ROBOT CLEANER

Abstract

A robot cleaner according to an embodiment may include a motor, a shaft configured to be rotated by the motor, a first member coupled to receive a rotational force from the shaft and including at least one guide protrusion protruding outwardly, and a second member coupled to allow the at least one guide protrusion to slidably move and including at least one guide groove formed in an inner side thereof. The first member may be configured to rotate relative to the second member such that the at least one guide protrusion moves along the at least one guide groove and moves upward or downward of the second member.

Description

BACKGROUND

Field

Various embodiments of the disclosure relate to a robot cleaner.

Description of Related Art

A robot cleaner (or robot vacuum cleaner) is a device that automatically cleans a cleaning space while moving through the cleaning space area without its user's manipulation. In general, the robot cleaner may perform actions such as sucking up foreign substances such as dust accumulated on a cleaning surface (e.g., a floor) or wiping up foreign substances such as dirt adhering onto the cleaning surface with a cleaning cloth. Some of these robot cleaners include a type of robot cleaner that attaches a cleaning cloth (or mop) to one side and rotates the cleaning cloth to wipe away the foreign substances attached to the cleaning surface.

During cleaning with a cleaning cloth of a robot cleaner, a carpet or rug made of cloth, fabric, or other textile on a floor can be easily wet and contaminated or smelled by moisture when it comes into contact with moisture of the cleaning cloth. The robot cleaner may drive to avoid such easily contaminated objects during its automatic cleaning, but it may reduce cleaning efficiency.

Further, when the robot cleaner passes a raised step formed on a floor while performing a wet cleaning, the raised step may be caught by the cleaning cloth attached to a cleaning cloth module.

SUMMARY

A robot cleaner according to an embodiment may include a motor, a shaft configured to be rotated by the motor, a first member configured to receive a rotational force from the shaft and including a guide protrusion protruding outwardly and a second member including a guide groove formed on an inner side thereof, and the second member is coupled with the first member so that the guide protrusion slidably move along the guide groove. The first member is configured to rotate relative to the second member, such that the guide protrusion moves along the guide groove and moves upward or downward of the second member. The shaft is configured to rotate together with the first member.

According to an embodiment, the robot cleaner may further include a cleaning cloth module coupled to the first member to receive a rotational force from the first member.

According to an embodiment, the cleaning cloth module may be configured to move up and down together with the first member.

According to an embodiment, the robot cleaner may further include a unidirectional rotating body directly or indirectly coupled to the second member so that the second member is rotatable only in one direction.

According to an embodiment, the unidirectional rotating body may surround an outer circumferential surface of the second member.

According to an embodiment, the second member may include a gear-shaped teeth portion protruding outward from the outer circumferential surface. The robot cleaner may include a unidirectional rotation gear engaged with the teeth portion to connect the second member and the unidirectional rotating body.

According to an embodiment, the unidirectional rotating body may be a one-way bearing.

According to an embodiment, the second member may include a stopper positioned at an end of the guide groove to stop movement of the guide protrusion.

According to an embodiment, the second member may include a guide protrusion insertion hole, on an upper surface thereof, configured for the guide protrusion to be inserted into the guide groove.

According to an embodiment, the second member may include a threshold extending inward from a lower end of an outer circumferential surface of the second member to selectively support the first member.

According to an embodiment, the guide protrusion may be disposed on an outer part of an upper portion of the first member.

According to an embodiment, the robot cleaner may further include a gear assembly configured to transmit power of the motor to the shaft.

According to an embodiment, the motor may further include a worm forming portion configured to be coupled to the gear assembly.

According to an embodiment, the gear assembly may include a power transmission gear portion coupled to the motor and a shaft coupling gear portion coupled to the power transmission gear portion and the shaft.

According to an embodiment, the shaft coupling gear portion may include a shaft extension portion extending in a downward axial direction from a center thereof.

According to an embodiment, the shaft coupling gear portion may include a shaft coupling opening formed to pass through a center portion axially and configured to allow the shaft to be coupled thereto.

According to an embodiment, the shaft coupling gear portion, the shaft, and the first member may be configured to rotate together about the same rotation axis.

According to an embodiment, the guide groove may extend in a screw shape along a circumferential direction of the second member.

According to an embodiment, the shaft may include a first magnetic body disposed at a lower end thereof.

According to an embodiment, the robot cleaner may further include a cleaning cloth module including a second magnetic body coupled to the first magnetic body and a shielding member disposed below the second magnetic body to shield a magnetic force directed to a lower side of the first magnetic body. The cleaning cloth module may be configured to receive a rotational power from at least one of the shaft or the first member.

Effects that can be obtained from example embodiments of the disclosure are not limited to the effects mentioned above, and other effect not mentioned herein may be clearly derived and understood from the following description by those having ordinary knowledge in the technical field to which the example embodiments of the disclosure belong. In other words, unintended effects in practicing the example embodiments of the disclosure may be also derived by those having ordinary knowledge in the corresponding technical field from the example embodiments of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects, features, and advantages of certain embodiments of the present disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a perspective view of a robot cleaner according to an embodiment;

FIG. 2 is a bottom view of a robot cleaner according to an embodiment;

FIG. 3 is a functional block diagram illustrating a relationship between components based on control and operation of a robot cleaner according to an embodiment;

FIG. 4 is a perspective view of a cleaning drive unit and a cleaning cloth module according to an embodiment;

FIG. 5 is a side view of a cleaning drive unit and a cleaning cloth module according to an embodiment;

FIG. 6 is a view in which some components are omitted from FIG. 5;

FIG. 7 is an exploded perspective view of a cleaning drive unit and a cleaning cloth module according to an embodiment;

FIG. 8 is a cross-sectional view of a cleaning drive unit according to an embodiment;

FIG. 9 is a view for describing a gear assembly structure of a cleaning drive unit according to an embodiment;

FIG. 10A is an upper perspective view of a second member according to an embodiment;

FIG. 10B is a cross-sectional view taken along line X-X of FIG. 10A;

FIG. 10C is a plan view of a second member according to an embodiment;

FIG. 10D is a bottom view of a second member according to an embodiment;

FIG. 11A is an upper perspective view of a first member according to an embodiment;

FIG. 11B is a plan view of a first member according to an embodiment;

FIG. 12A is an exploded perspective view of a rise detection unit according to an embodiment;

FIG. 12B is a bottom view of a sensor frame according to an embodiment;

FIG. 12C is a side view of a frame according to an embodiment;

FIGS. 13A to 13E are views for describing an operating process of a cleaning drive unit according to a rotation direction according to an embodiment of the disclosure;

FIG. 14 is a perspective view of a cleaning drive unit according to an embodiment;

FIG. 15 is a side view of a cleaning drive unit according to an embodiment;

FIG. 16 is an exploded perspective view of a cleaning drive unit according to an embodiment;

FIG. 17 is a cross-sectional view of a cleaning drive unit according to an embodiment;

FIGS. 18A to 18E are views for describing an operating process of a cleaning drive unit in a rotation direction according to an embodiment; and

FIG. 19 is an example diagram illustrating a process of attaching and detaching a cleaning cloth of a robot cleaner in a docking station according to an embodiment.

In the following description, reference is made to the accompanying drawings, and specific examples that may be implemented are illustrated as examples in the drawings. Further, other examples may be used and structural changes may be made without departing from the scope of various examples.

DETAILED DESCRIPTION

Various embodiments used to explain the principles of the disclosure in FIGS. 1 to 19 and this patent document disclosed below are only for illustrative purposes, and should not be interpreted as limiting the scope of the disclosure in any way. An expert skilled in the art will understand that the principles of the disclosure may be implemented in any suitably arranged system or apparatus.

Hereinafter, various embodiments of the disclosure will be described in detail with reference to the drawings such that those having ordinary knowledge in the technical field to which the disclosure pertains can easily practice the disclosed invention. However, the disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In connection with the description of the drawings, the same or similar reference numerals may be used for the same or similar components. Further, in the drawings and their associated descriptions, descriptions of well-known functions and configurations may be omitted for clarity and brevity.

FIG. 1 is a perspective view of a robot cleaner according to an embodiment. FIG. 2 is a bottom view of a robot cleaner according to an embodiment.

Referring to FIGS. 1 and 2, according to an embodiment, a robot cleaner 100 may in a state in which a cleaning cloth P (e.g., a water mop or a dry mop) that may be in contact with a surface to be cleaned (e.g., a floor surface) is mounted onto a cleaning cloth module 140 in a lower part thereof. The robot cleaner 100 may include a cleaning cloth module 140. The robot cleaner 100 may perform cleaning (or mopping) to remove foreign substances attached to the surface to be cleaned, using the cleaning cloth P mounted onto the cleaning cloth module 140. For example, the robot cleaner 100 may rotate the cleaning cloth P mounted thereon and use a frictional force between the cleaning cloth P and the floor surface generated by the rotation of the cleaning cloth P to remove foreign substances attached to the floor surface.

The robot cleaner 100, when passing through an area where wet cleaning should be avoided, such as on a carpet, during its cleaning process, may allow the cleaning cloth module 140 to be raised and lowered to be lifted away from the carpet. Hereinafter, a structure for raising and lowering the cleaning cloth module 140 of the robot cleaner 100 will be described later.

According to an embodiment, the robot cleaner 100 may include a main body 110, a control panel 120, a traveling unit 130, a cleaning cloth module 140, and a battery 150.

According to an embodiment, the main body 110 may form a substantive appearance of the robot cleaner 100. According to an embodiment, the main body 110 may include a cleaner body 111 and a cleaner cover 112. According to an embodiment, the cleaner body 111 may form an outer appearance of a lower part disposed adjacent to a floor surface (or a surface to be cleaned) while the robot cleaner 100 is driven for cleaning, and a side part extending upward from an edge of the lower part to form a side of the robot cleaner 100. Although not specifically illustrated, according to an embodiment, the robot cleaner 100 may include a bumper on a side of the cleaner body 111 to mitigate an impact from the outside.

According to an embodiment, a power button 113 may be disposed on one side of the cleaner body 111. According to an embodiment, the power button 113 may be manipulated on/off by a user to turn power of the robot cleaner 100 on/off. The power button 113 may be implemented, for example, in a type of button switch, but is not limited thereto.

According to an embodiment, the cleaner body 111 may be formed such that an upper side thereof is opened. According to an embodiment, inside the cleaner body 111 may be formed an inner space in which various components (e.g., a drive unit 360 or a liquid container of FIG. 3) for operating the robot cleaner 100 are disposed.

According to an embodiment, the cleaner cover 112 may form an upper exterior of the robot cleaner 100. According to an embodiment, the cleaner cover 112 may be coupled to an upper side of the cleaner body 111. According to an embodiment, the cleaner cover 112 may be provided to cover an opening of the cleaner body 111. According to an embodiment, the cleaner cover 112 may be detachably coupled to the cleaner body 111. After separating the cleaner cover 112, the user may make access to the components inside the main body 110 through the opening of the cleaner body 111. According to an embodiment, the cleaner body 111 and the cleaner cover 112 may be integrally formed.

According to an embodiment, the control panel 120 may be disposed in an upper portion of the robot cleaner 100. The control panel 120 may be disposed, for example, on an upper surface of the cleaner cover 112, but the disclosure is not limited thereto.

According to an embodiment, the control panel 120 may receive various commands for the operation of the robot cleaner 100 from the user. According to an embodiment, the control panel 120 may include an input device such as a button, a switch, or a touch panel. In such a case, the robot cleaner 100 may receive the commands (e.g., start/stop cleaning or change a cleaning mode) related to the operation of the robot cleaner 100 from the user through the control panel 120. According to an embodiment, the control panel 120 may include a signal input device for receiving various commands input from the user through an external remote control unit in the form of an infrared signal, and the disclosure is not limited to such a specific form.

According to an embodiment, the control panel 120 may provide the user with information on a current state of the operation of the robot cleaner 100. According to an embodiment, the control panel 120 may include a display device such as a display. In this case, the robot cleaner 100 may visually present information (e.g., a current cleaning mode or a battery state) about the current state of the robot cleaner 100 to the user through the display device. According to an embodiment, the above-described input device or display device may be integrally provided on the control panel 120, but the disclosure is not limited thereto.

According to an embodiment, the traveling unit 130 may be disposed on a rear surface of the cleaner body 111. According to an embodiment, the traveling unit 130 may be configured to enable a free movement of the robot cleaner 100. The robot cleaner 100 may make a free movement throughout a cleaning space by means of the traveling unit 130.

According to an embodiment, the traveling unit 130 may include one or more wheels that are connected to and powered by a drive unit (e.g., a traveling drive unit 361 of FIG. 3) to rotate. The traveling unit 130 may include, for example, a pair of main wheels (e.g., a first main wheel 131a and a second main wheel 131b). According to an embodiment, the first main wheel 131a and the second main wheel 131b may be disposed to maintain balancing of the robot cleaner 100. The first main wheel 131a and the second main wheel 131b may be disposed, for example, at opposite edges of the rear surface of the cleaner body 111.

According to an embodiment, the traveling unit 130 may include a first sub-wheel 132 or a second sub-wheel 133. According to an embodiment, the first sub-wheel 132 and the second sub-wheel 133 may be disposed in a front side (e.g., in F direction) and a rear side (e.g., in R direction) respectively, in a direction perpendicular to the direction in which the first main wheel 131a and the second main wheel 131b are disposed.

The traveling direction of the robot cleaner 100 may be determined according to how the movement of each of the first main wheel 131a and the second main wheel 131b is controlled. For example, when each of the first main wheel 131a and the second main wheel 131b is controlled at the same speed, the robot cleaner 100 may move forward (e.g., in the F direction) or backward (e.g., in the R direction). For example, when the first main wheel 131a and the second main wheel 131b are respectively controlled at different speeds with respect to each other, the robot cleaner 100 may move changing its travelling direction based on a preset direction.

According to an embodiment, each of the first sub-wheel 132 and the second sub-wheel 133 may be disposed such that the robot cleaner 100 is balanced when the robot cleaner 100 moves forward (e.g., moving in the F direction) or backward (e.g., moving in the R direction). The first sub-wheel 132 may be disposed, for example, in a front side (e.g., in the F direction) of a rear surface of the cleaner body 111. The second sub-wheel 133 may be disposed, for example, in a rear side (e.g., in the R direction) of the rear surface of the cleaner body 111.

According to an embodiment, the cleaning cloth module 140 may be disposed in a bottom part of the robot cleaner 100. The cleaning cloth module 140 may be disposed, for example, on the rear surface of the cleaner body 111. According to an embodiment, the cleaning cloth module 140 may be disposed in a front side of the rear surface (e.g., in the F direction) of the cleaner body 111, but the disclosure is not limited thereto. A cleaning cloth P (e.g., a wet mop or a dry mop) for cleaning a surface to be cleaned, such as a floor surface, may be detachably coupled to the cleaning cloth module 140.

According to an embodiment, the cleaning cloth module 140 may rotate clockwise or counterclockwise together with the cleaning cloth P mounted on the cleaning cloth module 140. When the cleaning cloth module 140 rotates together with the cleaning cloth P coupled thereto, friction may occur between the cleaning cloth P and the floor surface, and thus the robot cleaner 100 may remove foreign substances attached to the floor surface.

According to an embodiment, the cleaning cloth module 140 may rise or fall in a predetermined range in a height direction of the robot cleaner 100 (or in a direction substantially perpendicular to the ground) (e.g., in a U or D direction of FIG. 1).

According to an embodiment, the cleaning cloth module 140 may include a first cleaning cloth module 140a or a second cleaning cloth module 140b. The first cleaning cloth module 140a and the second cleaning cloth module 140b may be configured to correspond to each other in terms of operation, structure, and shape.

According to an embodiment, the cleaning cloth module 140 (e.g., the first cleaning cloth module 140a and the second cleaning cloth module 140b) may include a rotation member (e.g., a first rotation member 141a or a second rotation member 141b), respectively. The cleaning cloth P may be attached to the lower surfaces of the rotation members 141a and 141b.

According to an embodiment, the first rotation member 141a and the second rotation member 141b may have a disk shape as a whole, but the disclosure is not limited thereto. According to an embodiment, a diameter of the first rotation member 141a may be set to be substantially the same as or smaller than a diameter of the cleaning cloth P, but the disclosure is not limited thereto. Likewise, the diameter of the second rotation member 141b may be set to be substantially the same as or smaller than the diameter of the cleaning cloth P, but is not limited thereto.

According to an embodiment, the battery 150 may be disposed in a lower part of the robot cleaner 100. According to an embodiment, the battery 150 may be provided to be detachable downward from the rear surface of the cleaner body 111, but the disclosure is not limited thereto. For example, the battery 150 may be electrically connected to a drive unit (e.g., a drive unit 360 of FIG. 3) to supply power to the drive unit 360. For example, the battery 150 may be electrically connected to a traveling drive unit (e.g., a traveling drive unit 361 of FIG. 3) to supply power to the traveling drive unit 361. For example, the battery 150 may be electrically connected to a cleaning drive unit (e.g., a cleaning drive unit 362 of FIG. 3) to supply power to the cleaning drive unit 362. The battery 150 may include a rechargeable secondary battery, but is not limited thereto.

According to an embodiment, at least a portion of the drive unit (e.g., the drive unit 360 of FIG. 3) may be provided inside the main body 110 of the robot cleaner 100. For example, at least a portion of the drive unit 360 may be disposed in an inner accommodation space formed by the cleaner body 111. The drive unit 360 may include, for example, a motor and/or an actuator, and may include a plurality of components for supplying power to each of the traveling unit 130 or the cleaning cloth module 140.

According to an embodiment, the robot cleaner 100 may include a liquid container (not shown) configured to store liquid for wet cleaning. The liquid stored in the liquid container may be, for example, water, but is not limited thereto, and may include a liquid material such as soap or solvent used for cleaning. The liquid container may be detachably disposed in the inner accommodation space of the cleaner body 111. The user may have access to the liquid container by separating the cleaner cover 112 from the cleaner body 111 and opening the upper part of the cleaner body 111.

According to an embodiment, the robot cleaner 100 may include a liquid dispenser (not shown). The liquid dispenser may, for example, have one end fluidly communicating with the liquid container, and the other end fluidly communicating with the cleaning cloth module 140 disposed below the robot cleaner 100. The liquid dispenser may be, for example, a tube or hose. The robot cleaner 100 may supply liquid (e.g., water) to the cleaning cloth P mounted on the cleaning cloth module 140 through the liquid container and/or the liquid dispenser.

Although not illustrated in FIGS. 1 and 2, the robot cleaner 100 may include a control unit (e.g., a control unit 350 of FIG. 3) for generating control commands for controlling the operation of each unit or component of the robot cleaner 100. According to an embodiment, the control and driving operation of the robot cleaner 100 by the control unit 350 will be described in detail with reference to FIG. 3.

FIG. 3 is a functional block diagram illustrating a relationship between components based on control and operation of a robot cleaner according to an embodiment.

A robot cleaner 300 of FIG. 3 may be substantially the same as or similar to the robot cleaner 100 of FIGS. 1 and 2. FIG. 3 illustrates a block diagram related to the control of the robot cleaner 100 of FIGS. 1 and 2. For example, the robot cleaner 100 of FIGS. 1 and 2 may include the components illustrated in FIG. 3. For example, the robot cleaner 300 of FIG. 3 may include the components illustrated in FIGS. 1 and 2.

Referring to FIG. 3, the robot cleaner 300 may include a detection unit 310, a communication unit 320, an input unit 330, memory 340, a control unit 350, and/or a drive unit 360.

According to an embodiment, the robot cleaner 300 may include the detection unit 310. The detection unit 310 may include a plurality of sensors or cameras for detecting a surrounding environment of the robot cleaner 300. The detection unit 310 may include, for example, a plurality of cameras to photograph various directions of the environment. A distance sensor may include, for example, an ultrasonic sensor, a radar sensor, and/or a LIDAR (light detection and ranging) sensor, but the disclosure is not limited thereto. The detection unit 310 may include, for example, a microphone or an infrared sensor for detecting the surrounding environment. According to an embodiment, the detection unit 310 may detect the degree of contamination of each cleaning cloth (e.g., the cleaning cloth P of FIG. 1) that is coupled to each cleaning cloth module (e.g., the cleaning cloth module 140 of FIG. 1) of the robot cleaner 300 to be used for cleaning, but the disclosure is not limited thereto.

In an example, the robot cleaner 300 may include the communication unit 320 configured to support transmission/reception of signals to/from the outside. In an example, the communication unit 320 may receive and/or transmit wired/wireless signals between an external wired/wireless communication system, an external server, and/or other devices, according to a designated wired/wireless communication protocol. In an example, the communication unit 320 may transmit and receive data according to a wireless Internet communication protocol such as, e.g., WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced) or the like. In an example, the communication unit 320 may transmit and receive data according to one or more short-range communication protocols including, for example, Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wide Band), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, Wireless USB (Universal Serial Bus) or the like. In an example, the communication unit 320 may receive a configuration data signal input by a user in a mobile device of the user, in the form of a wireless signal according to a predetermined wireless communication protocol. In an example, the communication unit 320 may receive information and/or a command for controlling the operation of the robot cleaner 300 from an external server, in the form of a signal according to a predetermined wired/wireless communication protocol. The communication unit 320 may transmit the received various signals to the control unit 350 to be described later. In an example, the communication unit 320 may transmit various data generated or obtained from the robot cleaner 300, for example, to a mobile device of a user or an external server, in the form of a wired/wireless signal according to a predetermined wired/wireless communication protocol.

In an example, the communication unit 320 may include a module for obtaining a position of the robot cleaner 300, for example, a GPS (Global Positioning System) module or a Wi-Fi module. When the robot cleaner 300 utilizes the GPS module, the robot cleaner 300 may receive information on the position of the robot cleaner 300 using signals transmitted from a GPS satellite. When the robot cleaner 300 utilizes the Wi-Fi module, the robot cleaner 300 may receive information on the position of the robot cleaner 300 based on information of a wireless access point (AP) that transmits and receives a wireless signal to and from the Wi-Fi module.

According to an embodiment, the robot cleaner 300 may include the input unit 330. The input unit 330 may receive, for example, information about an operation mode of the robot cleaner 300 from a user. The input module 330 may include, for example, a keypad, a dome switch, a touch pad (capacitive or pressure-sensitive type), a jog wheel, a jog switch, or a remote control. In addition to the aforementioned input unit 330, the user may input information on the operation mode of the robot cleaner 300 using a portable device such as a terminal.

According to an embodiment, the robot cleaner 300 may include the memory 340. The memory 340 may include a circuit. According to an embodiment, the memory 340 may store data for supporting various functions of the robot cleaner 300. The memory 340 may store, for example, a plurality of application programs (or applications) used in the robot cleaner 300, data for operating the robot cleaner 300, and/or instructions. At least some of the application programs may be downloaded from an external server over wireless communication. At least some of the application programs may be stored in the memory 340 from the time of factory releasing for the basic functionality of the robot cleaner 300. For example, the application program may be stored in the memory 340 and driven to perform the operation (or functions) of the robot cleaner 300 by the control unit 350. According to some embodiments, the memory 340 may be incorporated as a part of the control unit 350. According to an embodiment, the memory 340 may store information for setting a traveling route of the robot cleaner 300.

According to an embodiment, the robot cleaner 300 may include the control unit 350. According to an embodiment, the control unit 350 may control the operation of the robot cleaner 300, using signals transmitted from the detection unit 310, the communication unit 320, or the input unit 330, for example. Although not specifically illustrated herein, the control unit 350 may include one or more processors.

According to an embodiment, the control unit 350 may include at least one of e.g., a CPU (Central Processing Unit), an MPU (Microprocessor Unit), a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a CP (Control Processor), an AP (Application Processor), an SoC (System on Chip) or an integrated circuit (IC).

According to an embodiment, the control unit 350 may include a command reception unit 351. The command reception unit 351 may receive a drive-related command input externally, for example, via the detection unit 310, the communication unit 320, or the input unit 330 described above. The command reception unit 351 may receive a user's command received from the power button 113 and/or the control panel 120 described above. The command reception unit 351 may receive each user command including a power on/off command, a cleaning start or pause command, or a cleaning mode setting command.

According to an embodiment, the control unit 350 may include a cleaning cloth replacement determination unit 352 for determining whether a cleaning cloth P coupled to the cleaning cloth module 140 needs to be replaced during a cleaning process of the robot cleaner 300. According to an embodiment, the cleaning cloth replacement determination unit 352 may obtain a result of detection by a pollution sensor (not shown) provided in the detection unit 310 and determine whether the cleaning cloth P needs to be replaced based on the obtained information. According to an embodiment, the cleaning cloth replacement determination unit 352 may determine whether to replace the cleaning cloth P based on a cleaning time elapsed after attaching the cleaning cloth P to the cleaning cloth module 140. According to an embodiment, the cleaning cloth replacement determination unit 352 may determine whether to replace the cleaning cloth P according to a command received from the command reception unit 351.

According to an embodiment, the control unit 350 may include a traveling path calculation unit 353 for calculating a traveling path of the robot cleaner 300. According to an embodiment, the traveling path calculation unit 353 may calculate the traveling path of the robot cleaner 300, based on a predetermined algorithm, a detection result detected by various sensors provided in the detection unit 310, and/or a user command received through the command reception unit 351. According to an embodiment, the traveling path calculation unit 353 may calculate the traveling path in consideration of a detection result from the sensors provided in the detection unit 310.

According to an embodiment, when the cleaning cloth replacement determination unit 352 determines that the cleaning cloth P needs to be replaced, the traveling path calculation unit 353 may calculate a traveling path for moving the robot cleaner 300 to a preset position. For example, when the cleaning cloth replacement determination unit 352 determines that the robot cleaner 300 needs to replace the cleaning cloth P, the cleaning cloth replacement determination unit 352 may calculate a traveling path for driving the robot cleaner 300 to a docking station (e.g., a docking station 1900 of FIG. 19).

According to an embodiment, the control unit 350 may include a drive unit control command unit 354. According to an embodiment, the drive unit control command unit 354 may generate a control command for controlling each component of the drive unit 360 of the robot cleaner 300, for example, each motor and/or actuator of the respective drive unit 360, based on various commands received from the user or the outside through the command reception unit 351, a detection result detected by various sensors provided in the detection unit 310 of the robot cleaner 300, and/or a traveling path determined by the traveling path calculation unit 353.

According to an embodiment, each component of the drive unit 360 may operate according to a command generated by the drive unit control command unit 354. According to an embodiment, the drive unit 360 may include a traveling drive unit 361 and a cleaning drive unit 362.

According to an embodiment, the traveling/moving of the robot cleaner 300 may be controlled according to a command generated by the drive unit control command unit 354. According to an embodiment, according to a command generated by the drive unit control command unit 354, each component of the drive unit (e.g., the traveling drive unit 361) may operate to appropriately control the rotation direction and/or speed of the main wheel (e.g., the first main wheel 131a or the second main wheel 131b of FIG. 2), thereby allowing the robot cleaner 300 to move appropriately in any required direction.

According to an embodiment, the traveling drive unit 361 may include a pair of traveling drive units. Although not specifically illustrated herein, according to an embodiment, each of the pair of traveling drive units 361 may include a motor and an actuator. Each of the pair of traveling drive units 361 may be connected to the above-described traveling unit (e.g., the traveling unit 130 of FIG. 1), for example, each of the first main wheel 131a and the second main wheel 131b, to provide power required to move the robot cleaner 100.

According to an embodiment, the rotation and/or up/down (vertical) movement of the cleaning cloth module (e.g., the cleaning cloth module 140 of FIG. 2) may be controlled according to a command generated by the drive unit control command unit 354. For example, the drive unit control command unit 354 may control the vertical movement of the cleaning cloth module 140 by controlling the rotating direction of each rotation member (e.g., the rotation members 141a and 141b of FIG. 2) of the cleaning cloth module 140. In such a case, a distance between the cleaning cloth module 140 and the floor surface may be adjusted.

According to an embodiment, the cleaning drive unit 362 may operate to appropriately adjust the rotational speed of each of the rotation members 141a and 141b of the cleaning cloth module 140 according to a command generated by the drive unit control command unit 354. In this case, the floor cleaning intensity by the robot cleaner 300 may be adjusted.

According to an embodiment, the cleaning drive unit 362 may raise or lower the cleaning cloth module 140 in a vertical direction according to a command generated by the drive unit control command unit 354.

According to an embodiment, the cleaning drive unit 362 may include a pair of cleaning drive units 362. Although not explicitly illustrated herein, according to an embodiment, each of the pair of cleaning drive units 362 may include a rotary motor and an actuator, and may be connected to each of the cleaning cloth module 140, for example, a first cleaning cloth module (e.g., the first cleaning cloth module 140a of FIG. 2) and a second cleaning cloth module (e.g., the second cleaning cloth module 140b of FIG. 2) to provide power required to rotate the rotation members 141a and 141b of each cleaning cloth module.

According to an embodiment, the cleaning cloth module 140 may be separated from the cleaning drive unit 362 according to a command generated by the drive unit control command unit 354. For example, the cleaning drive unit 362 may separate the cleaning cloth module 140 from the cleaning drive unit 362 by moving the cleaning cloth module 140 upward by the drive unit control command unit 354. An operation of the robot cleaner 300 automatically separating the cleaning cloth module 140 from the cleaning drive unit 362 will be described later in more detail.

FIG. 4 is a perspective view of a cleaning drive unit and a cleaning cloth module according to an embodiment. FIG. 5 is a side view of a cleaning drive unit and a cleaning cloth module according to an embodiment. FIG. 6 is a view in which some components are omitted from FIG. 5. FIG. 7 is an exploded perspective view of a cleaning drive unit and a cleaning cloth module according to an embodiment. FIG. 8 is a cross-sectional view of a cleaning drive unit and a cleaning cloth module according to an embodiment.

A cleaning drive unit 400 illustrated in FIGS. 4 to 8 may have substantially the same configuration and function as those of the cleaning drive unit 362 described with reference to FIG. 3. The cleaning drive unit 400 illustrated in FIGS. 4 to 8 may be mounted as one component of the robot cleaner 100 described above. The cleaning drive unit 400 illustrated in FIGS. 4 to 8 may be electrically connected to the control unit of FIG. 3 (e.g., the control unit 350 of FIG. 3). The cleaning drive unit 400 illustrated in FIGS. 4 to 8 is of an example only, and the structure of the cleaning drive unit 400 is not limited to the structure illustrated. The robot cleaner 100 may include a cleaning cloth module 500.

Referring to FIGS. 4 to 8, the cleaning drive unit 400 may include a housing 410, a motor 420, a gear assembly 430, a shaft 440, a first member 450, a second member 460, a unidirectional rotating body 470, a unidirectional rotation gear 475, and/or a rise detection unit 480. For example, components such as a gear assembly (e.g., the gear assembly 430 of FIG. 9) for transmitting power generated by the motor 420 may be disposed in the housing 410. The cleaning cloth module 500 illustrated in FIGS. 4 to 8 may have the same structure and shape as those of the cleaning cloth module 140 described with reference to FIGS. 1 and 2.

According to an embodiment, the housing 410 may form an accommodation space therein. At least one of the gear assembly 430, the first member 450, the second member 460, the unidirectional rotating body 470, or the unidirectional rotation gear 475 may be disposed within the housing 410. The housing 410 may be configured to accommodate a plurality of configurations for rotating and/or moving the cleaning cloth module 500 up and down. As illustrated, the housing 410 may form one housing 410 with a plurality of sub-housings combined with each other.

According to an embodiment, an opening 411 may be formed in a lower part of the housing 410. The opening 411 may be a portion formed to allow the first member 450 and the shaft 440 pass therethrough, as will be described later. The first member 450 may be coupled to the cleaning cloth module 500 through the opening 411. The shaft 440 may be coupled to the cleaning cloth module 500 through the opening 411.

According to an embodiment, the gear assembly 430 may include a shaft coupling gear portion 432. The shaft coupling gear portion 432 may be disposed to transmit power of the motor 420 to the shaft 440. The shaft coupling gear portion 432 may be disposed above the second member 460.

According to an embodiment, the shaft coupling gear portion 432 may include a shaft extension portion 4321. The shaft extension portion 4321 may extend axially from a central lower portion of the shaft coupling gear portion 432. The shaft extension portion 4321 may have a diameter less than that of the first member 450 or the second member 460 to be described later.

According to an embodiment, the shaft extension portion 4321 may include a shaft coupling opening 4321a into which at least a portion of the shaft 440 is inserted. The shaft coupling opening 4321a may be formed to pass through the shaft coupling gear portion 432 vertically (or in the axial direction). The shaft coupling opening 4321a may be formed in a central portion of the shaft coupling gear portion 432. The shaft 440 may be coupled to the shaft coupling gear portion 432 in the form of being inserted into an opening formed inside the shaft extension portion 4321. In a state in which a portion of the shaft 440 is inserted into the shaft coupling opening 4321a, the shaft 440 may be vertically movable by the upper and lower free space of the shaft coupling opening 4321a. For example, when the cleaning cloth module 500 is lifted upward, the shaft 440 may pass through the shaft coupling opening 4321a to press the rise detection unit 480.

According to an embodiment, the shaft coupling opening 4321a may have an angled cross section. For example, the shaft coupling opening 4321a may be formed through the shaft coupling gear portion 432 in a polygonal column shape. The cross-sectional shape of the shaft coupling opening 4321a may correspond to the cross-sectional shape of the shaft 440. For example, when the shaft 440 has a rectangular cross section, the shaft coupling opening 4321a may also have a rectangular cross section. Owing to having such a polygonal cross section, the power of the motor 420 may be transferred to the shaft 440 coupled to the shaft coupling gear portion 432. However, the shape of the shaft coupling opening 4321a is not limited thereto, and may have an elliptical shape.

According to an embodiment, the width of the shaft coupling opening 4321a may be greater than the width of the shaft 440. Such a difference in width may be provided for the shaft 440 to be inserted into the shaft coupling opening 4321a.

According to an embodiment, the cleaning drive unit 400 may further include a first bearing 492. The first bearing 492 may be disposed around the shaft coupling gear portion 432. While the shaft coupling gear portion 432 rotates, the first bearing 492 may reduce a frictional force with a fixed partition wall (e.g., a portion of the housing 410) around the shaft coupling gear portion 432, thereby reducing a loss of a rotational force. Further, by providing the first bearing 492, it is possible to prevent or reduce the shaft coupling gear portion 432 and its surrounding partition wall from being worn due to the frictional force.

According to an embodiment, the shaft 440 may be rotated by receiving power from the motor 420. The shaft 440 may be coupled to the gear assembly 430 to receive the power from the motor 420. The shaft 440 may be disposed such that a lower side of the housing 410 partially protrudes. One end portion of the shaft 440 may be coupled to the cleaning cloth module 500. For example, the shaft 440 may selectively ascend or descend according to the rotating direction of the motor 420.

According to an embodiment, the shaft 440 may be directly coupled to the gear assembly 430 to receive power from the motor 420. The shaft 440 may be coupled to the shaft coupling gear portion 432 to receive power from the motor 420. The shaft 440 may be positioned below the shaft coupling gear portion 432. The shaft 440 may be disposed to extend along a longitudinal direction of the shaft extension portion 4321 of the shaft coupling gear portion 432. The rotation axis of the shaft 440 may be substantially the same as the rotation axis of the shaft coupling gear portion 432.

According to an embodiment, the shaft 440 may include a first magnetic body 442. The shaft 440 may be coupled to the cleaning cloth module 500 by magnetism. The first magnetic body 442 may be disposed at a lower end of the shaft 440. The first magnetic body 442 may be disposed, for example, at an end of the shaft 440 facing the cleaning cloth module 500. The first magnetic body 442 may be disposed, for example, under a locking jaw 441. The first magnetic body 442 may be magnetic-coupled to a second magnetic body 530 of the cleaning cloth module 500 to be described later. For example, at least a portion of the shaft 440 may be formed of a magnetic material.

According to an embodiment, the shaft extension portion 4321 of the shaft coupling gear portion 432 is provided, and thus a coupling area between the shaft 440 and the shaft coupling gear portion 432 may increase. For example, as the length of the shaft extension portion 4321 increases, a contact area between the shaft 440 and the shaft coupling opening 4321a may increase. Due to such a shape of the shaft extension portion 4321, the contact area between the shaft 440 and the shaft coupling gear portion 432 may increase, and as a result, the power may be more stably transmitted to the shaft 440.

According to an embodiment, the shaft 440 may be configured to fix a rotation axis of the cleaning cloth module 500. As the shaft 440 coupled to the shaft coupling gear portion 432 is disposed to extend up to the cleaning cloth module 500 in the axial direction, the shaft 440 may serve to fix the cleaning cloth module 500 so that the cleaning cloth module 500 may be well centered from a centrifugal force and vibrations generated by rotation.

According to an embodiment, the shaft 440 and the first member 450 may be integrally configured. For example, it may be injection-molded into a single component having the shape of the shaft 440 and the first member 450 being coupled together.

Various structures or methods may be applied to raise and/or lower the shaft 440 and the cleaning cloth module 500. For example, a drive unit for rotating the shaft 440 and another drive unit for vertically moving the shaft 440 may be respectively provided to control the movement of the shaft 440. Referring to an embodiment of the disclosure, the structure of rotating or moving up and down the shaft using the motor 420, which is one drive unit, will be described in detail.

According to an embodiment, the first member 450 may be coupled to the shaft 440. The first member 450 may receive power from the shaft 440. The first member 450 may perform a rotational motion and/or a vertical motion using the power transmitted from the shaft 440. The first member 450 may be coupled to move up and down together with the shaft 440. The first member 450 may be referred to as a first bushing.

According to an embodiment, the first member 450 may have a substantially cylindrical shape. The width of the first member 450 may be greater than the width of the shaft 440.

According to an embodiment, the first member 450 may include a first hollow portion 451. The first hollow portion 451 may be disposed to allow the shaft 440 to pass therethrough.

According to an embodiment, the first hollow portion 451 may have an angled cross section. For example, the shape of the first hollow portion 451 may correspond to a cross-sectional shape of the shaft 440. For example, when the shaft 440 has a substantially rectangular cross section, the first hollow portion 451 may also have a substantially rectangular cross section. As such, as the first hollow portion 451 has a polygonal cross section, the power of the shaft 440 may be transmitted to the first member 450. However, the shape of the first hollow portion 451 is not limited thereto, and may have an elliptical shape.

According to an embodiment, the shaft 440 may penetrate the first hollow portion 451 of the first member 450, and the locking jaw 441 formed in the lower side of the shaft 440 may be caught on a peripheral surface of the first hollow portion 451, thereby being coupled with the first member 450.

According to an embodiment, the first member 450 may include a guide protrusion 452. The guide protrusion 452 may protrude outward along an outer circumferential surface of the first member 450. The guide protrusion 452 may have, for example, a threaded shape formed to be inclined along the circumferential direction of the first member 450. The guide protrusion 452 may be positioned in an upper part of the first member 450. The guide protrusion 452 may be inserted into a guide groove 462 of the second member 460 to be described later, and may be provided to move along the guide groove 462. The first member 450 may be vertically moved by rotating the guide protrusion 452 in the extending direction of the guide groove 462.

The first member 450 and the shaft 440 may be in the state of separate configurations combined together as shown, although not limited thereto, and may have a shape such that the first member 450 is integrally formed with the shaft 440. For example, the first member 450 and the shaft 440 may be injection-molded into an integral form. When the first member 450 and the shaft 440 are integrally formed, the first member 450 may be directly coupled to the shaft coupling gear portion 432.

According to an embodiment, the second member 460 may be coupled to the first member 450. The second member 460 and the first member 450 may be coupled to each other by threaded coupling. The first member 450 may be inserted into the second member 460 to be thread-coupled. The second member 460 may be disposed outside the first member 450. For example, the width of the second member 460 may be greater than the width of the first member 450. For example, the second member 460 may be referred to as a second bushing.

According to an embodiment, the second member 460 may be disposed to support the first member 450. The second member 460 may reduce vibrations while the first member 450 is rotated by the shaft 440. The second member 460 may reduce transverse vibrations of the first member 450.

According to an embodiment, the second member 460 may include the guide groove 462. The guide groove 462 may be formed on an inner surface of the second member 460. The guide groove 462 may be formed to extend slantingly in the circumferential direction on an inner circumferential surface of the second member 460. The guide groove 462 may have, for example, a shape such as a threaded groove.

According to an embodiment, the length of the guide groove 462 of the second member 460 may be greater than or equal to the circumferential length of the second member 460.

According to an embodiment, the guide protrusion 452 of the first member 450 may be coupled to the guide groove 462 of the second member 460. When the first member 450 rotates relative to the second member 460 in a state in which the first member 450 is coupled to the second member 460, the guide protrusion 452 may move along the guide groove 462 so that the first member 450 may move up and down. The guide groove 462 may have an inclined path so that the first member 450 may move upward or downward while rotating.

According to an embodiment, the size of the guide protrusion 452 of the first member 450 may be less than the size of the guide groove 462 of the second member 460. For example, a protrusion length of the guide protrusion 452 may be less than a depth of the guide groove 462. For example, a width of the guide protrusion 452 may be less than a width of the guide groove 462.

The vertical movement distance according to the number of rotations of the cleaning cloth module 500 may be adjusted based on an inclination angle of the guide groove 462 formed on the inner surface of the second member 460.

According to an embodiment, the guide groove 462 may include a stopper 466 provided at a lower end thereof. The stopper 466 may prevent the first member 450 from moving downward by generating resistance to the rotational force of the guide protrusion 452 of the first member 450. When the guide protrusion 452 comes into contact with the stopper 466, the second member 460 may receive the rotational force from the first member 450 and rotate together with the first member 450.

According to an embodiment, the second member 460 may be formed with the upper portion and the lower portion being open. For example, a portion (e.g., the shaft extension portion 4321) of the shaft coupling gear portion 432 may be disposed to pass through the open upper portion of the first member 450. For example, a portion of the first member 450 may be disposed to pass through the open lower portion of the first member 450.

According to an embodiment, the second member 460 may include a teeth portion 464. The teeth portion 464 may be formed to protrude outward from the outer circumferential surface 460a of the second member 460. The teeth portion 464 may be disposed to be engaged with a unidirectional rotation gear 475 to be described later.

The first member 450 and the second member 460 may be disposed to be accommodated in an accommodation space formed in the housing 410.

According to an embodiment, the shaft coupling gear portion 432, the first member 450, and the second member 460 may be rotated about a rotation axis C of the same axial direction. Here, the rotation axis C may be perpendicular to the cleaning cloth module 500. For example, the rotation axis C may be perpendicular to a floor surface with which the cleaning cloth P is in contact. Due to such a structure of rotation axis C, an area in which the cleaning cloth P is in contact with the floor surface may be increased. Due to the structure of rotation axis C, the rotational force of the shaft coupling gear portion 432 may be efficiently transmitted to the cleaning cloth module 500. Further, due to the structure of rotation axis C, the loss of torque transmitted from the shaft coupling gear portion 432 to the cleaning cloth module 500 may be reduced.

When the cleaning cloth module 500 rotates through the rotational force of the shaft 440, the shaft 440 may stably rotate by means of the threaded coupling structure of the first member 450 and the second member 460 to transmit an accurate rotational force to the cleaning cloth module. For example, when the shaft 440 rotates, the vibration of the shaft 440 may be reduced because the first member 450 and the second member 460 serve to support the shaft 440. In the cleaning drive unit 400 according to an embodiment of the disclosure, the power transmission efficiency may be increased owing to such a stable transmission structure of rotational force, and the loss of torque transmitted to the cleaning cloth module 500 may be reduced.

According to an embodiment, the cleaning drive unit 400 may further include a second bearing 493. The second bearing 493 may be disposed outside the second member 460. The second bearing 493 may be disposed to surround a portion of the outer circumferential surface of the second member 460 in the circumferential direction. The second bearing 493 may be disposed between the second member 460 and the housing 410. The second bearing 493 may reduce the frictional force between the second member 460 and the inner wall of the housing 410.

According to an embodiment, the unidirectional rotating body 470 may be disposed in the housing 410. The unidirectional rotating body 470 may be configured to rotate only in either one of the first direction and the second direction. For example, the unidirectional rotating body 470 may be configured to rotate only in either one of a clockwise direction and a counterclockwise direction. For example, the unidirectional rotating body 470 may be configured to rotate only in either one of a forward direction and a reverse direction. For example, the unidirectional rotating body 470 may be a one-way bearing capable of rotating only in one direction, but is not limited thereto. The unidirectional rotating body 470 may have an open cylindrical shape.

According to an embodiment, the unidirectional rotating body 470 may be disposed such that the second member 460 directly or indirectly coupled to the unidirectional rotating body 470 rotates only in one direction.

According to an embodiment, the unidirectional rotating body 470 may be manufactured in the form of a roller or a bead. The unidirectional rotating body 470 may include a clutch mechanism operating according to a rotation direction therein. The clutch mechanism may serve to allow or prevent the rotation by moving the roller or the bead according to the rotation direction.

According to an embodiment, the unidirectional rotation gear 475 may be coupled to the unidirectional rotating body 470. According to an embodiment, the unidirectional rotation gear 475 may be coupled to the second member 460. For example, the unidirectional rotation gear 475 may be engaged with the teeth portion 464 of the second member 460. The unidirectional rotation gear 475 may be configured to rotate together with the second member 460 when the second member 460 is rotated. The power of the unidirectional rotation gear 475 transmitted from the second member 460 may be transmitted to the unidirectional rotating body 470.

According to an embodiment, the unidirectional rotation gear 475 may be coupled to the unidirectional rotating body 470 so as to rotate only in one direction. Accordingly, the second member 460 engaged with the unidirectional rotation gear 475 may also be rotated only in one direction. For example, the second member 460 may be rotated together with the unidirectional rotation gear 475 only when the second member 460 is rotated in a direction corresponding to the rotation of the motor 420 in the first direction (e.g., the forward direction). For example, the second member 460 may not be rotated by the unidirectional rotation gear 475 and the unidirectional rotating body 470 in a direction corresponding to the rotation of the motor 420 in the second direction (e.g., the reverse direction).

According to an embodiment, the rise detection unit 480 may be disposed on an upper side of the housing 410. The rise detection unit 480 may detect whether the shaft 440 moving up or down is maximally moved upward. The rise detection unit 480 may detect whether the cleaning cloth module 500 moving up or down is maximally moved upward. The rise detection unit 480 may include, for example, an infrared sensor, but is not limited thereto. The detailed description of the operating method and structure of the rise detection unit 480 will be presented later.

According to an embodiment, the cleaning drive unit 400 may further include a pressing device 491. The pressing device 491 may be disposed, for example, in the housing 410. The pressing device 491 may be disposed to surround the outer circumferential surface of the second member 460. The width of the pressing device 491 may be greater than the width of the second member 460. The pressing device 491 may be disposed to press the second member 460 downward. By pressing the second member 460, the pressing device 491 may allow the first member 450 coupled to the second member 460 and the cleaning cloth module 500 coupled to the first member 450 to move downward. That is, the pressing device 491 may be configured to press the cleaning cloth module 500 downward.

The pressing device 491 may press the cleaning cloth module 500 downward to increase the frictional force between the cleaning cloth P attached to the cleaning cloth module 500 and the floor surface. The pressing device 491 may increase the cleaning effect by increasing the frictional force between the cleaning cloth P and the floor surface. The pressing device 491 may be, for example, an elastic body. For example, the pressing device 491 may include a spring. For example, in the case of the pressing device 491 including a spring, a repulsive force (or elastic restoring force) of the spring may be used to further press the cleaning cloth P against the floor surface. However, the disclosure is not limited thereto, and the pressing device 491 may include any configuration that a person skilled in the art can arrange to press the cleaning cloth module 500 against the floor in a downward direction.

The pressing device 491 may mitigate an impact applied to the cleaning cloth module 500. When any obstacle forming a threshold on the floor surface collides with the cleaning cloth module 500 in a process of cleaning the floor surface of the robot cleaner (e.g., the robot cleaner 100 of FIG. 1), the pressing device 491 may alleviate the impact applied to the cleaning cloth module 500. Accordingly, the pressing device 491 may be provided to prevent the cleaning drive unit 400 from being damaged by any obstacle that may be located on the floor surface.

According to an embodiment, the cleaning cloth module 500 may be coupled to the first member 450. The cleaning cloth module 500 may be coupled to the first member 450 to rotate together with the first member 450 or may move up or down together.

According to an embodiment, the cleaning cloth module 500 may include a rotation member 510 and a coupling protrusion 520. The rotation member 510 may have a substantially disk shape, but the shape is not limited thereto.

According to an embodiment, the coupling protrusion 520 may protrude upward from the center of the rotation member 510. The coupling protrusion 520 may be a part that couples with the first member 450 and/or the shaft 440. For example, the cleaning cloth module 500 may be coupled to the first member 450 by the coupling protrusion 520 being inserted into the lower opening of the first member 450.

According to an embodiment, the coupling protrusion 520 may include a hook groove 521. The hook groove 521 may be formed in a state of being dug on a side of the coupling protrusion 520. The hook groove 521 may be a part that couples with the hook protruding from the inner surface of the first member 450 when coupled to the first member 450. The first member 450 and the cleaning cloth module 500 may be coupled to each other through hook coupling by the hook groove 521.

According to an embodiment, the coupling protrusion 520 may have a polygonal cross-sectional shape. Since the coupling protrusion 520 has a polygonal cross section, the power of the motor 420 may be transferred to the cleaning cloth module 500 coupled to the first member 450.

According to an embodiment, the cleaning cloth module 500 may include a second magnetic body 530. The second magnetic body 530 may be disposed on the coupling protrusion 520. The second magnetic body 530 may be disposed above the coupling protrusion 520.

According to an embodiment, the cleaning cloth module 500 may include a shielding member 531. The shielding member 531 may be disposed under the second magnetic body 530. The shielding member 531 may be configured to shield a portion of the magnetic force of the second magnetic body 530. The shielding member 531 may serve to shield the second magnetic body 530 such that the magnetic force of the second magnetic body 530 is not directed to the lower side (e.g., the surface to be cleaned). By disposing the shielding member 531 underneath the second magnetic body 530, it is possible to prevent foreign substances such as iron pieces remaining on the floor from adhering to the cleaning cloth module 500 by the magnetic force, in the process of wet cleaning the floor surface using the cleaning cloth module 500. The shielding member 531 may be, for example, integrally formed with the second magnetic body 530, but the disclosure is not limited thereto.

According to an embodiment, the cleaning cloth module 500 may include a cover member 540. The cover member 540 may be disposed to cover the shielding member 531. The bottom part of the shielding member 531 may be covered by the cover member 540. As the cover member 540 covers the bottom part of the shielding member 531, an exterior appearance may be improved so that the shielding member 531 is not visible from the outside. Further, the cover member 540 may prevent the shielding member 531 from being dislodged downward.

According to an embodiment, the cleaning cloth module 500 may receive the power(or torque) from the motor 420 to rotate to clean the floor surface. The cleaning cloth module 500 may rotate by receiving the power(or torque) of the motor 420 from the shaft 440 and/or the first member 450 coupled to the cleaning cloth module 500.

The cleaning cloth P may be attached to the bottom surface of the cleaning cloth module 500. When the shaft 440 and the cleaning cloth module 500 are rotated by operation of the motor 420, the cleaning cloth P attached to the cleaning cloth module 500 may also be rotated together. The cleaning cloth P may be rotated in contact with the floor surface while the robot cleaner (e.g., the robot cleaner 100 of FIG. 1) moves, thereby cleaning the floor surface.

According to an embodiment, the cleaning cloth P may be attached or coupled to the cleaning cloth module 500. The cleaning cloth P may be attached or coupled to, for example, a bottom surface of the rotation member 510. The cleaning cloth P may be attached or coupled to the rotation member 510 using, for example, a magnet or Velcro, but the disclosure is not limited thereto.

FIG. 9 is a view for describing a gear assembly structure of a cleaning drive unit according to an embodiment.

The gear assembly 430 illustrated in FIG. 9 may be substantially the same as or similar to the gear assembly 430 illustrated in FIGS. 4 to 8. The gear assembly 430 illustrated in FIG. 9 may be included in the cleaning drive unit 400 illustrated in FIGS. 4 to 8. Among the components making up the gear assembly 430 illustrated in FIG. 9, the same reference numerals are used for the components that are substantially the same as or similar to those of the gear assembly 430 illustrated in FIGS. 4 to 8. The number of gears, the shape of the gear, the type of the gear, and the like in the gear assembly 430 illustrated in FIG. 9 are only of an example, and the disclosure is not limited to the illustrated shape.

Referring to FIG. 9, the motor 420 may include a worm forming portion 421 provided on a rotation axis.

Referring to FIG. 9, the gear assembly 430 may be engaged with the worm forming portion 421 of the motor 420 to receive the power(or torque) from the motor 420.

According to an embodiment, the gear assembly 430 may include a power transmission gear portion 431 and a shaft coupling gear portion 432. The gear assembly 430 may be positioned above the housing 410. The motor 420 may generate power and transmit the rotational force to the gear assembly 430.

According to an embodiment, the power transmission gear portion 431 may include at least one gear. For example, the power transmission gear portion 431 may include a first gear 4311 and a second gear 4312. However, the disclosure is not limited thereto, and the power transmission gear portion 431 may include one gear or three or more gears. Hereinafter, for convenience of description, the power transmission gear portion 431 including the first gear 4311 and the second gear 4312 will be described as an example.

According to an embodiment, the first gear 4311 may be a two-step gear. The first gear 4311 may include, for example, a first-1 gear and a first-2 gear having different diameters.

The first gear 4311 may be disposed to be engaged with the worm forming portion 421. The first gear 4311 may be, for example, a worm gear. For example, the first-1 gear of the first gear 4311 may be engaged with the worm forming portion 421. The first gear 4311 may be disposed to transmit the power of the motor 420 to the second gear 4312.

The second gear 4312 may be disposed to be engaged with the first gear 4311. For example, the first-2 gear of the first gear 4311 may be engaged with the second gear 4312. The second gear 4312 may be engaged with the shaft coupling gear portion 432. The second gear 4312 may be disposed to transmit power of the first gear 4311 to the shaft coupling gear portion 432.

The shaft coupling gear portion 432 may be coupled to a shaft (e.g., the shaft 440 of FIG. 8). The shaft coupling gear portion 432 may transmit power of the second gear 4312 to the shaft 440. The shaft 440 may directly receive the rotational power of the shaft coupling gear portion 432. For example, the shaft 440 may directly receive the power from the gear assembly 430.

FIG. 10A is an upper perspective view of a second member according to an embodiment. FIG. 10B is a cross-sectional view taken along line X-X of FIG. 10A. FIG. 10C is a plan view illustrating a second member according to an embodiment. FIG. 10D is a bottom view of a second member according to an embodiment;

The second member 460 illustrated in FIGS. 10A to 10D may be substantially the same as or similar to the second member (e.g., the second member 460 of FIG. 8) illustrated in FIGS. 4 to 8. Among the configurations of the second member 460 in FIGS. 10A to 10D, the same reference numerals are used for the configurations described with reference to FIGS. 4 to 8.

According to an embodiment, the second member 460 may include a guide groove 462 positioned to face inwardly. At least one guide groove 462 may be formed on an inner circumferential surface of the second member 460. For example, three guide grooves 462 may be provided as shown. The number or shape of the illustrated guide grooves 462 is only of an example, and the illustrated shape is not intended to limit the scope of the disclosure. For example, the guide groove 462 may include a first guide groove 4621, a second guide groove 4622, and a third guide groove 4623. The first guide groove 4621, the second guide groove 4622, and the third guide groove 4623 may extend to be inclined at substantially the same angle along the circumferential direction on the inner circumferential surface of the second member 460.

According to an embodiment, the second member 460 may include a guide protrusion insertion hole 465. The guide protrusion insertion hole 465 may be formed, for example, on the upper surface of the second member 460. The guide protrusion insertion hole 465 may refer to a portion formed to penetrate for the guide protrusion 452 to be inserted into the guide groove 462 when the first member 450 is coupled to the second member 460. A plurality of guide protrusion insertion holes 465 may be formed. The number of guide protrusion insertion holes 465 may correspond to the number of guide grooves 462.

In a state in which the second member 460 is accommodated in the housing (e.g., the housing 410 of FIG. 8), the guide protrusion insertion hole 465 may be closed by an inner wall of the housing 410. Accordingly, when the first member 450 moves upward with respect to the second member 460, the inner wall of the housing 410 that closes the guide protrusion insertion hole 465 may serve as a stopper.

According to an embodiment, the second member 460 may include a threshold 463 positioned at a lower end thereof. The threshold 463 may be formed to extend from a lower end of the outer circumferential surface 460a of the second member 460. The threshold 463 may be formed to extend inward from the outer circumferential surface 460a. The threshold 463 may be provided to support the first member 450 when the first member 450 moves downward until the guide protrusion 452 is positioned on the stopper 466 of the guide groove 462.

FIG. 11A is an upper perspective view of a first member according to an embodiment. FIG. 11B is a plan view of a first member according to an embodiment;

The first member 450 illustrated in FIGS. 11A and 11B may be substantially the same as or similar to the first member (e.g., the first member 450 of FIG. 8) illustrated in FIGS. 4 to 8. Among the components of the first member 450 in FIGS. 11A and 11B, the same reference numerals are used for the components described with reference to FIGS. 4 to 8.

According to an embodiment, the first member 450 may have a shape in which its upper surface and lower surface are open. The first member 450 may have, for example, a substantially cylindrical shape.

According to an embodiment, at least one guide protrusion 452 may be disposed on the outer circumferential surface of the first member 450. The guide protrusion 452 may be positioned in an upper portion of the first member 450. For example, three guide protrusions 452 may be provided as shown. For example, the number of guide protrusions 452 may be provided to correspond to the number of guide grooves (e.g., the guide groove 462 of FIG. 10A). The number or arrangement of the illustrated guide protrusions 452 is only of an example, and the illustrated shape does not limit the scope of the disclosure. For example, the guide protrusion 452 may include a first guide protrusion 4521, a second guide protrusion 4522, and a third guide protrusion 4523. The first guide protrusion 4521, the second guide protrusion 4522, and the third guide protrusion 4523 may be disposed to be spaced apart from each other at equal intervals.

According to an embodiment, the guide protrusion 452 may be inclined and protrude at a certain angle so as to rotate coupled to the guide groove (e.g., the guide groove 462 of FIG. 10A) of the second member (e.g., the second member 460 of FIG. 10A). The guide protrusion 452 may be inclined and protrude at a certain angle along the circumferential direction of the first member 450. The inclination angle of the guide protrusion 452 may correspond to the inclination angle of the guide groove 462.

According to an embodiment, the first member 450 may include a support portion 453 supporting the first hollow portion 451. The support portion 453 may extend toward the inside of the outer circumferential surface 450a. The support portion 453 may refer to a portion extending inward from the inner surface of the first member 450 and connected to the first hollow portion 451. A plurality of support portions 453 may be provided. The support portion 453 may be positioned in an upper part of the first member 450, but is not limited thereto.

According to an embodiment, the first member 450 may include a coupling groove 454 formed at a lower portion thereof. The coupling groove 454, which is a groove formed at the lower portion, may be a groove defined by the outer circumferential surface 450a, the first hollow portion 451, and the support portion 453 of the first member 450.

According to an embodiment, a cleaning cloth module (e.g., the cleaning cloth module 500 of FIG. 8) may be coupled to the coupling groove 454. A coupling protrusion (e.g., the coupling protrusion 520 of FIG. 8) of the cleaning cloth module 500 may be inserted into the coupling groove 454 so that they are coupled to each other.

According to an embodiment, the coupling groove 454 may have a polygonal cross-sectional shape. The cross-sectional shape of the coupling groove 454 may correspond to the cross-sectional shape of the coupling protrusion 520 of the cleaning cloth module 500. The horizontal size of the coupling groove 454 may be, for example, greater than the horizontal size of the coupling protrusion 520.

FIG. 12A is an exploded perspective view of a rise detection unit according to an embodiment. FIG. 12B is a bottom view of a sensor frame according to an embodiment. FIG. 12C is a side view of a frame according to an embodiment;

The rise detection unit 480 illustrated in FIGS. 12A to 12C may be substantially the same as or similar to the rise detection unit (e.g., the rise detection unit 480 of FIG. 8) described with reference to FIGS. 4 to 8. The same reference numerals are used for the components described with reference to FIGS. 4 to 8 among the components of the rise detection unit 480 in FIGS. 12A to 12C.

Referring to FIGS. 12A to 12C, the rise detection unit 480 may include a sensor frame 481, a sensor 482, a pressing portion 483, and/or a spring 484. The rise detection unit 480 may be disposed in an upper side of the housing (e.g., the housing 410 of FIG. 4). The rise detection unit 480 may be formed with its lower portion being open. An upper end of the shaft (e.g., the shaft 440 of FIG. 8) may selectively pass through an open lower part of the rise detection unit 480.

According to an embodiment, the sensor frame 481 may be provided such that the sensor 482, the pressing portion 483, or the spring 484 is accommodated or mounted therein.

According to an embodiment, the pressing portion 483 may be accommodated in the sensor frame 481. The pressing portion 483 may be disposed in an upper side of the shaft 440 with the rise detection unit 480 being mounted on the housing 410. The pressing portion 483 may be disposed on the rotation axis of the shaft 440. When the shaft 440 capable of moving up or down rises by a predetermined distance or more, the pressing portion 483 may be pressed upward to move.

According to an embodiment, the spring 484 may be provided to press the pressing portion 483 downward. The pressing portion 483 may be pressed upward by the shaft 440. When the pressing of the shaft 440 is released, the pressing portion 483 may return to a position before the pressing (hereinafter, referred to as an “unpressurized position”) by the spring 484.

According to an embodiment, the sensor 482 may be configured as a pair. For example, the sensor 482 may include an infrared sensor. The sensor 482 may include a light emitter 4821 and a detector 4822. The light emitter 4821 may be an optic device configured to emit light (e.g., infrared rays). The detector 4822 may be a device configured to detect light (e.g., infrared ray) generated by the light emitter 4821.

According to an embodiment, the sensor frame 481 may include a pair of sensor mounting portions 4811 that allows the above-described pair of sensors 482 to be disposed spaced apart from each other in a state of facing each other.

According to an embodiment, the sensor frame 481 may include a through hole 4812. The through hole 4812 may be formed in a pair of sensor mounting portions 4811, respectively. When a pair of sensors 482 are mounted on the sensor mounting portions 4811, one through hole 4812 may be positioned such that light generated by the light emitter 4821 passes therethrough. When the pair of sensors 482 are mounted on the sensor mounting portions 4811, another through hole 4812 may be positioned such that light generated by the light emitter 4821 passes through to the detector 4822.

According to an embodiment, when the pressing portion 483 is in an unpressurized position, the pressing portion 483 may close a space between the pair of through holes 4812. In a state in which the pressing portion 483 is not pressed by the shaft 440, the detector 4822 may be positioned so as not to detect the light generated by the light emitter 4821.

According to an embodiment, the space between the pair of through holes 4812 may be opened by the pressing portion 483 being pressed upward by the shaft 440. As the pressing portion 483 is pressed by the shaft 440 and the space between the pair of through holes 4812 is then open, the detector 4822 may detect light of the light emitter 4821. As will be described later, when the detector 4822 detects the light of the light emitter 4821, the control unit (e.g., the control unit 350 of FIG. 3) may determine that the upward movement of the first member 450 (or the shaft 440 or the cleaning cloth module 500) has been completed.

FIGS. 13A to 13E are views for describing an operation process of a cleaning drive unit according to a rotation direction, according to an embodiment.

The cleaning drive unit 400 illustrated in FIGS. 13A to 13E may have substantially the same or similar configuration to the cleaning drive unit (e.g., the cleaning drive unit 400 of FIG. 4) illustrated in FIGS. 4 to 8. The same reference numerals are used for the components that are substantially the same as or similar to those described with reference to FIGS. 4 to 8 among the components of the cleaning drive unit 400 illustrated in FIGS. 13A to 13E.

The shaft coupling gear portion 432 to be described later may be rotated in the first direction and the second direction by the rotation of the motor 420. The first direction may refer to, for example, a forward direction. The second direction may be a direction opposite to the first direction. The second direction may refer to, for example, a reverse direction.

According to an embodiment, the cleaning cloth module 500 may be lifted up or down according to the rotation direction of the motor 420. For example, when the motor 420 rotates in the first direction (or the forward direction), the cleaning cloth module 500 may be lifted down (lowered). For example, when the motor 420 rotates in the second direction (or the reverse direction), the cleaning cloth module 500 may be lifted up (raised).

The cleaning drive unit 400 according to an embodiment of the disclosure may easily lift up or down the cleaning cloth module 500 by only using the rotational force of the motor 420 without a separate manipulation of a user.

FIG. 13A illustrates the cleaning drive unit 400 in a state in which the cleaning cloth P is in close contact with the floor surface (hereinafter, referred to as a ‘first state’). The first state may refer to, for example, a state in which the shaft 440 is maximally lowered. The first state may refer to, for example, a state in which the first member 450 is maximally lowered. The first state may refer to, for example, a state in which the first member 450 is supported by the locking jaw 441 of the second member 460. The first state may refer to, for example, a state in which the guide protrusion 452 of the first member 450 is in contact with the stopper 466 of the second member 460.

FIG. 13B illustrates an operation in which the shaft coupling gear portion 432 is rotated in the second direction so that the cleaning cloth module 500 moves upward. When the shaft coupling gear portion 432 is rotated in the second direction by the rotation of the motor 420, the shaft 440 coupled to the shaft coupling gear portion 432 may also be rotated in the second direction. In such a circumstance, the first member 450 may be rotated in the second direction by receiving power from the shaft 440.

In FIG. 13B, the second member 460 may be obstructed from rotating by the unidirectional rotating body 470. The unidirectional rotating body 470 may refer to a rotating body that is allowed to rotate only in one direction. The unidirectional rotating body 470 may be configured, for example, such that the second member 460 rotates only in the first direction.

As the second member 460 is obstructed from rotating by the unidirectional rotating body 470, the first member 450 may rotate in the second direction relative to the second member 460. In this case, as the guide protrusion 452 of the first member 450 moves along the guide groove 462 of the second member 460, the first member 450 may move upward. The cleaning cloth module 500 and the shaft 440 coupled to the first member 450 may also be moved upward.

FIG. 13C illustrates the cleaning drive unit 400 with the cleaning cloth module 500 in its fully raised state (hereinafter, referred to as a ‘second state’). The second state may refer to, for example, a state in which the first member 450 is maximally raised. The second state may refer to, for example, a state in which the first member 450 reaches the upper surface of the second member 460.

According to an embodiment, when the cleaning cloth module 500 reaches the second state, driving of the motor 420 may be interrupted. By the upward movement, the shaft 440 presses the pressing portion 483 upward, which may be detected by the sensor 482 as described above with reference to FIGS. 12A to 12C. The sensing signal of the sensor 482 may be transmitted to the control unit (e.g., the control unit 350 of FIG. 3), and in response thereto, the control unit 350 may determine that the cleaning cloth module 500 has reached the second state. When the control unit 350 determines that the cleaning cloth module 500 has reached the second state, it may cease the operation of the motor 420.

According to an embodiment, as opposed to the illustrated, even if the rise detection unit 480 is omitted, it is possible to determine whether the cleaning cloth module 500 has reached the second state, by detecting an increase in a current load of the motor 420 when the upward movement of the first member 450 is halted.

As the robot cleaner 100 automatically raises the cleaning cloth module 500 to separate the cleaning cloth P from the floor surface, it is possible to prevent additional contamination by the cleaning cloth P in a floor surface provided with a carpet or the like, which is an area in which wet cleaning is unnecessary. Further, when the robot cleaner 100 passes through an obstacle forming a relatively small threshold during cleaning, the robot cleaner 100 can automatically raise the cleaning cloth module 500 to prevent collision between the cleaning cloth module 500 and the obstacle.

According to an embodiment, in the second state, the cleaning cloth module 500 and the shaft 440 may be separated from each other. When moving between the first state and the second state, the movement distance of the cleaning cloth module 500 may be shorter than the movement distance of the shaft 440. The shaft 440 may be configured to additionally move upward after the cleaning cloth module 500 is raised to its maximum position. Accordingly, as the distance between the shaft 440 and the cleaning cloth module 500 is increased from each other, the magnet coupling between the shaft 440 and the cleaning cloth module 500 may be released and separated.

FIG. 13D illustrates an operation in which the shaft coupling gear portion 432 is rotated in the first direction so that the cleaning cloth module 500 moves downward. When the shaft coupling gear portion 432 is rotated in the first direction by the rotation of the motor 420, the shaft 440 coupled thereto may also be rotated in the first direction. In this case, the first member 450 may receive power from the shaft 440 to rotate in the first direction.

In FIG. 13D, the second member 460 receives power from the first member 450, but it may be rotated in the first direction at a slower speed than the first member 450. For example, the second member 460 may be rotated slower than the first member 450 by the frictional force with the second bearing 493 and/or the unidirectional rotation gear 475. Accordingly, the first member 450 may be rotated relatively in the first direction in relation to the second member 460. In this case, as the guide protrusion 452 of the first member 450 moves along the guide groove 462 of the second member 460, the first member 450 may move downward. The cleaning cloth module 500 and the shaft 440 coupled to the first member 450 may also move downward.

FIG. 13E illustrates the cleaning drive unit 400 in a state (e.g., the first state) in which the cleaning cloth module 500 is maximally lowered. When the cleaning cloth module 500 is maximally lowered, the guide protrusion 452 of the first member 450 may come into contact with the stopper 466 of the second member 460. Here, as the first member 450 rotates and presses the stopper 466, the second member 460 may also rotate in the first direction together with the first member 450. For example, in the first state, the first direction of rotation speed of the first member 450 may be substantially the same as the first direction of rotation speed of the second member 460.

FIG. 14 is a perspective view of a cleaning drive unit according to an embodiment. FIG. 15 is a side view of a cleaning drive unit according to an embodiment. FIG. 16 is an exploded perspective view of a cleaning drive unit according to an embodiment. FIG. 17 is a cross-sectional view of a cleaning drive unit according to an embodiment.

The cleaning drive unit 1400 illustrated in FIGS. 14 to 17 may be included in the robot cleaner of FIGS. 1 to 3 (e.g., the robot cleaner 100 of FIG. 1 or the robot cleaner 300 of FIG. 3). The cleaning drive unit 1400 illustrated in FIGS. 14 to 17 may replace the cleaning drive unit of FIG. 3 (e.g., the cleaning drive unit 362 of FIG. 3). The cleaning drive unit 1400 illustrated in FIGS. 14 to 17 may be electrically connected to the control unit of FIG. 3 (e.g., the control unit 350 of FIG. 3). Among the components of the cleaning drive unit 1400 illustrated in FIGS. 14 to 17, the same reference numerals are used for substantially the same components as those of the cleaning drive unit (e.g., the cleaning drive unit 400 of FIG. 4) illustrated in FIGS. 4 to 12C. The cleaning drive unit 1400 illustrated in FIGS. 14 to 17 is only of an example and the structure of the cleaning drive unit 1400 is not limited to the illustrated structure.

Referring to FIGS. 14 to 17, the cleaning drive unit 1400 may include a housing 410, a motor 420, a gear assembly 430, a shaft 440, a first member 450, a second member 1460, a unidirectional rotating body 1470, and/or a rise detection unit 480.

According to an embodiment, the second member 1460 may be coupled to the first member 450. The second member 1460 and the first member 450 may be coupled to each other by thread coupling. The first member 450 may be inserted into the second member 1460 to be thread-coupled. The second member 1460 may be disposed outside the first member 450. For example, the width of the second member 1460 may be greater than the width of the first member 450. For example, the second member 1460 may be referred to as a second bushing.

According to an embodiment, the second member 1460 may be disposed to support the first member 450. The second member 1460 may reduce vibration while the first member 450 is rotated by the shaft 440. The second member 1460 may reduce the transverse vibration of the first member 450.

According to an embodiment, the second member 1460 may include a guide groove 1462. The guide groove 1462 may be formed on an inner surface of the second member 1460. The guide groove 1462 may be formed to be inclined and extend in the circumferential direction on the inner circumferential surface of the second member 1460. The guide groove 1462 may have a shape such as e.g., a threaded groove.

According to an embodiment, the length of the guide groove 1462 of the second member 1460 may be greater than or equal to the circumferential length of the second member 1460.

According to an embodiment, the guide protrusion 452 of the first member 450 may be coupled to the guide groove 1462 of the second member 1460. When the first member 450 rotates relative to the second member 1460 with the first member 450 being coupled to the second member 1460, the guide protrusion 452 may move along the guide groove 1462, and thus the first member 450 may move up and down. The guide groove 1462 may have an inclined path such that the first member 450 may move upward or downward while rotating.

According to an embodiment, the size of the guide protrusion 452 of the first member 450 may be less than the size of the guide groove 1462 of the second member 1460. For example, the protrusion length of the guide protrusion 452 may be less than the depth of the guide groove 1462. For example, the width of the guide protrusion 452 may be less than the width of the guide groove 1462.

A vertical movement distance according to the number of rotations of the cleaning cloth module 500 may be adjusted based on the inclination angle of the guide groove 1462 formed on the inner surface of the second member 1460.

According to an embodiment, the guide groove 1462 may include a stopper 1466 provided at a lower end thereof. The stopper 1466 may serve to prevent the first member 450 from moving downward by generating resistance to the rotational force of the guide protrusion 452 of the first member 450. When the guide protrusion 452 comes into contact with the stopper 1466, the second member 1460 may receive the rotational force from the first member 450 and rotate together with the first member 450.

According to an embodiment, the second member 1460 may be formed with an upper portion and a lower portion thereof being open. For example, a portion (e.g., the shaft extension portion 4321) of the shaft coupling gear portion 432 may be disposed to pass through the open upper portion of the first member 450. For example, a portion of the first member 450 may be disposed to pass through the open lower portion of the first member 450.

According to an embodiment, the unidirectional rotating body 1470 may be disposed in the housing 410. The unidirectional rotating body 1470 may be configured to rotate only in any one of the first direction and the second direction. For example, the unidirectional rotating body 1470 may be configured to rotate only in any one of the clockwise direction and the counterclockwise direction. For example, the unidirectional rotating body 1470 may be configured to rotate only in any one of the forward direction and the reverse direction. For example, the unidirectional rotating body may be a one-way bearing capable of rotating only in one direction, but is not limited thereto. The unidirectional rotating body 1470 may have an open cylindrical shape.

According to an embodiment, the unidirectional rotating body 1470 may be manufactured in the form of a roller or a bead. The unidirectional rotating body 1470 may include a clutch mechanism that operates according to the rotation direction therein. The clutch mechanism may serve to allow or prevent the rotation by moving the roller or bead according to the rotation direction.

According to an embodiment, the unidirectional rotating body 1470 may be disposed to surround the outer circumferential surface of the second member 1460. A diameter of the unidirectional rotating body 1470 may be greater than a diameter of the second member 1460. The unidirectional rotating body 1470 may be configured to be disposed between the second member 1460 and the housing 410 to serve as a bearing and to rotate the second member 1460 in only one direction.

The second member 1460 of FIGS. 14 to 17 may be configured, for example, such that a teeth portion (e.g., the teeth portion 464 of FIG. 8) formed on the outer circumferential surface thereof is omitted as opposed to the second member (e.g., the second member 460 of FIG. 8) of FIGS. 4 to 8.

According to an embodiment, the cleaning drive unit 1400 may further include a pressing device 1490. The pressing device 1490 may be, for example, disposed between the cleaning cloth module 500 and the shaft 440. The pressing device 1490 may be disposed to push out the cleaning cloth module 500 and the shaft 440 in opposite directions to each other. For example, the pressing device 1490 may press the cleaning cloth module 500 downward to bring the cleaning cloth P into close contact with the floor surface.

The pressing device 1490 may press the cleaning cloth module 500 downward to increase the frictional force between the cleaning cloth P attached to the cleaning cloth module 500 and the floor surface. The pressing device 1490 may increase a cleaning effect by increasing the frictional force between the cleaning cloth P and the floor surface. The pressing device 1490 may be, for example, an elastic body. For example, the pressing device 1490 may be a spring. For example, in the case of the pressing device 1490 including a spring, the cleaning cloth P may be brought into close contact with the floor surface using a repulsive force (or elastic restoring force) of the spring. However, the disclosure is not limited thereto, and the pressing device 1490 may include any configurations that a person skilled in the art can arrange to press the cleaning cloth module 500 in a downward direction.

The pressing device 1490 may mitigate an impact applied to the cleaning cloth module 500. When an obstacle forming a stepped jaw on the floor surface collides with the cleaning cloth module 500 in the process of the robot cleaner (e.g., the robot cleaner 100 of FIG. 1) cleaning the floor surface, the pressing device 1490 may mitigate the impact applied to the cleaning cloth module 500. As a result, the pressing device 1490 may be provided to prevent the cleaning drive unit 1400 from being damaged by any obstacle located on the floor surface.

Although not illustrated herein, the cleaning cloth module 500 according to an embodiment may further include a shielding member (e.g., the shielding member 531 of FIG. 7) for shielding a magnetic force underneath the second magnetic body 530 as illustrated in FIG. 7. The cleaning cloth module 500 illustrated in FIGS. 16 and 17 may be replaced with the cleaning cloth module (e.g., the cleaning cloth module 500 of FIG. 7) illustrated in FIGS. 7 and 8.

FIGS. 18A to 18E are views for describing an operating process of a cleaning drive unit according to a rotating direction, according to an embodiment of the disclosure.

The cleaning drive unit 1400 illustrated in FIGS. 18A to 18E may be substantially the same as or similar to the cleaning drive unit (e.g., the cleaning drive unit 1400 of FIG. 4) illustrated in FIGS. 14 to 17. Among the components of the cleaning drive unit 1400 illustrated in FIGS. 18A to 18E, the same reference numerals are used for components that are substantially the same as or similar to those described with reference to FIGS. 14 to 17.

The shaft coupling gear portion 432 to be described later may be rotated in the first direction and in the second direction by the rotation of the motor 420. The first direction may refer to, for example, the forward direction. The second direction may be a direction opposite to the first direction. The second direction may refer to, for example, the reverse direction.

According to an embodiment, the cleaning cloth module 500 may be lifted up or down according to the rotation direction of the motor 420. For example, when the motor 420 rotates in the first direction (or the forward direction), the cleaning cloth module 500 may be lifted down. For example, when the motor 420 rotates in the second direction (or the reverse direction), the cleaning cloth module 500 may be lifted up.

The cleaning drive unit 1400 according to an embodiment of the disclosure may easily lift up or down the cleaning cloth module 500 using only the rotational force of the motor 420 without a separate manipulation of the user.

FIG. 18A illustrates the cleaning drive unit 1400 in a state in which the cleaning cloth P is in close contact with the floor surface (hereinafter, referred to as a ‘first state’). The first state may refer to, for example, a state in which the shaft 440 is maximally lowered. The first state may refer to, for example, a state in which the first member 450 is maximally lowered. The first state may refer to, for example, a state in which the first member 450 is supported by the locking jaw 441 of the second member 1460. The first state may refer to, for example, a state in which the guide protrusion 452 of the first member 450 is in contact with the stopper 1466 of the second member 1460.

FIG. 18B illustrates an operation in which the shaft coupling gear portion 432 is rotated in the second direction so that the cleaning cloth module 500 moves upward. When the shaft coupling gear portion 432 is rotated in the second direction by the rotation of the motor 420, the shaft 440 coupled to the shaft coupling gear portion 432 may also be rotated in the second direction. In this circumstance, the first member 450 may be rotated in the second direction by receiving power from the shaft 440.

Referring to FIG. 18B, the second member 1460 may be obstructed from rotating by the unidirectional rotating body 1470. The unidirectional rotating body 1470 may refer to a rotating body that is allowed to rotate only in one direction. The unidirectional rotating body 1470 may be configured, for example, such that the second member 1460 rotates only in the first direction.

As the second member 1460 is obstructed from rotating by the unidirectional rotating body 1470, the first member 450 may rotate in the second direction relative to the second member 1460. In this case, as the guide protrusion 452 of the first member 450 moves along the guide groove 1462 of the second member 1460, the first member 450 may move upward. The cleaning cloth module 500 and the shaft 440 coupled to the first member 450 may also be moved upward together.

FIG. 18C illustrates the cleaning drive unit 1400 with the cleaning cloth module 500 in its fully raised state (hereinafter, referred to as a ‘second state’). The second state may refer to, for example, a state in which the first member 450 is maximally raised. The second state may refer to, for example, a state in which the first member 450 reaches an upper surface of the second member 1460.

According to an embodiment, when the cleaning cloth module 500 reaches the second state, driving of the motor 420 may be interrupted. By the upward movement, the shaft 440 presses the pressing portion 483 upward, which may be detected by the sensor 482 as described above with reference to FIGS. 12A to 12C. A sensing signal of the sensor 482 is transmitted to the control unit 350, and in response to the sensing signal, the control unit 350 may determine that the cleaning cloth module 500 has reached the second state. When the control unit 350 determines that the cleaning cloth module 500 has reached the second state, it may cease the operation of the motor 420.

According to an embodiment, as opposed to the illustrated, even if the rise detection unit 480 is omitted, it is possible to determine whether the cleaning cloth module 500 has reached the second state by detecting an increase in a current load of the motor 420 when the upward movement of the first member 450 is halted.

As the robot cleaner 100 automatically raises the cleaning cloth module 500 to separate the cleaning cloth P from the floor surface, it is possible to prevent additional contamination by the cleaning cloth P for a floor area that do not require wet cleaning, such as a carpet or the like. Further, when the robot cleaner 100 passes through an obstacle forming a relatively small threshold during cleaning, it may automatically lift up the cleaning cloth module 500 to prevent a collision between the cleaning cloth module 500 and the obstacle.

According to an embodiment, in the second state, the cleaning cloth module 500 and the shaft 440 may be separated. When moving between the first state and the second state, the movement distance of the cleaning cloth module 500 may be shorter than the movement distance of the shaft 440. The shaft 440 may be configured to further move upward after the cleaning cloth module 500 is raised to its maximum position. Accordingly, as a distance between the shaft 440 and the cleaning cloth module 500 is increased from each other, the magnet coupling between the shaft 440 and the cleaning cloth module 500 may be released and separated from each other.

FIG. 18D illustrates an operation in which the shaft coupling gear portion 432 is rotated in the first direction so that the cleaning cloth module 500 moves downward. When the shaft coupling gear portion 432 is rotated in the first direction by the rotation of the motor 420, the shaft 440 coupled thereto may also be rotated in the first direction. In this case, the first member 450 may receive power from the shaft 440 and rotate in the first direction.

Referring to FIG. 18D, the second member 1460 receives power from the first member 450, but may be rotated in the first direction at a slower speed than the first member 450. For example, the second member 1460 may be rotated slower than the first member 450 by a frictional force with the unidirectional rotating body 1470. Accordingly, the first member 450 may be rotated relatively in the first direction in relation to the second member 1460. In this case, as the guide protrusion 452 of the first member 450 moves along the guide groove 1462 of the second member 1460, the first member 450 may move downward. The cleaning cloth module 500 and the shaft 440 coupled to the first member 450 may also be moved downward together.

FIG. 18E illustrates the cleaning drive unit 1400 in a state (e.g., a first state) in which the cleaning cloth module 500 is maximally lowered. When the cleaning cloth module 500 is maximally lowered, the guide protrusion 452 of the first member 450 may come into contact with the stopper 1466 of the second member 1460. Here, as the first member 450 rotates and presses the stopper 1466, the second member 1460 may also rotate in the first direction together with the first member 450. For example, in the first state, the first direction rotational speed of the first member 450 may be substantially the same as the first direction rotational speed of the second member 1460.

FIG. 19 is an example diagram illustrating a process of attaching and detaching a cleaning cloth of a robot cleaner in a docking station, according to an embodiment of the disclosure.

Referring to FIG. 19, the robot cleaner 100 may perform both the attaching and detaching process of the cleaning cloth at the docking station 1900. In an embodiment, when it is determined that the cleaning cloth needs to be replaced, the robot cleaner 100 may move to the docking station 1900 integrally provided with a cleaning cloth supply unit 1910 accommodating a fresh cleaning cloth P and a cleaning cloth collection unit 1920 for collecting a used cleaning cloth P. According to an embodiment, as illustrated in FIG. 19(a), the cleaning cloth collection unit 1920 may be located downstream from the cleaning cloth supply unit 1910 with respect to an entry direction of the robot cleaner 100 toward the docking station 1900, but the disclosure is not limited thereto.

As illustrated in FIG. 19(b), the robot cleaner 100 reaching the docking station 1900 may be positioned in place on the cleaning cloth collection unit 1920, and then may perform an operation of detaching the cleaning cloth P to separate the used cleaning cloth P from the cleaning cloth module (e.g., the cleaning cloth module 500 of FIG. 4 or FIG. 14) located below. In an embodiment, the used cleaning cloth P separated from the cleaning cloth module 500 may be received in the cleaning cloth collection unit 1920 located below.

Then, as illustrated in FIG. 19(c), the robot cleaner 100 may move backward to be positioned in place on the cleaning cloth supply unit 1910, and then, perform an operation for mounting the cleaning cloth P to attach a fresh cleaning cloth P supplied from the cleaning cloth supply unit 1910 to the cleaning cloth module 500. Thereafter, the robot cleaner 100 may leave the docking station 1900 and resume a cleaning.

According to various embodiments of the disclosure, it is possible to move the cleaning cloth module up and down using a thread-coupling lifting structure.

Various embodiments of the disclosure may have a structure capable of lifting a cleaning cloth from a floor surface when passing through objects that may be contaminated when contacting the cleaning cloth, such as e.g., a carpet or a lug.

Various embodiments of the disclosure may have a structure capable of lifting a cleaning cloth from a floor surface such that the cleaning cloth does not get caught on a stepped jaw when passing through a stepped jaw.

According to various embodiments of the disclosure, the robot cleaner may move up and down or rotate the cleaning cloth module according to the rotation direction of the motor for rotating the cleaning cloth module.

The terms used in the disclosure are used only to describe certain embodiments and are not intended to limit the disclosure. For example, an element expressed in a singular should be understood as a concept including a plurality of elements unless the context clearly means only the singular. As used in the disclosure, each of the phrases such as “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 enumerated together in a corresponding one of the phrases, or all possible combinations thereof. Further, it should be understood that the term ‘and/or’ as used herein is intended to encompass any and all possible combinations of one or more of the enumerated items. As used in the disclosure, the terms such as ‘comprise(s)’, ‘include(s)’ ‘have/has’, ‘configured of’, etc. are only intended to designate that the features, components, parts, or combinations thereof described in the disclosure exist, and the use of these terms is not intended to exclude the possibility of the presence or addition of one or more other features, components, parts, or combinations thereof. As used herein, the expressions such as ‘first’, ‘second’, etc. may refer to various components in any order and/or importance, and are only used to distinguish one component from another component and are not intended to limit the corresponding components thereto.

As used in the disclosure, the expression ‘configured to˜’ may be used interchangeably with, depending on the context, for example, ‘suitable for˜’, ‘having the ability to˜’, ‘designed to˜’, ‘modified to˜’, ‘made to˜’, ‘capable of˜’ or the like. The term ‘configured to˜’ may not necessarily mean only ‘specially designed to˜’ in hardware. Instead, in some circumstances, the expression ‘a device configured to ˜’ may mean that the device is ‘capable of ˜’ together with another device or component. For example, a phrase ‘a device configured (adapted) to perform A, B, and C’ may imply a dedicated device for performing a corresponding operation or imply a general-purpose device capable of performing various operations including the corresponding operation.

Meanwhile, the terms ‘upper’, ‘lower’, and ‘forward/backward direction’ used in the disclosure are defined on the basis of the drawings, and the shape and position of each component are not limited by those terms.

Although the foregoing description in the disclosure has been generally made with respect to specific embodiments, the disclosure is not limited to such specific embodiments, and it will be understood that it encompasses all various modifications, equivalents, and/or substitutes of various embodiments.

Claims

1. A robot cleaner comprising: a motor;a shaft configured to be rotated by the motor;a first member configured to receive a rotational force from the shaft and including a guide protrusion protruding outwardly; anda second member including a guide groove formed on an inner side thereof, and the second member is coupled with the first member so that the guide protrusion slidably move along the guide groove,wherein the first member is configured to rotate relative to the second member, such that the guide protrusion moves along the guide groove and moves upward or downward of the second member, andwherein the shaft is configured to rotate together with the first member.

2. The robot cleaner of claim 1, further comprising a cleaning cloth module coupled to the first member to receive a rotational force from the first member.

3. The robot cleaner of claim 2, wherein the cleaning cloth module is configured to move up or down together with the first member.

4. The robot cleaner of claim 1, further comprising a unidirectional rotating body directly or indirectly coupled to the second member so that the second member is rotatable only in one direction.

5. The robot cleaner of claim 4, wherein the unidirectional rotating body surrounds an outer circumferential surface of the second member.

6. The robot cleaner of claim 4, wherein the second member includes a teeth portion having a gear-shape protruding outward from an outer circumferential surface thereof, andwherein the robot cleaner includes a unidirectional rotation gear engaged with the teeth portion to connect the second member and the unidirectional rotating body.

7. The robot cleaner of claim 4, wherein the unidirectional rotating body is a one-way bearing.

8. The robot cleaner of claim 1, wherein the second member includes a stopper positioned at an end of the guide groove to stop movement of the guide protrusion.

9. The robot cleaner of claim 1, wherein the second member includes a guide protrusion insertion hole, on an upper surface thereof, and configured for the guide protrusion to be inserted into the guide groove.

10. The robot cleaner of claim 1, wherein the second member includes a threshold extending inwardly from a lower end of an outer circumferential surface of the second member to selectively support the first member.

11. The robot cleaner of claim 1, wherein the guide protrusion is on an outer part of an upper portion of the first member.

12. The robot cleaner of claim 1, further comprising a gear assembly configured to transmit power of the motor to the shaft.

13. The robot cleaner of claim 12, wherein the motor includes a worm forming portion configured to be coupled to the gear assembly.

14. The robot cleaner of claim 12, wherein the gear assembly includes: a power transmission gear portion coupled to the motor, anda shaft coupling gear portion coupled to the power transmission gear portion and the shaft.

15. The robot cleaner of claim 14, wherein the shaft coupling gear portion includes a shaft extension portion extending in a downward axial direction from a center thereof.

16. The robot cleaner of claim 15, wherein the shaft coupling gear portion includes a shaft coupling opening formed to pass through a center portion axially and configured to allow the shaft to be coupled thereto.

17. The robot cleaner of claim 14, wherein the shaft coupling gear portion, the shaft, and the first member are configured to rotate together about a same rotation axis.

18. The robot cleaner of claim 1, wherein the guide groove extends in a screw shape along a circumferential direction of the second member.

19. The robot cleaner of claim 1, wherein the shaft includes a first magnetic body disposed at a lower end thereof.

20. The robot cleaner of claim 19, further comprising: a cleaning cloth module including a second magnetic body coupled to the first magnetic body and a shielding member disposed below the second magnetic body and configured to shield a magnetic force directed to a lower side of the first magnetic body, the cleaning cloth module being configured to receive a rotational power from at least one of the shaft or the first member.