a drawing showing the driver (400) and map plate (700) moved downward from FIG. 8a.

[0199] FIG. 9a is a drawing illustrating a part of the configuration of a robot vacuum cleaner (1) according to an embodiment of the present invention.

[0200] FIG. 9a is a drawing illustrating a part of the configuration of a robot vacuum cleaner (1) according to an embodiment of the present invention.

[0201] FIG. 9b is a drawing illustrating a part of the configuration of a robot vacuum cleaner (1) according to an embodiment of the present invention, and is a drawing illustrating the appearance of the mop shaft (210) and rotor (500) rotated in the second rotation direction (RD2) in FIG. 9a.

[0202] FIG. 9c is a drawing illustrating a part of the configuration of a robot vacuum cleaner (1) according to an embodiment of the present invention, and is a drawing illustrating the appearance in which the mop shaft (210) and rotor (500) are further rotated in a second rotation direction (RD2) in FIG. 9b.

[0203] A robot vacuum cleaner (1) according to an embodiment of the present invention may comprise a support spring (490) and a rotor (500). Additionally, the robot vacuum cleaner (1) may comprise a first magnetic part (610) and a second magnetic part (620). Additionally, the robot vacuum cleaner (1) may comprise a holder (300) and a bearing (350).

[0204] The map actuator (200) may be formed to include a map shaft housing (220). The map shaft housing (220) is formed to surround a portion of the map shaft (210) and is open downward. A portion of the map shaft (210), which is formed in the vertical direction (Z direction), is located inside the map shaft housing (220).

[0205] The vertical height of the mop shaft housing (220) can be formed by taking into account the height difference between the lower position and the upper position. In the upper position, at least a portion of the driver (400) is located inside the mop shaft housing (220) (the top of the driver (400) is located higher than the bottom of the mop shaft housing (220)), and in the lower position, the driver (400) is located outside the mop shaft housing (220) (the top of the driver (400) is located lower than the bottom of the mop shaft housing (220).

[0206] The holder (300) can be formed to be vertically movable relative to the base plate (150) and to surround the driver (400).

[0207] A holder support hole (152), which is a hole penetrating vertically, is formed in the base plate (150), and a holder (300) is coupled inside the holder support hole (152). The holder (300) coupled to the holder support hole (152) is movable in the vertical direction, but is configured so that movement in other directions is prevented (e.g., rotation is prevented).

[0208] The holder support hole (152) may have a cross-section that is uniform along the vertical direction, and the holder (300) coupled inside the holder support hole (152) may move up and down relative to the base plate (150).

[0209] The holder (300) inserted into the holder support hole (152) is configured to prevent rotation around the mop shaft (210). To this end, the holder (300) and / or the holder support hole (152) are configured to have a shape other than a circle in a plan view, or to have a structure that prevents rotation.

[0210] A bearing (350) is interposed between the driver (400) and the holder (300). A portion of the bearing (350) may be coupled to the outer surface of the driver (400), and another portion may be coupled to the inner surface of the holder (300). By providing the bearing (350), the driver (400) can rotate smoothly relative to the holder (300) (rotation around the rotation axis (RA) of the mop shaft (210).

[0211] An O-ring (360) for watertightness or airtightness may be attached to the part where the bearing (350) and the driver (400) are joined. The O-ring (360) may be attached in a manner that wraps around the lower outer surface of the driver (400).

[0212] A driver (400) according to an embodiment of the present invention may comprise a first sleeve (410) and a second sleeve (420). The driver (400) may comprise a shaft support (430), a first connecting part (440), a second connecting part (450), and a connecting rib (460). The first sleeve (410), the second sleeve (420), the shaft support (430), the first connecting part (440), the second connecting part (450), and the connecting rib (460) may be formed as a single unit.

[0213] The first sleeve (410) is configured to accommodate the lower part (210b) of the mop shaft (210) and the support spring (490).

[0214] The first sleeve (410) can be formed in the shape of an up-and-down pipe.

[0215] The shaft support (430) may be formed in the shape of an up-and-down pipe. The inner diameter of the shaft support (430) is smaller than the inner diameter of the first sleeve (410), and at least a portion of the shaft support (430) is fixed inside the first sleeve (410).

[0216] The first connecting part (440) connects the first sleeve (410) and the shaft support part (430). The first connecting part (440) can be formed continuously along the circumferential direction around the rotation axis (RA) of the mop shaft (210).

[0217] The first connecting part (440) can connect the upper side of the first sleeve (410) and the shaft support part (430) to each other.

[0218] As the first sleeve (410), the first connecting part (440), and the shaft support part (430) are combined, a space is provided between the first sleeve (410), the first connecting part (440), and the shaft support part (430), and the upper side of the support spring (490) is inserted into this space and the upper end of the support spring (490) can be supported by the first connecting part (440).

[0219] The second connecting portion (450) connects the first sleeve (410) and the second sleeve (420). The second connecting portion (450) may be formed continuously along the circumferential direction around the rotation axis (RA) of the map shaft. The second connecting portion (450) may be connected to the first sleeve (410) from the lower side of the second sleeve (420). The second connecting portion (450) may be provided below the first connecting portion (440).

[0220] The mop shaft (210) is fitted into the interior of the shaft support (430). The inner diameter of the shaft support (430) has a size corresponding to the outer diameter of the mop shaft (210).

[0221] The shaft support member (430) is connected to the map shaft (210) so as to be vertically movable. The shaft support member (430) is also connected to the map shaft (210) so as to be rotatable. To this end, the outer surface of the map shaft (210) and the inner surface of the shaft support member (430) can be formed in a circular shape around the rotation axis (RA).

[0222] The support spring (490) is configured to elastically support the driver (400) upward against the mop shaft (210). The support spring (490) may be an elastic spring. The support spring (490) may be a coil spring.

[0223] The support spring (490) can be varied in the range of elastically supporting the driver (400) upward against the mop shaft (210).

[0224] In one embodiment, the support spring (490) may be formed in the shape of a coil spring and provided inside the driver (400). At this time, as the mop shaft (210) is inserted into the support spring (490), the upper end of the support spring (490) is supported by the driver (400) (first connecting part (440)), and the lower end of the support spring (490) is supported by the mop shaft (210).

[0225] A shaft flange (213) may be attached to the lower end of the map shaft (210) to support the support spring (490). The shaft flange (213) may be fixed to the lower end of the map shaft (210). The outer diameter of the shaft flange (213) is larger than the lower end of the map shaft (210) and is equal to or slightly smaller than the inner diameter of the first sleeve (410).

[0226] The upper end of the support spring (490) is supported by the first connecting part (440) of the driver (400), and the lower end of the support spring (490) is supported by the shaft flange (213), so that the support spring (490) elastically supports the driver (400) upward against the mop shaft (210).

[0227] That is, in the robot vacuum cleaner (1) according to the embodiment of the present invention, when no separate external force is applied to the driver (400), the driver (400) can be positioned at an upper position relative to the mop shaft (210), and when a downward external force is applied to the driver (400), the driver (400) can be positioned at a lower position relative to the mop shaft (210) while compressing the support spring (490).

[0228] When the downward external force applied to the driver (400) is removed, the support spring (490) recovers its elasticity, and the driver (400) rises again to the upper position.

[0229] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a pusher (530). The pusher (530) may be formed on a rotor (500).

[0230] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a stopper (540). The stopper (540) may be formed on a rotor (500).

[0231] The pusher (530) and the stopper (540) are both fixedly connected to the mop shaft (210). Accordingly, the pusher (530) and the stopper (540) rotate together with the mop shaft (210).

[0232] The rotor (500) is fixedly connected to the map shaft (210). Accordingly, the rotor (500) rotates together with the map shaft (210).

[0233] The rotor (500) rotates together with the mop shaft (210) to move the driver (400) to a lower position and also to an upper position.

[0234] The rotor (500) may be formed by including a rotor base (510), an extension arm (520), and a pusher (530). The rotor (500) may be formed by including a stopper (540). The rotor base (510), the extension arm (520), the pusher (530), and the stopper (540) may be formed as a single unit.

[0235] The rotor base (510) is fixed to the map shaft (210) on the upper side of the driver (400). The rotor base (510) can be coupled to the middle part (210a) of the map shaft (210) with respect to the vertical direction. The rotor base (510) can be formed in the shape of a ring (loop) with its center penetrating vertically, and the two can be coupled in such a way that the middle part (210a) of the map shaft (210) is fitted into the center of the rotor base (510). The rotor base (510) and the map shaft (210) are coupled in a structure that prevents relative rotation.

[0236] The rotor base (510) can form the uppermost part of the rotor (500).

[0237] The extension arm (520) extends generally downward from the rotor base (510). The extension arm (520) can be extended radially outward from the rotor base (510) and then downward.

[0238] The extension arm (520) can be divided into a shoulder portion (521) and an arm portion (522). The shoulder portion (521) is a part that extends radially outward from the rotor base (510), and the arm portion (522) is a part that extends downward from the end of the shoulder portion (521).

[0239] The arm portion (522) may be provided at a point spaced radially from the center (rotation axis (RA)) of the mop shaft (210) by a first radius (R1).

[0240] The pusher (530) is formed at the lower end of the extension arm (520). The pusher (530) is provided at a point spaced radially from the center (rotation axis (RA)) of the mop shaft (210) by a first radius (R1).

[0241] The stopper (540) protrudes from the extension arm (520) in a first rotational direction (RD1). The stopper (540) may protrude from the arm portion (522) of the extension arm (520) in a first rotational direction (RD1).

[0242] A driver (400) according to an embodiment of the present invention comprises a movement path (425). The movement path (425) forms part of the upper surface of the driver (400). The movement path (425) is formed in a second sleeve (420).

[0243] The movement path (425) forms the path that the pusher (530) moves along.

[0244] A driver (400) according to an embodiment of the present invention comprises an inclined surface (425b) as part of its upper surface. The inclined surface (425b) forms part of a movement path (425).

[0245] A second sleeve (420) is provided on the outer side of the first sleeve (410). The second sleeve (420) is formed to surround the first sleeve (410). The second sleeve (420) may be spaced apart from the first sleeve (410). The diameter of the second sleeve (420) may be larger than the diameter of the first sleeve (410).

[0246] The second sleeve (420) is formed along the circumferential direction at a point spaced radially from the center of the mop shaft (210) by a first radius (R1).

[0247] The lower end of the second sleeve (420) can be connected entirely to the first sleeve (410).

[0248] A connecting rib (460) is provided between the first sleeve (410) and the second sleeve (420). The connecting rib (460) is formed along the vertical direction. Multiple connecting ribs (460) may be provided and arranged spaced apart along the circumferential direction around the rotation axis (RA) of the mop shaft (210). The lower end of the connecting rib (460) may be connected to the second connecting part (450).

[0249] At least a portion of the upper surface of the second sleeve (420) is not formed at a uniform height along the circumferential direction around the rotation axis (RA) of the map shaft (210), but is formed to vary in height.

[0250] Accordingly, a movement path (425) is formed on the upper surface of the second sleeve (420).

[0251] The movement path (425) is formed along the circumferential direction at a point spaced radially from the center (rotation axis (RA)) of the map shaft (210) by a first radius (R1).

[0252] The movement path (425) may include a base surface (425a), an inclined surface (425b), and a pressing surface (425c). The base surface (425a), the inclined surface (425b), and the pressing surface (425c) are all formed at a point spaced apart by a first radius (R1) from the center (rotation axis (RA)) of the map shaft (210).

[0253] The driver (400) may be formed to include a locking groove (423). The locking groove (423) may be formed in the second sleeve (420).

[0254] The base surface (425a) may be a surface located on the lower side of the pusher (530) in the upper position.

[0255] The catch groove (423) is formed on the base surface (425a) toward the first rotational direction (RD1). The catch groove (423) may be formed in the shape of a concave groove toward the first rotational direction (RD1) on the side of the second sleeve (420) so that the stopper (540) is inserted and caught.

[0256] The catch groove (423) can be formed at a point spaced apart by a first radius (R1) from the center (rotation axis (RA)) of the mop shaft (210).

[0257] The inclined surface (425b) is formed to be inclined upward along the second rotational direction (RD2) from the base surface (425a). The inclined surface (425b) forms the path along which the pusher (530) moves.

[0258] The driver (400) may be formed to include a pressing surface (425c) and a locking projection (427).

[0259] The pressing surface (425c) extends from the top of the inclined surface (425b) in the second rotational direction (RD2). The height of the pressing surface (425c) can be constant along the second rotational direction (RD2). The pressing surface (425c) forms a surface located on the lower side of the pusher (530) in the lower position.

[0260] The height of the inclined surface (425b) can be equal to the height difference between the lower position and the upper position. When the pusher (530) is positioned on the bottom of the inclined surface (425b) or on the base surface (425a), it is in the upper position, and when the pusher (530) is positioned on the top of the inclined surface (425b) or on the pressing surface (425c), it is in the lower position.

[0261] The stopper (427) is formed in a shape that protrudes upward from the pressing surface (425c). The stopper (427) may be formed to be bent vertically from the pressing surface (425c).

[0262] The stopper (427) prevents the extension arm (520) from moving in the second rotational direction (RD2) relative to the driver (400). That is, when the extension arm (520) of the rotor (500) is caught on the stopper (427) of the driver (400) and the mop shaft (210) and the rotor (500) rotate in the second rotational direction (RD2), the driver (400) rotates in the second rotational direction (RD2) together with the mop shaft (210) and the rotor (500).

[0263] In the robot vacuum cleaner (1) according to an embodiment of the present invention, the driver (400) and the rotor (500) can be rotationally symmetric about the mop shaft (210) (rotation axis (RA)).

[0264] Each of the extension arm (520), pusher (530), and inclined surface (425b) may be provided in multiple numbers along the circumferential direction centered on the mop shaft (210) (rotation axis (RA)) to form equal intervals. When two extension arms (520), pushers (530), movement paths (425), and stoppers (427) are provided, each of the extension arms (520), pushers (530), movement paths (425), and stoppers (427) may be spaced apart at 180° intervals in the circumferential direction. When three extension arms (520), pushers (530), movement paths (425), and stoppers (427) are each provided, each of the extension arms (520), pushers (530), movement paths (425), and stoppers (427) may be spaced apart at intervals of 120° in the circumferential direction.

[0265] In a robot vacuum cleaner (1) according to an embodiment of the present invention, a first locking projection (470) may be formed protrudingly on the outer surface of a driver (400), and a second locking projection (221) may be formed protrudingly on the inner surface of a mop shaft housing (220). (See FIG. 13) The first locking projection (470) may be formed along the vertical direction at a part of the outer surface of the second sleeve (420). The second locking projection (221) may be formed along the vertical direction at a part of the inner surface of the mop shaft housing (220).

[0266] As described above, in the upper position, at least a portion of the driver (400) is received inside the mop shaft housing (220), and when the rotor (500) rotates in the second rotational direction (RD2), the driver (400) is pushed by the rotor (500) and rotates in the second rotational direction (RD2) by a certain angle, and then the first locking projection (470) catches on the second locking projection (221) and the rotation is stopped.

[0267] At this time, when the rotor (500) rotates further in the second rotation direction (RD2), the pusher (530) of the rotor (500) moves upward along the inclined surface (425b), and accordingly, the driver (400) is pushed downward by the pusher (530) and moves to the lower position. When the pusher (530) of the rotor (500) crosses the upper part of the inclined surface (425b) and is positioned on the pressing surface (425c), stable maintenance of the lower position is achieved.

[0268] The first magnetic part (610) may be fixedly provided on the upper side of the map plate (700).

[0269] The second magnetic part (620) may be fixedly provided on the lower side of the driver (400). The second magnetic part (620) may be configured to exert an attractive force with the first magnetic part (610). Both the first magnetic part (610) and the second magnetic part (620) may be composed of permanent magnets. When either the first magnetic part (610) or the second magnetic part (620) is composed of a permanent magnet, the other may be composed of a metal that exerts an attractive force with the permanent magnet.

[0270] The map plate (700) may be formed to include a first fastening part (720) protruding upward from the center.

[0271] The first magnetic part (610) can be fixed to the upper side of the first fastening part (720).

[0272] The driver (400) may be formed to include a second fastening part (480) that is opened downward from the center and into which a first fastening part (720) is inserted.

[0273] The second fastening part (480) may be formed in a shape that extends downward from the bottom of the first sleeve (410). The second fastening part (480) may be formed in the shape of a circular pipe and open downward.

[0274] The second magnetic part (620) can be fixedly provided inside the second fastening part (480).

[0275] The second magnetic part (620) can be inserted into and coupled to the interior of the second fastening part (480). The second magnetic part (620) may be made of metal and may be formed in the shape of a cap that is concave toward the lower side (open toward the upper side). After being inserted into the interior of the second fastening part (480), the second magnetic part (620) can be fixed to the driver (400) in a form that is pressed into the interior of the first sleeve (410).

[0276] The second magnetic part (620) is located above the first magnetic part (610). When the map plate (700) and the driver (400) are combined, the first magnetic part (610) and the second magnetic part (620) can be positioned in close contact or near each other. Accordingly, an attractive force acts between the first magnetic part (610) and the second magnetic part (620), and a stable connection between the driver (400) and the map plate (700) can be achieved.

[0277] The first fastening part (720) can be inserted into the interior of the second fastening part (480), thereby allowing the first fastening part (720) and the second fastening part (480) to be joined. The first fastening part (720) and the second fastening part (480) can be engaged with each other to prevent rotation around the map shaft (210). That is, the first fastening part (720) and the second fastening part (480) can be joined so as not to rotate relative to each other around the map shaft (210).

[0278] FIG. 10 is a cross-sectional perspective view showing a part of the configuration of a robot vacuum cleaner (1) so that the first locking part (151) and the second locking part (710) according to an embodiment of the present invention are shown.

[0279] FIG. 11 is a schematic diagram illustrating that when the map plate (700) rotates in the first rotational direction (RD1) in a robot vacuum cleaner (1) according to one embodiment of the present invention, the second locking part (710) moves downwardly inclined toward the first locking part (151).

[0280] FIG. 12 is a schematic diagram illustrating that when the map plate (700) rotates in the first rotational direction (RD1) in a robot vacuum cleaner (1) according to one embodiment of the present invention, the second locking part (710) moves downwardly inclined toward the first locking part (151).

[0281] FIG. 13 is a cross-sectional view of a part of a robot vacuum cleaner (1) according to one embodiment of the present invention, and is a cross-sectional view based on the rotation axis (RA) of the mop shaft (210).

[0282] In the robot vacuum cleaner (1) according to an embodiment of the present invention, the first catch portion (151) and the second catch portion (710) can be varied in the range in which the second catch portion (710) is caught by the first catch portion (151) and slides downwardly inclined when the map plate (700) rotates in the first rotational direction (RD1) in the upper position.

[0283] The first locking part (151) can be formed in various shapes protruding downward from the base plate (150). The second locking part (710) can be formed in various shapes protruding upward from the map plate (700).

[0284] In a robot vacuum cleaner (1) according to an embodiment of the present invention, the first locking part (151) and the second locking part (710) may be formed to be inclined downward along the first rotational direction (RD1). The first locking part (151) may have an increased degree of downward protrusion along the first rotational direction (RD1). The second locking part (710) may have an increased degree of upward protrusion along the opposite direction of the first rotational direction (RD1) (second rotational direction (RD2)).

[0285] The first locking portion (151) includes the first contact portion (151a) which is the lower surface.

[0286] The second locking portion (710) includes a second contact portion (710a) formed to contact the first contact portion (151a) as an upper surface.

[0287] The first contact portion (151a) may be formed as a flat or curved surface. The second contact portion (710a) may be formed as a flat or curved surface.

[0288] At least one of the first contact portion (151a) and the second contact portion (710a) may be formed to be inclined downward along the first rotational direction (RD1).

[0289] The first locking part (151) may be provided in multiple numbers and may be repeatedly formed along the circumferential direction centered on the mop shaft (210).

[0290] The second locking part (710) may be provided in multiple numbers and may be repeatedly formed along the circumferential direction centered on the mop shaft (210).

[0291] As described above, when the mop shaft (210) of the mop actuator (200) rotates in the second rotational direction (RD2) (forward direction) in the upper position, the pusher (530) of the rotor (500) rides up the inclined surface (425b) and presses the pressing surface (425c), and the driver (400) and the mop plate (700) are stably fixed in their positions in the lower position. At this time, the driver (400) moves down below the mop shaft housing (220), and the first locking projection (470) and the second locking projection (221) remain in a state where they do not catch on each other. Also, at this time, the mop plate (700) rotates in the second rotational direction (RD2), and mopping is stably performed.

[0292] And when the mop shaft (210) of the mop actuator (200) rotates in the first rotational direction (reverse direction) in the lower position, relative rotation between the mop shaft (210) (and rotor (500)) and the driver (400) (and mop plate (700)) can be achieved due to friction between the mop (705) and the floor surface (B). At this time, the pusher (530) of the rotor (500) moves down along the inclined surface (425b) of the driver (400), and relatively, the driver (400) and the mop plate (700) rise due to the elastic force of the support spring (490), and a stable and natural transition from the lower position to the upper position is achieved.

[0293] When the mop shaft (210) of the mop actuator (200) rotates further in the first rotational direction (RD1), the rotor (500) rotates together with it and the stopper (540) is inserted into the catch groove (423), and accordingly, the downward movement of the driver (400) toward the mop shaft (210) and the rotor (500) is prevented.

[0294] In this state, when the map shaft (210) of the map actuator (200) rotates further in the first rotational direction (RD1), the first locking part (151) comes into contact with the second locking part (710) and moves downward at an angle, and an external force in the downward direction is applied to the map plate (700). Then, as the first magnetic part (610) and the second magnetic part (620) move away from each other, the attractive force decreases and the map plate (700) is separated downward from the driver (400).

[0295] When the map plate (700) is separated downward by the first locking part (151) and the second locking part (710), the stopper (540) is inserted into the locking groove (423), so the driver (400) is stably fixed in position without moving downward, and the separation of the map plate (700) and the driver (400) is smoothly achieved.

[0296] Although specific embodiments of the present invention have been described and illustrated above, the present invention is not limited to the described embodiments, and those skilled in the art will understand that various modifications and variations can be made to other specific embodiments without departing from the spirit and scope of the present invention. Accordingly, the scope of the present invention should not be determined by the described embodiments but by the technical concept described in the claims.

[0297] A robot vacuum cleaner according to one embodiment of the present invention has significant industrial applicability in that the mop plate can be separated smoothly.

Claims

1. Main body; A mop actuator provided on the main body and configured to rotate a mop shaft; A driver coupled to the above-mentioned mop shaft and configured to rise from a lower position to an upper position; and It includes a mop plate that is attached to the lower side of the main body and is detachably coupled to the driver. A first locking part is formed on the bottom surface of the main body, and a second locking part is formed on the upper surface of the map plate. When the map plate rotates in the first rotational direction in the upper position, the second catch is caught on the first catch and moves downward. Robot vacuum cleaner.

2. In Paragraph 1, When the above-mentioned map plate is in the lower position, if the above-mentioned map shaft rotates in the first rotational direction, the above-mentioned map plate is configured to rise to the upper position. Robot vacuum cleaner.

3. In Paragraph 1, The above-mentioned first catch portion includes a first contact portion which is a lower surface, and The second locking portion includes a second contact portion formed to contact the first contact portion as an upper surface, and At least one of the first contact portion and the second contact portion is formed to be inclined downward along the first rotational direction, Robot vacuum cleaner.

4. In Paragraph 1, The above-mentioned second locking portion is provided in multiple numbers and is repeatedly formed along the circumferential direction centered on the mop shaft, Robot vacuum cleaner.

5. In Paragraph 1, The above robot vacuum cleaner is, It includes a stopper that rotates together with the above-mentioned mop shaft and protrudes in the first rotational direction, When the map plate rotates in the first rotational direction in the upper position, the driver is caught by the stopper and downward movement is prevented. Robot vacuum cleaner.

6. In Paragraph 1, The above robot vacuum cleaner is, A support spring that elastically supports the driver upward against the above-mentioned mop shaft; and A rotor comprising a rotor base fixed to the mop shaft at the upper side of the driver, an extension arm extending downward from the rotor base, and a pusher provided at the lower end of the extension arm; The above driver is, The upper surface is inclined upward along a second rotational direction opposite to the first rotational direction, and includes an inclined surface that forms a path along which the pusher moves. Robot vacuum cleaner.

7. In Paragraph 6, The above rotor is, It includes a stopper protruding in the first rotational direction from the extension arm, The above driver is, A locking groove concave in the first rotational direction so that the above stopper is inserted and caught, Robot vacuum cleaner.

8. In Paragraph 7, The above driver is, A pressing surface extending in the second rotational direction from the top of the above inclined surface and A stopper extending upward from the above pressing surface and including a stopper that prevents movement of the extension arm in the second rotational direction relative to the driver. Robot vacuum cleaner.

9. In Paragraph 6, The above driver is, A first sleeve accommodating the lower portion of the above-mentioned mop shaft and the above-mentioned support spring, and It includes a second sleeve provided on the outer side of the first sleeve, and The above inclined surface is formed in the second sleeve, Robot vacuum cleaner.

10. In Paragraph 9, The driver and the rotor are rotationally symmetric about the map shaft. Robot vacuum cleaner.

11. In Paragraph 6, Each of the above extension arm, the above pusher, and the above inclined surface is provided in multiple numbers along the circumferential direction centered on the above mop shaft and is spaced equally apart. Robot vacuum cleaner.

12. In Paragraph 1, The above-mentioned mop actuator is, It includes a map shaft housing that surrounds the map shaft and opens downward, and A first locking projection is formed on the outer surface of the above driver, and A second locking projection is formed on the inner surface of the above-mentioned mop shaft housing, and In the upper position, at least a portion of the driver is received inside the mop shaft housing, and when the driver rotates in a second rotational direction opposite to the first rotational direction, the first locking projection engages with the second locking projection, thereby preventing rotation. Robot vacuum cleaner.

13. In Paragraph 1, The above robot vacuum cleaner is, A base plate forming the lower side of the above main body and having the first locking portion formed thereon; A holder formed to be vertically movable relative to the base plate and to surround the driver; and A bearing interposed between the driver and the holder; comprising Robot vacuum cleaner.

14. In Paragraph 1, The above robot vacuum cleaner is, A first magnetic part fixedly provided on the upper side of the above map plate; and A second magnetic part fixedly provided on the lower side of the driver and configured to have an attractive force acting with the first magnetic part; comprising Robot vacuum cleaner.

15. In Paragraph 1, The above map plate is, It includes a first fastening part protruding upward from the center, and The above driver is, It includes a second fastening part that is opened downward from the center and into which the first fastening part is inserted, The first fastening part and the second fastening part are engaged with each other to prevent rotation around the mop shaft, Robot vacuum cleaner.

16. A main body having a first locking part provided on the lower side; A driver that moves between a lower position and an upper position higher than the lower position relative to the main body; A map plate disposed on the lower side of the main body, detachably coupled to the driver, and having a second locking portion on its upper side; and It includes a mop actuator that rotates the above driver around an up-and-down mop shaft; and When the map plate rotates in the first rotational direction in the upper position, the second catch is caught on the first catch and slides downward at an angle. Robot vacuum cleaner.

17. In Paragraph 16, The first locking part and the second locking part are formed to be inclined downward along the first rotational direction, Robot vacuum cleaner.

18. In Paragraph 16, The above robot vacuum cleaner is, A support spring that elastically supports the driver upward against the above-mentioned mop shaft; and A rotor fixed to the above-mentioned mop shaft and having a pusher provided at a point spaced radially from the center of the above-mentioned mop shaft by a first radius; comprising The above driver is, It includes a movement path formed along the circumferential direction and forming an upper surface at a point spaced apart from the center of the above-mentioned map shaft by the first radius, and The above movement path is, A base surface located on the lower side of the pusher in the upper position above; An inclined surface formed on the base surface such that it slopes upward along a second rotational direction opposite to the first rotational direction; and A pressing surface extending in the second rotational direction from the top of the inclined surface and located on the lower side of the pusher in the lower position; comprising Robot vacuum cleaner.

19. In Paragraph 18, The above rotor is, It includes a stopper protruding in the first rotational direction, The above driver is, A locking groove formed on the base surface toward the first rotational direction and concave toward the first rotational direction so as to be inserted and caught by the stopper, Robot vacuum cleaner.

20. In Paragraph 19, The above map plate is, A first fastening part protruding upward from the center; and It includes a first magnetic part fixedly provided on the upper side of the first fastening part; and The above driver is, A second fastening part that is opened downward from the center and into which the first fastening part is inserted; and A second magnetic part fixedly provided inside the second fastening part and configured to exert an attractive force with the first magnetic part; comprising Robot vacuum cleaner.

Images