TWI786436B - Robot cleaner - Google Patents

Robot cleaner Download PDF

Info

Publication number
TWI786436B
TWI786436B TW109129929A TW109129929A TWI786436B TW I786436 B TWI786436 B TW I786436B TW 109129929 A TW109129929 A TW 109129929A TW 109129929 A TW109129929 A TW 109129929A TW I786436 B TWI786436 B TW I786436B
Authority
TW
Taiwan
Prior art keywords
force
force transmitter
belt
side brush
cleaning robot
Prior art date
Application number
TW109129929A
Other languages
Chinese (zh)
Other versions
TW202139911A (en
Inventor
金滉
Original Assignee
南韓商Ｌｇ電子股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南韓商Ｌｇ電子股份有限公司 filed Critical 南韓商Ｌｇ電子股份有限公司
Publication of TW202139911A publication Critical patent/TW202139911A/en
Application granted granted Critical
Publication of TWI786436B publication Critical patent/TWI786436B/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0427—Gearing or transmission means therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0427—Gearing or transmission means therefor
    • A47L9/0444—Gearing or transmission means therefor for conveying motion by endless flexible members, e.g. belts
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0427—Gearing or transmission means therefor
    • A47L9/0433—Toothed gearings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Filters For Electric Vacuum Cleaners (AREA)

Abstract

Provided is a robot cleaner including a main body including a suction portion disposed thereon, main wheels for moving the main body, and a side brush assembly disposed on the main body and rotating with a rotation shaft perpendicular to a rotation shaft of the main wheels, wherein the side brush assembly includes a housing for forming an exterior of the side brush assembly, a first force transmitter disposed in the housing and rotating by receiving a driving force, a belt connected to the first force transmitter, a second force transmitter connected to the first force transmitter by the belt to receive a rotational force of the first force transmitter, and a side brush coupled to the second force transmitter.

Description

清掃機器人 cleaning robot

本發明係關於一種清掃機器人，更具體而言，係關於一種清掃機器人，其即使在行進時側刷擋住障礙物，也不會對障礙物或側刷造成損毀。 The present invention relates to a cleaning robot, and more specifically, to a cleaning robot that does not damage the obstacle or the side brush even if the side brush blocks the obstacle while traveling.

一般而言，真空吸塵器是一種藉由驅動吸氣裝置自外部抽吸含有異物的空氣的裝置，該吸氣裝置設置在清掃機主體的內部，以產生吸氣力，並分離和收集異物。 In general, a vacuum cleaner is a device that sucks air containing foreign matter from the outside by driving an air suction device provided inside a cleaning machine body to generate suction force and separate and collect foreign matter.

執行上述功能的真空吸塵器分為：由使用者直接操控的手動真空吸塵器；以及不需要使用者操控而可自行進行清掃的清掃機器人。清掃機器人抽吸待清掃表面上的各種異物，同時在待清掃表面上自主行進。 Vacuum cleaners that perform the above functions are classified into: manual vacuum cleaners that are directly controlled by users; and cleaning robots that can clean by themselves without user manipulation. The cleaning robot sucks all kinds of foreign objects on the surface to be cleaned, and at the same time travels autonomously on the surface to be cleaned.

韓國專利申請公開第10-2006-0111788號揭露了一種其中清掃機器人包含側刷以在清掃時清掃各種地板表面的技術。根據該先前技術，當側刷撞到障礙物時，障礙物可以移動靠近抽吸部，並可以被吸入清掃機中。然而，在先前技術中，當在側刷撞到障礙物而障礙物未移動時，側刷可能被障礙物擋住且可能受到損毀，或者強旋轉力可能被傳遞至障礙物，而可能損毀障礙物。具體而言，當障礙是電線時，可能會切斷電線，並可能發生漏電等現象。 Korean Patent Application Publication No. 10-2006-0111788 discloses a technology in which a cleaning robot includes side brushes to clean various floor surfaces while cleaning. According to this prior art, when the side brush hits an obstacle, the obstacle can move close to the suction portion and can be sucked into the sweeper. However, in the prior art, when the side brush hits an obstacle and the obstacle does not move, the side brush may be blocked by the obstacle and may be damaged, or a strong rotational force may be transmitted to the obstacle, which may damage the obstacle . Specifically, when the obstacle is an electric wire, the electric wire may be cut, and phenomena such as electric leakage may occur.

本發明旨在解決上述問題。本發明提供一種清掃機器人，其行進時具有改善的穩定性。 The present invention aims to solve the above-mentioned problems. The present invention provides a cleaning robot with improved stability while traveling.

另外，本發明提供一種清掃機器人，其中，當側刷擋住障礙物時，側刷的旋轉會改變，從而防止對障礙物或側刷的損毀。 In addition, the present invention provides a cleaning robot in which, when the side brush blocks an obstacle, the rotation of the side brush is changed, thereby preventing damage to the obstacle or the side brush.

為了實現上述目的，本發明包括：一主體，包含設置於其上的抽吸部；多個主輪，用於移動主體；以及一側刷組件，設置在主體上，並以與主輪的旋轉軸垂直的旋轉軸旋轉，其中，側刷組件的旋轉可以基於是否撞到障礙物來改變。 In order to achieve the above object, the present invention includes: a main body including a suction part provided thereon; a plurality of main wheels for moving the main body; The axis of rotation is perpendicular to the axis of rotation, wherein the rotation of the side brush assembly can be changed based on whether it hits an obstacle.

在本實施例中，兩個傳輸器透過皮帶彼此連接，因此在側刷組件撞到障礙物時，兩個傳輸器之間的旋轉力發生改變的情況下，仍可以維持側刷組件的操作。另外，本發明所揭露的是一種透過具有恆定垂直尺寸的皮帶彼此連接的兩個傳輸器的配置，使得當側刷組件還原至沒撞到障礙物的狀態時，可以再次於兩個傳輸器之間傳輸旋轉力。 In this embodiment, the two conveyors are connected to each other by a belt, so that the operation of the side brush assembly can be maintained even if the rotational force between the two conveyors changes when the side brush assembly hits an obstacle. In addition, the present invention discloses a configuration of two conveyors connected to each other by a belt with a constant vertical dimension, so that when the side brush assembly returns to the state where it does not hit an obstacle, it can be moved between the two conveyors again. transmission of rotational force.

本發明提供一種清掃機器人，包括：一主體，包含設置在其上的抽吸部；多個主輪，用於移動主體；以及一側刷組件，設置在主體上，並以與主輪的旋轉軸垂直的旋轉軸旋轉，其中，該側刷組件包含一殼體，用於形成側刷組件的外部；一第一力傳輸器，設置在殼體中，並藉由接收驅動力來旋轉；皮帶，連接至第一力傳輸器；一第二力傳輸器，透過皮帶連接至第一力傳輸器，以接收第一力傳輸器的旋轉力；以及一側刷，耦接至第二力傳輸器。 The present invention provides a cleaning robot, comprising: a main body, including a suction part arranged on it; a plurality of main wheels, used to move the main body; and a brush assembly on one side, arranged on the main body, and The axis of rotation is perpendicular to the axis of rotation, wherein the side brush assembly includes a housing for forming the outside of the side brush assembly; a first force transmitter is arranged in the housing and rotates by receiving a driving force; a belt , connected to the first force transmitter; a second force transmitter, connected to the first force transmitter through a belt, to receive the rotational force of the first force transmitter; and a side brush, coupled to the second force transmitter .

本發明揭露一種其中當滑動發生在皮帶與第一力傳輸器和第二力傳輸器的其中之一之間時，第一力傳輸器的旋轉角速度和第二力傳輸器的旋轉角速度變成不一樣的結構。 The present invention discloses a method wherein when a slip occurs between a belt and one of the first force transmitter and the second force transmitter, the angular velocity of rotation of the first force transmitter and the angular velocity of rotation of the second force transmitter become different Structure.

而且，本發明揭露一種能使用一個馬達組件提供旋轉力給側刷和攪拌器的技術。可以根據不同的耦接方案和齒輪比例，傳輸不同的旋轉速度至側刷和攪拌器。 Also, the present invention discloses a technology capable of providing rotational force to the side brush and the agitator using one motor assembly. Different rotational speeds can be transmitted to the side brushes and agitators according to different coupling schemes and gear ratios.

第二力傳輸器包括耦接皮帶的皮帶輪；以及耦接至皮帶輪的旋轉中心的旋轉軸件。在這一點上，側刷以與旋轉軸件相同的旋轉角速度旋轉。 The second force transmitter includes a pulley coupled to the belt; and a rotating shaft coupled to the center of rotation of the pulley. At this point, the side brush rotates at the same rotational angular velocity as the rotating shaft member.

由於馬達組件和第一力傳輸器透過複數齒輪耦接彼此耦接，旋轉速度會改變，但旋轉力仍不斷地自馬達組件傳輸至第一力傳輸器。然而，由於旋轉力由皮帶自馬達組件傳輸至第二力傳輸器，即使第一力傳輸器持續旋轉，第二力傳輸器的旋轉可能基於第二力傳輸器的情況而改變。在一示例中，當在第二力傳輸器的旋轉改變之後移除改變第二力傳輸器的旋轉的因素時，第一力傳輸器的旋轉力會再次穩定地透過皮帶傳輸至第二力傳輸器。 Since the motor assembly and the first force transmitter are coupled to each other through a plurality of gear couplings, the rotation speed will change, but the rotation force is still continuously transmitted from the motor assembly to the first force transmitter. However, since the rotational force is transmitted by the belt from the motor assembly to the second force transmitter, even if the first force transmitter continues to rotate, the rotation of the second force transmitter may vary based on the condition of the second force transmitter. In one example, when the factor changing the rotation of the second force transmitter is removed after the rotation of the second force transmitter is changed, the rotational force of the first force transmitter is again stably transmitted through the belt to the second force transmitter. device.

根據本發明，即使當側刷撞到未被側刷移動的障礙物時，側刷或障礙物均不會出現損毀，因此清掃機器人可以穩定地行進。 According to the present invention, even when the side brush hits an obstacle not moved by the side brush, neither the side brush nor the obstacle is damaged, so the cleaning robot can travel stably.

亦即，根據本發明，當側刷受到大於等於特定大小的旋轉力時，可以改變側刷的旋轉力，使得側刷不再撞到障礙物。 That is, according to the present invention, when the side brush receives a rotation force greater than or equal to a certain magnitude, the rotation force of the side brush can be changed so that the side brush no longer hits an obstacle.

10:主體 10: Subject

14:抽吸部 14: Suction part

20:前輔助輪 20: Front training wheel

30:後輔助輪 30: rear training wheel

40:主輪 40: main wheel

60:攪拌器 60: Stirrer

100:側刷組件 100: side brush assembly

112:上殼體 112: upper shell

114:下殼體 114: lower shell

116:減速齒輪 116: reduction gear

117:齒輪 117: gear

130:第一力傳輸器 130: First force transmitter

134:第一耦接槽 134: the first coupling slot

136:第一耦接肋 136: the first coupling rib

150:皮帶 150: belt

170:第二力傳輸器 170: second force transmitter

172:皮帶輪 172: Pulley

174:第二耦接槽 174: Second coupling slot

176:第二耦接肋 176: second coupling rib

180:旋轉軸件 180: rotating shaft

190:側刷 190: side brush

194:刷子 194: brush

200:馬達組件 200: motor assembly

300:齒輪箱 300: gear box

304:第一蓋 304: first cover

306:第二蓋 306: second cover

310,320:齒輪 310,320: Gears

圖1係顯示根據本發明的清掃機器人的底面的圖式。 FIG. 1 is a diagram showing a bottom surface of a cleaning robot according to the present invention.

圖2係顯示根據一實施例的主要元件的圖式。 Figure 2 is a diagram showing the main components according to an embodiment.

圖3係顯示圖2中之分解立體圖的圖式。 FIG. 3 is a diagram showing an exploded perspective view of FIG. 2 .

圖4係顯示圖2中之部分主要元件的剖面圖的圖式。 FIG. 4 is a diagram showing a cross-sectional view of some of the main components in FIG. 2 .

圖5係顯示側刷組件的操作的圖式。 Figure 5 is a diagram showing the operation of the side brush assembly.

在下文中，將參照附圖描述可以具體實現上述目的之本發明的較佳實施例。 Hereinafter, preferred embodiments of the present invention which can specifically achieve the above objects will be described with reference to the accompanying drawings.

在此流程中，為了清楚和方便描述，可以放大附圖所示出的組件的尺寸、形狀等。另外，考量本發明的配置和操作而具體定義的術語可以根據使用者或操作者的目的或實施方法而變化。該類術語應根據整篇說明書的內容加以定義。 In this process, the size, shape, etc. of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on a user's or operator's purpose or implementation method. Such terms shall be defined according to the content of the entire specification.

圖1係顯示根據本發明的清掃機器人的底面的圖式。接下來，將參照圖1來實現描述。 FIG. 1 is a diagram showing a bottom surface of a cleaning robot according to the present invention. Next, description will be realized with reference to FIG. 1 .

本發明包括：主體10，用於形成外部；主輪40，佈置在主體10上且旋轉，使得主體10可以前後移動或可以轉向；以及前輔助輪20，用於支撐主體10的一側，並透過主輪40協助主體10的轉向。 The present invention includes: a main body 10 for forming the exterior; a main wheel 40 arranged on the main body 10 and rotating so that the main body 10 can move back and forth or can be turned; and a front auxiliary wheel 20 for supporting one side of the main body 10, and The steering of the main body 10 is assisted by the main wheel 40 .

在這點上，主輪40彼此各自佈置在主體10的左側和右側。可以彼此獨立地驅動左右兩側的主輪40。 In this regard, the main wheels 40 are arranged on the left and right sides of the main body 10, respectively. The left and right main wheels 40 can be driven independently of each other.

主體10包括抽吸部14，用於抽吸異物等。抽吸部14可以包括：攪拌器60，設置在主體10上，並與旋轉時在其上進行清掃的地板接觸；抽吸孔，界定在主體10中，並能透過主體10內部產生的吸力抽吸外部異物；以及其他部件。 The main body 10 includes a suction portion 14 for suctioning foreign matter and the like. The suction part 14 may include: an agitator 60 disposed on the main body 10 and in contact with the floor on which cleaning is performed while rotating; suction foreign matter; and other parts.

在一示例中，後輔助輪30可以設置在主輪40後方，以支撐主體10的其他側。 In one example, the rear auxiliary wheels 30 may be disposed behind the main wheels 40 to support other sides of the main body 10 .

前輔助輪20和後輔助輪30佈置為可相對於本體10在垂直方向上自由旋轉。在一示例中，前輔助輪20和後輔助輪30佈置以具有相對於本體10的一固定高度。 The front auxiliary wheel 20 and the rear auxiliary wheel 30 are arranged to be freely rotatable in a vertical direction relative to the body 10 . In one example, the front auxiliary wheel 20 and the rear auxiliary wheel 30 are arranged to have a fixed height relative to the body 10 .

在一示例中，儘管主輪40不能相對於主體10在水平方向上旋轉，但是主輪40由兩側的滾輪組成，且兩側的滾輪以不同的旋轉速度或不同的方向旋轉，因此主體10可以轉向左方或右方。 In one example, although the main wheel 40 cannot rotate in the horizontal direction relative to the main body 10, the main wheel 40 is composed of rollers on both sides, and the rollers on both sides rotate at different rotation speeds or in different directions, so the main body 10 Can turn left or right.

尤其，不像前輔助輪20，主輪40的高度相對於主體10而變化。主輪40在旋轉軸大致平行於地板表面或清掃機器人移動的待清潔表面的狀態下，可以透過滾輪的旋轉力，移動至所期望的位置或在所期望的方向上旋轉。 In particular, unlike the front auxiliary wheels 20 , the height of the main wheels 40 varies relative to the main body 10 . The main wheel 40 can move to a desired position or rotate in a desired direction through the rotation force of the roller when the rotation axis is substantially parallel to the floor surface or the surface to be cleaned by the cleaning robot.

側刷組件100設置在主體10的一側上。在側刷組件100中，隨著刷子旋轉，刷子移動位於遠離主體10底部的障礙物或與牆壁接觸的障礙物，以被吸入抽吸部14中。當清掃機器人行駛時，可以一起驅動側刷組件100和抽吸部14。 The side brush assembly 100 is disposed on one side of the main body 10 . In the side brush assembly 100 , as the brush rotates, the brush moves an obstacle located away from the bottom of the main body 10 or an obstacle in contact with a wall to be sucked into the suction part 14 . When the cleaning robot travels, the side brush assembly 100 and the suction part 14 may be driven together.

在側刷組件100中，可以使用在抽吸部14中產生的抽吸力或用於旋轉主輪40的驅動力作為旋轉刷子的驅動力。在一實施例中，側刷組件100可以包括單獨馬達，以產生個別旋轉力。 In the side brush assembly 100, a suction force generated in the suction part 14 or a driving force for rotating the main wheel 40 may be used as a driving force for rotating the brush. In one embodiment, the side brush assembly 100 may include individual motors to generate individual rotational forces.

圖2係顯示根據一實施例的主要元件的圖式。 Figure 2 is a diagram showing the main components according to an embodiment.

在圖2中，可以一起顯示馬達組件200、齒輪箱300和側刷組件100。 In FIG. 2 , the motor assembly 200 , the gearbox 300 and the side brush assembly 100 may be shown together.

馬達組件200中具有馬達，所以可以產生馬達的旋轉力。 Since the motor assembly 200 has a motor therein, the rotational force of the motor can be generated.

馬達組件200耦接至齒輪箱300，因此由馬達組件200產生的旋轉力傳輸至齒輪箱300。齒輪箱300耦接至側刷組件100，以便馬達組件200的旋轉力透過齒輪箱300傳輸至側刷組件100。 The motor assembly 200 is coupled to the gearbox 300 , and thus the rotational force generated by the motor assembly 200 is transmitted to the gearbox 300 . The gear box 300 is coupled to the side brush assembly 100 so that the rotational force of the motor assembly 200 is transmitted to the side brush assembly 100 through the gear box 300 .

側刷組件100包括：殼體，其形成側刷組件100的外部；第一力傳輸器130，設置在殼體上，並藉由接收驅動力來旋轉；皮帶150，連接至第一力傳輸器130；第二力傳輸器170，透過皮帶150連接至第一力傳輸器130，以接收第一力傳輸器130的旋轉力；以及側刷190，耦接至第二力傳輸器170。 The side brush assembly 100 includes: a housing forming the exterior of the side brush assembly 100; a first force transmitter 130 provided on the housing and rotated by receiving a driving force; a belt 150 connected to the first force transmitter 130 ; the second force transmitter 170 is connected to the first force transmitter 130 through the belt 150 to receive the rotational force of the first force transmitter 130 ; and the side brush 190 is coupled to the second force transmitter 170 .

亦即，傳輸至側刷組件100的旋轉力透過第一力傳輸器130、皮 帶150和第二力傳輸器170傳遞至側刷190。 That is, the rotational force transmitted to the side brush assembly 100 passes through the first force transmitter 130, the leather The belt 150 and the second force transmitter 170 pass to the side brush 190 .

圖3係顯示圖2中之分解立體圖的圖式；以及圖4係顯示圖2中之部分主要元件的剖面的圖式。 FIG. 3 is a diagram showing an exploded perspective view in FIG. 2; and FIG. 4 is a diagram showing a cross-section of some main components in FIG. 2.

參照下方的圖3和圖4，形成側刷組件100外部的殼體包括：上殼體112，設置在上側；以及下殼體114，耦接至上殼體112的下側。一空間可以由上殼體112和下殼體114界定在內部，而複數個元件可以佈置在該空間中。 Referring to FIGS. 3 and 4 below, the case forming the exterior of the side brush assembly 100 includes: an upper case 112 disposed on an upper side; and a lower case 114 coupled to a lower side of the upper case 112 . A space may be defined inside by the upper case 112 and the lower case 114, and a plurality of elements may be arranged in the space.

第一力傳輸器130可旋轉地耦接至上殼體112和下殼體114。第一力傳輸器130具有界定在其中的第一耦接槽134，皮帶150耦接至第一耦接槽134。用於防止皮帶150自第一耦接槽134脫落的第一耦接肋136分別佈置在第一耦接槽134的頂面和底面上。第一耦接肋136可以佈置以自第一耦接槽134凹陷的部分突出，以分別圍繞皮帶150的上端和下端。因此，即使當皮帶150瞬間滑動時，仍可以防止皮帶150離開第一耦接槽134。第一耦接肋136完全地沿第一耦接槽134的圓周佈置。 The first force transmitter 130 is rotatably coupled to the upper housing 112 and the lower housing 114 . The first force transmitter 130 has a first coupling slot 134 defined therein to which the belt 150 is coupled. The first coupling ribs 136 for preventing the belt 150 from falling off from the first coupling groove 134 are respectively disposed on the top surface and the bottom surface of the first coupling groove 134 . The first coupling rib 136 may be arranged to protrude from a recessed portion of the first coupling groove 134 to respectively surround upper and lower ends of the belt 150 . Therefore, even when the belt 150 slips momentarily, the belt 150 is prevented from leaving the first coupling groove 134 . The first coupling rib 136 is completely arranged along the circumference of the first coupling groove 134 .

第二力傳輸器170可旋轉地耦接至上殼體112和下殼體114。第二力傳輸器170具有界定在其中的第二耦接槽174，皮帶150耦接至第二耦接槽174。第二耦接肋176分別佈置在第二耦接槽174的頂面和底面上，以防止皮帶150自第二耦接槽174脫落。第二耦接肋176可以佈置以自第二耦接槽174凹陷的部分突出，以分別圍繞皮帶150的上端和下端。因此，即使當皮帶150瞬間滑動時，仍可以防止皮帶150離開第二耦接槽174。第二耦接肋176完全地沿第二耦接槽174的圓周佈置。 The second force transmitter 170 is rotatably coupled to the upper housing 112 and the lower housing 114 . The second force transmitter 170 has a second coupling slot 174 defined therein to which the belt 150 is coupled. The second coupling ribs 176 are respectively disposed on the top surface and the bottom surface of the second coupling groove 174 to prevent the belt 150 from falling off from the second coupling groove 174 . The second coupling rib 176 may be arranged to protrude from a recessed portion of the second coupling groove 174 to respectively surround upper and lower ends of the belt 150 . Therefore, even when the belt 150 slips momentarily, the belt 150 is prevented from leaving the second coupling groove 174 . The second coupling rib 176 is completely arranged along the circumference of the second coupling groove 174 .

皮帶150可以是無接縫皮帶。另外，該無接縫皮帶可以具有一恆定垂直尺寸。 Belt 150 may be a seamless belt. Additionally, the seamless belt may have a constant vertical dimension.

第一耦接槽134和第二耦接槽174中的每一個可以是環形，其中其中心部分比其外部更凹陷，以耦接至皮帶150的圓形剖面。在一示例中，可以界定耦接槽，使得耦接槽的中心部分的凹陷深度和外部的凹陷深度相同。 Each of the first coupling groove 134 and the second coupling groove 174 may be annular in which a central portion thereof is more concave than an outer portion thereof to be coupled to a circular cross section of the belt 150 . In an example, the coupling groove may be defined such that a central portion of the coupling groove has the same recess depth as an outer portion.

第一耦接槽134和第二耦接槽174中的每一個都具有其中凹槽不界定在中間的形狀，且仍具有維持恆定沿著圓周凹陷的形狀。亦即，界定第一耦接槽134和第二耦接槽174的形狀維持平滑，而沒有間斷的突出部分。因此，即使當皮帶150上發生滑動，且皮帶150耦接至第一耦接槽134和第二耦接槽174的位置改變時，仍可以維持皮帶150耦接至第一耦接槽134和第二耦接槽174的狀 態。 Each of the first coupling groove 134 and the second coupling groove 174 has a shape in which a groove is not defined in the middle, and still has a shape maintaining a constant depression along the circumference. That is, the shape defining the first coupling groove 134 and the second coupling groove 174 remains smooth without discontinuous protrusions. Therefore, even when slippage occurs on the belt 150 and the position where the belt 150 is coupled to the first coupling groove 134 and the second coupling groove 174 changes, the coupling of the belt 150 to the first coupling groove 134 and the second coupling groove 174 can still be maintained. The shape of the two coupling grooves 174 state.

第二力傳輸器170包括皮帶輪172，皮帶150耦接至皮帶輪172；以及旋轉軸件180，耦接至皮帶輪172的旋轉中心。在這點上，第二耦接槽174和第二耦接肋176分別界定在皮帶輪172中，並形成在皮帶輪172上。 The second force transmitter 170 includes a pulley 172 to which the belt 150 is coupled; and a rotating shaft 180 coupled to the center of rotation of the pulley 172 . In this regard, the second coupling groove 174 and the second coupling rib 176 are respectively defined in the pulley 172 and formed on the pulley 172 .

旋轉軸件180耦接至皮帶輪172的中心部分，因此當皮帶輪172旋轉時，旋轉軸件180一起旋轉。旋轉軸件180形成，使得其上側和下側為多邊形而非環形。因此，由於皮帶輪172的中心通孔耦接至旋轉軸件180的上側，皮帶輪172以與旋轉軸件180相同的旋轉角速度旋轉。皮帶輪172的中心通孔界定以具有多邊形，其相同於形成在旋轉軸件180的上側的多邊形，因此皮帶輪172可以耦接至旋轉軸件180，而不會空轉。 The rotation shaft 180 is coupled to the central portion of the pulley 172 so that when the pulley 172 rotates, the rotation shaft 180 rotates together. The rotary shaft member 180 is formed such that its upper and lower sides are polygonal instead of circular. Therefore, since the center through hole of the pulley 172 is coupled to the upper side of the rotation shaft 180 , the pulley 172 rotates at the same rotational angular velocity as the rotation shaft 180 . The central through hole of the pulley 172 is defined to have a polygon which is the same as the polygon formed on the upper side of the rotation shaft 180, so the pulley 172 may be coupled to the rotation shaft 180 without idling.

側刷190耦接至旋轉軸件180的下側。通孔亦界定在側刷190的中心，並耦接至形成在旋轉軸件180的下側的多邊形部分。界定在側刷190中的通孔亦界定在與旋轉軸件180相同的多邊形中，因此側刷190和旋轉軸件180可以在相同的旋轉角速度下旋轉，而不會空轉。 The side brush 190 is coupled to the lower side of the rotation shaft 180 . A through hole is also defined at the center of the side brush 190 and coupled to a polygonal portion formed at the lower side of the rotation shaft member 180 . The through holes defined in the side brush 190 are also defined in the same polygon as the rotation shaft 180, so the side brush 190 and the rotation shaft 180 can rotate at the same rotation angular velocity without idling.

側刷190包括複數個刷子194。刷子194可以分配為彼此間隔開，並撞擊清掃機器人正在移動的地板部分。刷子194由受到外力時可變形的材料製成。具體而言，由於刷子194由橡膠材料製成，所以刷子194的變形，如彎曲，可以在刷子194撞上材質相對堅固的障礙物時發生。另外，當刷子194藉由遠離障礙物移動而未撞上障礙物時，刷子194可以還原至原來的形狀，即一直線的延伸形狀。 The side brush 190 includes a plurality of brushes 194 . The brushes 194 may be assigned to be spaced apart from each other and strike the portion of the floor that the cleaning robot is moving. The brush 194 is made of a material that deforms when subjected to external force. Specifically, since the brush 194 is made of a rubber material, deformation of the brush 194, such as bending, can occur when the brush 194 hits an obstacle made of a relatively solid material. In addition, when the brush 194 does not hit the obstacle by moving away from the obstacle, the brush 194 may return to the original shape, ie, a linear extended shape.

側刷組件100包括減速齒輪116，用於降低自齒輪箱300傳輸的旋轉力的速度。傳輸至減速齒輪116的旋轉力透過另一個齒輪117傳輸至第一力傳輸器130。自齒輪箱300傳輸的旋轉力透過複數個齒輪傳輸至第一力傳輸器130。因此，當齒輪箱300的齒輪旋轉時，第一力傳輸器130總是旋轉。然而，旋轉速度等因素可能會被齒輪比例改變。 The side brush assembly 100 includes a reduction gear 116 for reducing the speed of the rotational force transmitted from the gear case 300 . The rotational force transmitted to the reduction gear 116 is transmitted to the first force transmitter 130 through another gear 117 . The rotational force transmitted from the gear box 300 is transmitted to the first force transmitter 130 through a plurality of gears. Therefore, when the gears of the gearbox 300 rotate, the first force transmitter 130 always rotates. However, factors such as rotational speed may be changed by the gear ratio.

馬達組件200包括馬達，其藉由接收電池的電流來旋轉。隨著馬達旋轉，馬達組件200可以產生旋轉力。 The motor assembly 200 includes a motor which rotates by receiving electric current from a battery. As the motor rotates, the motor assembly 200 may generate a rotational force.

齒輪箱300設置以接合設置在馬達組件200中的馬達的旋轉軸。齒輪箱300包含：第一蓋304，其形成齒輪箱300的外部；第二蓋306，耦接至第一蓋304。當第一蓋304和第二蓋306彼此耦接時，一空間界定於其間，且複數個 齒輪310和320佈置以在對應的空間中彼此接合。複數個齒輪310和320基於自馬達組件200供應的旋轉力旋轉。具體而言，設置在齒輪箱300一端的齒輪310可以耦接至設置在馬達組件200中的馬達的旋轉軸，並與其一起旋轉。另外，設置在齒輪箱300另一端的齒輪320的中心耦接至減速齒輪116，以便隨著齒輪320旋轉，減速齒輪116亦可以一起旋轉。齒輪320可以將旋轉力傳遞至攪拌器60的旋轉軸。因此，當齒輪320旋轉時，旋轉力可以同時傳遞至側刷組件100和攪拌器60。 The gear box 300 is provided to engage the rotation shaft of the motor provided in the motor assembly 200 . The gearbox 300 includes a first cover 304 forming the exterior of the gearbox 300 , and a second cover 306 coupled to the first cover 304 . When the first cover 304 and the second cover 306 are coupled to each other, a space is defined therebetween, and a plurality of The gears 310 and 320 are arranged to engage with each other in corresponding spaces. The plurality of gears 310 and 320 rotate based on the rotational force supplied from the motor assembly 200 . Specifically, the gear 310 provided at one end of the gear box 300 may be coupled to a rotation shaft of a motor provided in the motor assembly 200 and rotate therewith. In addition, the center of the gear 320 disposed at the other end of the gear box 300 is coupled to the reduction gear 116 so that the reduction gear 116 can rotate together with the rotation of the gear 320 . The gear 320 may transmit the rotational force to the rotation shaft of the agitator 60 . Therefore, when the gear 320 rotates, the rotational force may be simultaneously transmitted to the side brush assembly 100 and the agitator 60 .

圖5係顯示側刷組件的操作的圖式。 Figure 5 is a diagram showing the operation of the side brush assembly.

如圖5所示，在馬達組件200中產生的旋轉力可以傳遞至側刷組件100和攪拌器60兩者。由於齒輪箱300設置在側刷組件100與攪拌器60之間，馬達組件200的旋轉力可以同時傳遞至側刷組件100和攪拌器60。 As shown in FIG. 5 , the rotational force generated in the motor assembly 200 may be transmitted to both the side brush assembly 100 and the agitator 60 . Since the gear box 300 is disposed between the side brush assembly 100 and the agitator 60 , the rotational force of the motor assembly 200 may be simultaneously transmitted to the side brush assembly 100 and the agitator 60 .

在一示例中，攪拌器60設置在圖5中的水平方向上，而攪拌器60的旋轉軸平行於攪拌器60設置的方向。另一方面，由於側刷組件100的旋轉軸為圖5的法線方向，用於旋轉攪拌器60的旋轉軸和側刷組件100的旋轉軸彼此垂直地佈置。在一示例中，攪拌器60的旋轉軸和馬達組件200的旋轉軸可以彼此平行地佈置。佈置在齒輪箱300中的所有齒輪皆可以與在平行於攪拌器60的旋轉軸的方向上的旋轉軸旋轉。 In one example, the agitator 60 is arranged in a horizontal direction in FIG. 5 , and the rotation axis of the agitator 60 is parallel to the direction in which the agitator 60 is arranged. On the other hand, since the rotation axis of the side brush assembly 100 is in the normal direction of FIG. 5 , the rotation axis for rotating the agitator 60 and the rotation axis of the side brush assembly 100 are arranged perpendicular to each other. In an example, the rotation shaft of the agitator 60 and the rotation shaft of the motor assembly 200 may be arranged parallel to each other. All gears arranged in the gear box 300 are rotatable with a rotation shaft in a direction parallel to the rotation shaft of the agitator 60 .

在一示例中，側刷組件100亦可以設置在攪拌器60的左側上，因此由一個馬達組件200產生的旋轉力可以傳遞至兩個側刷組件100。由於攪拌器60在主體10中延伸，所以攪拌器60可以執行將旋轉力傳遞至位於相對側的側刷組件100的功能。 In one example, the side brush assembly 100 may also be disposed on the left side of the agitator 60 , so the rotational force generated by one motor assembly 200 may be transmitted to two side brush assemblies 100 . Since the agitator 60 extends in the main body 10, the agitator 60 may perform a function of transmitting rotational force to the side brush assembly 100 located on the opposite side.

由馬達組件200產生的旋轉力透過齒輪箱300傳遞至攪拌器60和側刷組件100。在這點上，由於齒輪箱300以不同的形式耦接至攪拌器60和側刷組件100，旋轉速度也以不同的方式傳遞。在一示例中，在側刷組件100中，旋轉方向透過減速齒輪116垂直地變更，並可以降低旋轉速度。與減速齒輪116耦接的齒輪117齒輪耦接至第一力傳輸器130。因此，當減速齒輪116旋轉時，第一力傳輸器130必會一起旋轉，且當減速齒輪116停止旋轉時，第一力傳輸器130也必會停止旋轉。 The rotational force generated by the motor assembly 200 is transmitted to the agitator 60 and the side brush assembly 100 through the gear box 300 . In this regard, since the gear case 300 is coupled to the agitator 60 and the side brush assembly 100 in a different manner, the rotation speed is also transmitted in a different manner. In one example, in the side brush assembly 100, the rotation direction is changed vertically through the reduction gear 116, and the rotation speed can be reduced. The gear 117 coupled with the reduction gear 116 is gear coupled to the first force transmitter 130 . Therefore, when the reduction gear 116 rotates, the first force transmitter 130 must rotate together, and when the reduction gear 116 stops rotating, the first force transmitter 130 must also stop rotating.

在一示例中，當第一力傳輸器130旋轉時，隨著耦接至皮帶150的第二力傳輸器170也旋轉，側刷190亦旋轉以撞擊地板或側面。在這點上，當 諸如電線等相對大的物體擋住刷子194時，刷子194可能變形。另外，可能發生側刷190的旋轉變慢或停止的情況。 In one example, as the first force transmitter 130 rotates, the side brush 190 also rotates to hit the floor or the side as the second force transmitter 170 coupled to the belt 150 also rotates. At this point, when When brushes 194 are blocked by relatively large objects, such as wires, brushes 194 may become deformed. In addition, it may happen that the rotation of the side brush 190 becomes slow or stops.

因此，滑動可能發生在皮帶150與第二力傳輸器170之間，因此第一力傳輸器130可以繼續旋轉。舉例來說，當第二力傳輸器170應在第一力傳輸器130旋轉時恆定地旋轉時，即使在側刷190撞到任何障礙物，側刷190亦應恆定地旋轉。當即使在與諸如電線等物體發生糾纏側刷190仍持續旋轉時，可能對清掃機器人和側刷190造成損毀。因此，在本實施例中，由於可能發生即使旋轉力持續地自第一力傳輸器130傳遞，但第二力傳輸器170不會基於第一力傳輸器130的旋轉力持續旋轉的情況，所以可以防止側刷190受損。在本實施例中，所揭露的是一種其中當滑動發生皮帶150與第一力傳輸器130或第二力傳輸器170之間時，第一力傳輸器130的旋轉角速度和第二力傳輸器170的旋轉角速度可以不同的結構。 Therefore, slippage may occur between the belt 150 and the second force transmitter 170, so that the first force transmitter 130 may continue to rotate. For example, while the second force transmitter 170 should rotate constantly when the first force transmitter 130 rotates, the side brush 190 should also rotate constantly even if the side brush 190 hits any obstacle. When the side brush 190 continues to rotate even when entangled with objects such as electric wires, damage may be caused to the cleaning robot and the side brush 190 . Therefore, in the present embodiment, since it may happen that the second force transmitter 170 does not continue to rotate based on the rotational force of the first force transmitter 130 even though the rotational force is continuously transmitted from the first force transmitter 130, Damage to the side brush 190 can be prevented. In this embodiment, what is disclosed is a method in which when sliding occurs between the belt 150 and the first force transmitter 130 or the second force transmitter 170, the rotational angular velocity of the first force transmitter 130 and the second force transmitter 170 The rotational angular velocity of 170 can be of different configurations.

在一示例中，當刷子194沒有撞到障礙物時，刷子194可以用皮帶150的旋轉力，再次透過自第一力傳輸器130傳遞的旋轉力來旋轉。 In one example, when the brush 194 does not collide with an obstacle, the brush 194 may be rotated by the rotational force of the belt 150 and again by the rotational force transmitted from the first force transmitter 130 .

本發明不受限於上述實施方式。如所附申請專利範圍所示，本發明所屬技術領域中具有通常知識者可以修改本發明，且該些修改均屬本發明的範疇中。 The present invention is not limited to the above-mentioned embodiments. As indicated by the scope of the appended patent application, those skilled in the art to which the present invention pertains can modify the present invention, and these modifications all belong to the scope of the present invention.

10:主體 10: Subject

14:抽吸部 14: Suction part

20:前輔助輪 20: Front training wheel

30:後輔助輪 30: rear training wheel

40:主輪 40: main wheel

60:攪拌器 60: Stirrer

100:側刷組件 100: side brush assembly

Claims (13)

一種清掃機器人，包括：一主體，包含設置在其上的一抽吸部；多個主輪，用於移動該主體；一攪拌器，設置在該主體中；一馬達組件，用於產生旋轉該攪拌器用的旋轉力；一側刷組件，設置於該主體上，並以與該些主輪的旋轉軸垂直的旋轉軸旋轉；以及一齒輪箱，用於將該馬達組件的旋轉力同時傳輸至該側刷組件和該攪拌器，其中，該側刷組件包括：一殼體，用於形成該側刷組件的外部；一第一力傳輸器，設置在該殼體中，並藉由接收驅動力來旋轉；一皮帶，連接至該第一力傳輸器；一第二力傳輸器，透過該皮帶連接至該第一力傳輸器，以接收該第一力傳輸器的旋轉力；以及一側刷，耦接至該第二力傳輸器。 A cleaning robot comprising: a main body including a suction portion disposed thereon; a plurality of main wheels for moving the main body; an agitator disposed in the main body; a motor assembly for generating rotation of the the rotating force for the agitator; one side brush assembly, which is arranged on the main body, and rotates with the rotating shaft perpendicular to the rotating shaft of the main wheels; and a gear box, which is used to simultaneously transmit the rotating force of the motor assembly to The side brush assembly and the agitator, wherein the side brush assembly includes: a housing for forming the exterior of the side brush assembly; a first force transmitter disposed in the housing and driven by receiving force to rotate; a belt, connected to the first force transmitter; a second force transmitter, connected to the first force transmitter through the belt, to receive the rotational force of the first force transmitter; and one side A brush is coupled to the second force transmitter. 如請求項1所述之清掃機器人，其中，該第一力傳輸器具有界定於其中的一第一耦接槽，其中，該皮帶耦接至該第一耦接槽。 The cleaning robot as claimed in claim 1, wherein the first force transmitter has a first coupling slot defined therein, wherein the belt is coupled to the first coupling slot. 如請求項2所述之清掃機器人，其中，用於防止該皮帶自該第一耦接槽脫落的多個第一耦接肋分別佈置在該第一耦接槽的一頂面和一底面上。 The cleaning robot according to claim 2, wherein a plurality of first coupling ribs for preventing the belt from falling off from the first coupling groove are respectively arranged on a top surface and a bottom surface of the first coupling groove . 如請求項2所述之清掃機器人，其中，該第二力傳輸器具有界定於其中的一第二耦接槽，其中，該皮帶耦接至該第二耦接槽。 The cleaning robot according to claim 2, wherein the second force transmitter has a second coupling groove defined therein, wherein the belt is coupled to the second coupling groove. 如請求項4所述之清掃機器人，其中，用於防止該皮帶自該第二耦接槽脫落的多個第二耦接肋分別佈置在該第二耦接槽的一頂面和一底面上。 The cleaning robot according to claim 4, wherein a plurality of second coupling ribs for preventing the belt from falling off from the second coupling groove are respectively arranged on a top surface and a bottom surface of the second coupling groove . 如請求項4所述之清掃機器人，其中，該皮帶為一無接縫皮帶。 The cleaning robot according to claim 4, wherein the belt is a seamless belt. 如請求項6所述之清掃機器人，其中，該無接縫皮帶具有一恆定垂直尺寸。 The cleaning robot according to claim 6, wherein the seamless belt has a constant vertical dimension. 如請求項1所述之清掃機器人，其中，該攪拌器繞著與該側刷組件的旋轉軸垂直的旋轉軸旋轉。 The cleaning robot as claimed in claim 1, wherein the agitator rotates around a rotation axis perpendicular to the rotation axis of the side brush assembly. 如請求項1所述之清掃機器人，其中，該側刷組件包括一減速齒輪，連接至該齒輪箱的一齒輪，其中，該減速齒輪降低旋轉速度，並將所降低的旋轉速度傳輸至該第一力傳輸器。 The cleaning robot as claimed in claim 1, wherein the side brush assembly includes a reduction gear connected to a gear of the gearbox, wherein the reduction gear reduces the rotational speed and transmits the reduced rotational speed to the first A force transmitter. 如請求項9所述之清掃機器人，其中，該減速齒輪與該第一力傳輸器彼此齒輪耦接，使得照原樣傳輸旋轉力。 The cleaning robot according to claim 9, wherein the reduction gear and the first force transmitter are gear-coupled to each other so that the rotational force is transmitted as it is. 如請求項1所述之清掃機器人，其中，該第二力傳輸器包括：一皮帶輪，與該皮帶耦接；以及一旋轉軸件，耦接至該皮帶輪的旋轉中心，其中，該側刷以相同的旋轉角速度與該第二傳輸器的旋轉軸件一起旋轉。 The cleaning robot according to claim 1, wherein the second force transmitter includes: a pulley coupled to the belt; and a rotating shaft coupled to the center of rotation of the pulley, wherein the side brush is The same rotational angular velocity rotates with the rotating shaft of the second conveyor. 如請求項1所述之清掃機器人，其中，當滑動發生在該皮帶與該第一力傳輸器和該第二力傳輸器的其中之一之間時，該第一力傳輸器的旋轉角速度和該第二力傳輸器的旋轉角速度變成不一樣。 The cleaning robot as claimed in claim 1, wherein, when sliding occurs between the belt and one of the first force transmitter and the second force transmitter, the rotational angular velocity of the first force transmitter and The rotational angular velocity of the second force transmitter becomes different. 如請求項1所述之清掃機器人，其中，該側刷包含複數個刷子，其中，該些刷子由受到外力時可變形的材料製成。 The cleaning robot according to Claim 1, wherein the side brushes include a plurality of brushes, wherein the brushes are made of deformable materials when subjected to external force.
TW109129929A 2020-04-17 2020-09-01 Robot cleaner TWI786436B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020200046419A KR20210128601A (en) 2020-04-17 2020-04-17 Robot Cleaner
KR10-2020-0046419 2020-04-17

Publications (2)

Publication Number Publication Date
TW202139911A TW202139911A (en) 2021-11-01
TWI786436B true TWI786436B (en) 2022-12-11

Family

ID=78085170

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109129929A TWI786436B (en) 2020-04-17 2020-09-01 Robot cleaner

Country Status (4)

Country Link
US (1) US20230147162A1 (en)
KR (1) KR20210128601A (en)
TW (1) TWI786436B (en)
WO (1) WO2021210732A1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWM560281U (en) * 2018-01-12 2018-05-21 Uni Ring Tech Co Ltd Cleaning device
TW201909827A (en) * 2017-08-07 2019-03-16 南韓商Ｌｇ電子股份有限公司 Sweeper

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWM435906U (en) * 2012-04-06 2012-08-21 Uni Ring Tech Co Ltd
KR102022104B1 (en) * 2012-10-18 2019-09-18 엘지전자 주식회사 Automatic cleaner
KR101469333B1 (en) * 2012-12-26 2014-12-04 엘지전자 주식회사 Automatic cleaner
KR102137524B1 (en) * 2014-02-13 2020-07-24 삼성전자주식회사 Robot cleaner
JP6877089B2 (en) * 2016-02-17 2021-05-26 日立グローバルライフソリューションズ株式会社 Vacuum cleaner

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW201909827A (en) * 2017-08-07 2019-03-16 南韓商Ｌｇ電子股份有限公司 Sweeper
TWM560281U (en) * 2018-01-12 2018-05-21 Uni Ring Tech Co Ltd Cleaning device

Also Published As

Publication number Publication date
WO2021210732A1 (en) 2021-10-21
TW202139911A (en) 2021-11-01
US20230147162A1 (en) 2023-05-11
KR20210128601A (en) 2021-10-27

Similar Documents

Publication Publication Date Title
US10398275B2 (en) Robot cleaner
KR100194378B1 (en) Remote Control Automatic Vacuum Cleaner
US7475450B1 (en) Dual-belt counter-rotating drive system
US4654927A (en) Side sweeping brushing vacuum machine
US20040034952A1 (en) Rotary gear mechanical cleaning apparatus
US20100313910A1 (en) Robot cleaner and method of controlling traveling thereof
GB2400087A (en) Hinged motor drive apparatus for robotic cleaners
EP3000368B1 (en) Robot cleaner
WO2020078441A1 (en) Gearbox and intelligent cleaning apparatus
TWI786436B (en) Robot cleaner
TWI752596B (en) Robot cleaner
KR20150134797A (en) Robot cleaner
KR100876705B1 (en) Auto moving cleaner
JP3610213B2 (en) Upright vacuum cleaner
TWI772865B (en) Robot cleaner
JP2889601B2 (en) Floor suction device
KR101961092B1 (en) Robot cleaner
US12029376B2 (en) Cleaner head and vacuum cleaner
AU2019449365B2 (en) Vacuum cleaner head and electric vacuum cleaner
KR200148057Y1 (en) Vacuum cleaner
JPH0744291Y2 (en) Vacuum cleaner suction body
KR20150129426A (en) Robot cleaner
JPH0560453U (en) Suction nozzle for vacuum cleaner
JPH03273901A (en) Driving wheel and mobile type equipment using the same
JPH04193139A (en) Suction port body for vacuum cleaner