ROBOT VACUUM CLEANER

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a bypass continuation application of International Patent Application No. PCT/KR2025/014886, filed on Sep. 23, 2025, in the Korean Intellectual Property Receiving Office, which is based on and claims priority to Korean Patent Application No. 10-2024-0185198, filed on Dec. 12, 2024, in the Korean Intellectual Property Office, the disclosures of which are incorporated herein by reference in their entireties.

BACKGROUND

1. Field

This disclosure relates to a robot apparatus and more particularly, to a robot apparatus including a brush device.

2. Description of Related Art

With the advancement of robot technologies, robots are used to replace human labor in various fields. In recent years, such robots have been developed and used in ordinary households as well as industrial fields, such as a manufacturing field, a construction field, a medical field, and an aerospace field. One example of a robot is a robot vacuum cleaner.

A conventional robot vacuum apparatus has no side brush, or even if a conventional robot vacuum apparatus has a side brush, the side brush is designed in a simple form. Accordingly, there is a problem that dust bounces from the side brush.

Additionally, as for the conventional robot apparatus, dust is stuck to the side brush at a time of rotation of the side brush.

Information disclosed in this Background section has already been known to or derived by the inventors before or during the process of achieving the embodiments of the present application, or is technical information acquired in the process of achieving the embodiments. Therefore, it may contain information that does not form the prior art that is already known to the public.

SUMMARY

Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments.

According to an aspect of the disclosure, a robot apparatus may include a main body, and a brush device including a connector connected to the main body and configured to rotate in a rotation direction, and a plurality of fixing portions provided radially around the connector, the plurality of fixing portions respectively fixing a plurality of brushes to the connector, each brush of the plurality of brushes including a plurality of brush hairs, where, in at least one brush of the plurality of brushes, a position at which first brush hairs that are provided forward with respect to the rotation direction are connected to the respective fixing portion is higher than a position at which second brush hairs that are provided rearward with respect to the rotation direction are connected to the respective fixing portion.

In the at least one brush of the plurality of brushes, a position at which third brush hairs provided between the first brush hairs and the second brush hairs are connected to the respective fixing portion, and the position at which the second brush hairs are connected are at a same height.

Each brush hair in each of the plurality of brushes may include a first end connected to the respective fixing portion and a second end opposite to the first end, and has a height that decreases from the first end toward the second end.

Each brush hair in each of the plurality of brushes may include a first end connected to the respective fixing portion and a second end opposite to the first end, and has a same height in a portion from a middle point between the first end and the second end to the second end.

Each brush hair in each of the plurality of brushes may have a zigzag pattern having a plurality of inflection points of different heights with respect to a cleaning surface.

Each brush hair in each of the plurality of brushes may include a first end connected to the respective fixing portion and a second end opposite to the first end, and the second end contacts the cleaning surface.

Each brush hair in each of the plurality of brushes may have a curve pattern having a plurality of inflection points of different heights with respect to a cleaning surface.

Each brush hair in each of the plurality of brushes may have an oval shape in cross-section in which a diameter in a direction perpendicular to a cleaning surface contacted by the brush hairs is less than a diameter in a direction parallel with the cleaning surface.

Each brush hair in each of the plurality of brushes may have a closed curve shape in cross-section shaped having a predetermined curvature.

The robot apparatus may include a suction portion on a bottom surface of the main body, and a protrusion on a first side of the brush device on the bottom surface of the main body, where the protrusion sequentially collides with the plurality of brushes based on rotation of the brush device, and is configured to expel foreign substances attached to each of the plurality of brushes toward the suction portion.

The brush device may be provided in an edge area on a first side of the suction portion with respect to a center thereof, in an edge area of the bottom surface of the main body, and the protrusion protrudes from the bottom surface of the main body such that at least a portion of the protrusion is in a turning radius of the plurality of brushes, in a front area of the suction portion.

According to an aspect of the disclosure, a brush device may include a connector configured to be connected to a bottom surface of a main body of a robot apparatus, the connector configured to rotate in a rotation direction, and a plurality of fixing portions provided radially around the connector, the plurality of fixing portions respectively fixing a plurality of brushes to the connector, each brush of the plurality of brushes including a plurality of brush hairs, where, in at least one brush of the plurality of brushes, a position at which first brush hairs that are provided forward with respect to the rotation direction are connected to the respective fixing portion is higher than a position at which second brush hairs that are provided rearward with respect to the rotation direction are connected to the respective fixing portion.

In the at least one brush of the plurality of brushes, a position at which third brush hairs provided between the first brush hairs and the second brush hairs are connected to the respective fixing portion, and the position at which the second brush hairs are connected are at a same height.

Each brush hair in each of the plurality of brushes may include a first end connected to the respective fixing portion and a second end opposite to the first end, and has a height that decreases from the first end toward the second end.

Each brush hair in each of the plurality of brushes may include a first end connected to the respective fixing portion and a second end opposite to the first end, and has a same height in a potion from a middle point between the first end and the second end to the second end.

According to an aspect of the disclosure, a brush device may include a connector configured to rotate in a rotation direction, a fixing portion extending from a side of the connector, the fixing portion including a first end that forward faces the rotation direction, and a second end opposite to the first end, and a brush fixed to the fixing portion, the brush including a plurality of brush hairs, where the plurality of brush hairs include a first brush hair fixed at a first height from a cleaning surface at the first end of the fixing portion and a second brush hair fixed at a second height from the cleaning surface at the second end of the fixing portion, and the second height is less than the first height.

The plurality of brush hairs may include a plurality of third brush hairs fixed to the fixing portion between the first brush hair and the second brush hair and heights of the plurality of third brush hairs from the cleaning surface decrease from the first end of the fixing portion to the second end of the fixing portion.

The plurality of brush hairs may include a third brush hair fixed to the fixing portion between the first brush hair and the second brush hair, and a third height of the third brush hair is the same as the second height of the second brush hair.

The plurality of brush hairs extend from the fixing portion in an extension direction, and heights of the plurality of brush hairs with respect to the cleaning surface vary along the extension direction.

The plurality of brush hairs extend from the fixing portion in an extension direction, and heights of the plurality of brush hairs with respect to the cleaning surface increase and decrease at least twice along the extension direction.

BRIEF DESCRIPTION OF DRAWINGS

The above and other aspects, features, and advantages of certain example 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 illustrating a robot apparatus according to one or more embodiments;

FIG. 2 is a diagram illustrating a bottom of a robot apparatus according to one or more embodiments;

FIG. 3 is a diagram illustrating a brush device according to one or more embodiments;

FIGS. 4A and 4B are diagram illustrating a coupling relationship between a plurality of brushes and a plurality of fixing portions to which the plurality of brushes is fixed according to one or more embodiments;

FIGS. 5A, 5B, 5C, 5D and 5E are diagrams illustrating a coupling relationship between a plurality of brushes and a plurality of fixing portions to which the plurality of brushes is fixed according to one or more embodiments;

FIGS. 6A, 6B and 6C are diagrams illustrating a robot apparatus including a protrusion according to one or more embodiments; and

FIGS. 7A, 7B and 7C are diagrams illustrating a coupling relationship between a protrusion and a brush device according to one or more embodiments.

DETAILED DESCRIPTION

Hereafter, embodiments are specifically described with reference to the accompanying drawings. The embodiments set forth herein may be modified in various different forms. According to the present disclosure, specific embodiments may be illustrated in the drawings and described in the detailed description. However, the embodiments illustrated in the drawings are intended for a better understanding of various embodiments of the disclosure. Accordingly, the embodiments set forth herein and the terms used for the embodiments are not intended to limit technical features of the subject matter of the disclosure to those of the specific embodiments, and are to be understood as including various modifications, equivalents or alternatives thereof.

Unless explicitly indicated otherwise, a singular form corresponding to an item may denote one or a plurality of items.

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 listed together in the phrases or all possible combinations thereof.

The term “and/or” denotes including a combination or any of a plurality of relevant elements described.

In the disclosure, a term such as “1^st,” “2^nd,” or “first,” or “second” may be used merely to differentiate one element from another but not to limit an element in another aspect (e.g., importance or order).

Based on one element (e.g., a first element) referred to as being “coupled with/to or connected with/to” another element (e.g., a second element) with or without the term “functionally” or “communicatively”, it is to be understood that one element may be connected to another element directly (e.g., in a wired manner), in a wireless manner, or through yet another element (e.g., a third element).

It will be understood that when an element or layer is referred to as being “over,” “above,” “on,” “below,” “under,” “beneath,” “connected to” or “coupled to” another element or layer, it can be directly over, above, on, below, under, beneath, connected or coupled to the other element or layer or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly over,” “directly above,” “directly on,” “directly below,” “directly under,” “directly beneath,” “directly connected to” or “directly coupled to” another element or layer, there are no intervening elements or layers present.

In the disclosure, terms such as “include,” or “have” and the like are used to indicate the presence of stated features, numbers, steps, operations, elements, components or a combination thereof, and do not imply exclusion of the presence or addition of one or more different features, numbers, steps, operations, elements, components or a combination thereof.

Based on one element referred to as “being connected with/to,” “being coupled with/to,” “supporting,” or “contacting” another element, it is to be understood that one element is connected with/to, is coupled with/to, supports, or contacts another element directly or indirectly through yet another element (e.g., a third element).

In the disclosure, the expression “identical” may denote including a difference to the degree that a machining error range is considered as well as denoting complete identicalness.

Hereafter, a robot apparatus 1 according to the embodiments is described specifically with reference to the drawings.

FIG. 1 is a perspective view illustrating a robot apparatus 1 according to one or more embodiments.

Referring to FIG. 1, as for the robot apparatus 1, a main body 10 may be provided in a circular shape. Specifically, the main body 10 may be shaped into a disk. The main body 10 may include an upper housing 11, a lower housing, and a side housing 13 that form the exterior of the main body.

The upper housing 11 is an element constituting one surface of the main body 10, which faces in a direction opposite to the ground surface. A display part, a manipulation button, and a control panel and the like may be included in the upper housing 11, and various types of sensors, such as a LiDAR sensor and the like, may be mounted in the upper housing 11, such that the user may control operations of the robot apparatus 1.

The lower housing is an element constituting one surface of the main body 10, which is opposite the upper housing 11 and faces the ground surface. The lower housing may have a circle shape corresponding to the shape of the upper housing 11.

The side housing 13 is an element connecting the upper housing 11 and the lower housing and constituting the side of the main body 10. The side housing 13 may be integrally formed with the upper housing 11 or the lower housing or may be formed as a separate member.

The main body 10 may be shaped into a circle by the plurality of housings, and accordingly, the robot apparatus 1 may have a degree of freedom associated with a turning radius at a time of travel for performing cleaning. For example, in the case where the robot apparatus 1 travels to clean a square space, the robot apparatus may pass the corners of the space only by changing a travel direction without moving backward at a time of changing a travel path at the corners.

The robot apparatus 1 of FIG. 1 may have a brush device 1000 on the bottom surface thereof. The brush device 1000 is an element that cleans foreign substances of a cleaning surface while rotating a plurality of brushes. A suction inlet of the robot apparatus 1 is placed in a central portion of the bottom surface of the robot apparatus 1, and accordingly, in the case where the robot apparatus 1 cleans an area near a wall surface as illustrated in FIG. 1, it may be difficult for the suction inlet to pass over a cleaning surface. In this case, the brush device 1000 is an element capable of touching and suctioning foreign substances in an area not affected by the suction force of the robot apparatus 1, i.e., in an area adjacent to the wall surface, while rotating the brushes. The brush device 1000 may be implemented in the way that the brush device 1000 is fixed to the bottom surface of the robot apparatus 1, or in the way that the brush device 1000 is attachable to and detachable from a specific position of the bottom surface of the robot apparatus 1. The brush device 1000 may be manufactured apart from the robot apparatus 1 and assembled to the robot apparatus 1. In the case where part of brush hairs of the brush device 1000 are lost or worn away, the brush device 1000 may be replaced with a new brush device 1000.

FIG. 2 is a bottom view illustrating a robot apparatus 1 according to one or more embodiments.

Referring to FIG. 2, as for the robot apparatus 1, a suction portion 100, a drive wheel 200, a sub wheel 210, a coupling member 300, a brush device 1000 and the like may be included in the lower housing area.

The drive wheel 200 is an element provided in the lower portion of the main body 10 to move the main body 10. The lower portion of the main body 10 may denote the lower housing area described with reference to FIG. 1, and specifically, the drive wheel 200 may be disposed in the way that the drive wheel penetrates the lower housing. A single drive wheel 200 or plurality of drive wheels 200 may be provided. In the disclosure, the drive wheel 200 may be provided in a pair of drive wheels 200, as illustrated in FIG. 2.

The pair of drive wheels 200 may be disposed symmetrically with respect to the center of the main body 10. As for the drive wheels 200, a travel motor may be included inside the main body 10. Accordingly, the drive wheels 200 may receive power generated by the travel motor and rotate to move the robot apparatus 1 forward or backward. Additionally, each of the pair of drive wheels 200 may be rotated by the travel motor in a different direction, and rotated with respect to the center of the robot apparatus 1.

Additionally, the robot apparatus 1 may include a sub wheel 210 for changing the travel direction of the main body 10. The sub wheel 210 may be disposed on a center line L of the main body 10. As the sub wheel 210 is rotated, the travel direction of the robot apparatus 1 may be changed while the robot apparatus 1 is moved forward or backward by the drive wheels 200. In FIG. 2, the robot apparatus 1 is provided with a single sub wheel 210, but embodiments are not limited thereto, and the robot apparatus 1 may be provided with a plurality of sub wheels 210.

In FIG. 2, the suction portion 100 is an element for suctioning dust or particles present on the ground surface in a direction where the robot apparatus 1 travels. The suction portion 100 may include a suction inlet 110, a filter, a suction motor, a suction fan, and a suction vane.

The suction motor may form pressure in the suction vane less than the atmospheric pressure by rotating the suction fan at high speed. Since the pressure in the suction vane is less than the atmospheric pressure, air currents may be formed from the outside of the main body 10 toward the suction vane. The speed of the air currents may be inversely proportional to the pressure of the suction vane.

As the suction motor operates, the suction portion 100 may suction external air from the outside of the main body 10 through the suction inlet 110, and in this process, dust or particles around the suction inlet 110 may be suctioned together. The suctioned dust or particles may be filter out by the filter.

The brush device 1000 is an element for allowing dust or particles being accumulated or adhering to the ground surface to flow toward the suction portion 100. In FIG. 2, a single brush device 1000 is formed at the lower side of the main body 10, but not limited thereto, and a plurality of brush devices 1000 may be formed at the lower side of the main body 10. Additionally, the brush device 1000 may be disposed symmetrically at both sides with respect to the center line L of the main body 10.

The brush device 1000 may receive power from a brush motor 1100 and may be rotated. The rotation direction of the brush device 1000 may be a direction from the outside of the main body 10 toward the center of the main body 10.

As the brush device 1000 is rotated, dust or particles firmly adhering to the ground surface or tangled with each other may be separated or scattered from the ground surface and flow toward the suction portion 100. Accordingly, the robot apparatus 1 may secure improvement in the efficiency of suctioning dust or particles through the brush device 1000. Detailed description of the brush device 1000 is provided from FIG. 3.

The coupling member 300 is a device capable of coupling a sub cleaning member and the like to the robot apparatus 1. The coupling member 300 may couple various devices such as a moping member enabling wet cleaning of a target cleaning section, various types of sensing members, a sub suction device and the like. For example, in the case where the moping member is coupled to the coupling member 300, the robot apparatus 1 may perform dry cleaning performed by the suction portion 100 and wet cleaning performed by the moping member at once. However, the coupling member 300 is not limited thereto, and various types of members may be coupled to the coupling member 300 for user convenience.

FIG. 3 is a diagram illustrating a brush device 1000 according to one or more embodiments.

In FIG. 3, the brush device 1000 may include a connector 1200, a plurality of fixing portions 1300 and a plurality of brushes 2000.

The connector 1200 may be connected to the main body 10 in a rotatable manner (i.e., configured to rotate in a rotation direction). The connector 1200 may have a protrusion 1101 at the upper side thereof. The protrusion 1101 may be coupled to the brush motor 1100 disposed at the main body 10. As the rotation power of the brush motor 1100 is delivered to the protrusion 1101, the connector 1200 may be rotated around the brush motor 1100.

In FIG. 3, the connector 1200 may be cylindrical. Additionally, the cross-section of the connector 1200, cut perpendicularly to the Z axis, may vary depending on the number of a plurality of fixing portions 1300 disposed on the side of the connector 1200. For example, in the case where the number of the plurality of fixing portions 1300 is three, the cross-section of the connector 1200, cut perpendicularly to the Z axis, may have a triangle shape. In the case where the number of the plurality of fixing portions 1300 is six, the cross-section of the connector 1200, cut perpendicularly to the Z axis, may have a hexagon shape. However, the cross-section of the connector 1200 may not be limited thereto, and may have various shapes.

In FIG. 3, the plurality of fixing portions 1300 are elements capable of fixing the plurality of brushes 2000 to the connector 1200. The plurality of fixing portions 1300 may be disposed radially around the connector 1200 in a distributed manner, such that the plurality of fixing portions 1300 are symmetrically arranged around the connector 1200. For example, as illustrated in FIG. 3, three fixing portions 1300 are disposed radially around the connector 1200 in a distributed manner.

The plurality of fixing portions 1300 are expressed as elements different from the connector 1200, but embodiments are not limited thereto, and the plurality of fixing portions 1300 may be integrally formed with the connector 1200.

In FIG. 3, the plurality of fixing portions 1300 may have a plurality of brushes 2000 at one side thereof. The plurality of brushes 2000 may be disposed at an opposite side to the connector 1200 with respect to the plurality of fixing portions 1300. The plurality of fixing portions 1300 may be integrally formed with the connector 1200 or may be respectively connected to a different member. The plurality of fixing portions 1300 may have a cuboid shape, or may have a shape the same as a shape in which the plurality of brushes 2000 is coupled. However, the shape of the plurality of fixing portions 1300 may not be limited thereto, and may be shaped in various different forms for user convenience.

In FIG. 3, one of the plurality of fixing portions 1300 may be described based on reference numeral 1300 for convenience of description. However, although one fixing portion is described, the description may be applied to all the plurality of fixing portions 1300 in the same way.

In FIG. 3, the plurality of brushes 2000 may include brush hairs, such as brush hairs 2001 and 2002. The brush hairs included in each of the plurality of brushes 2000 may be coupled to the plurality of fixing portions 1300 in various different forms. For example, a position at which brush hairs disposed forward with respect to a rotation direction among the brush hairs and the plurality of fixing portions 1300 are connected may be higher than a position at which the remaining brush hairs and the plurality of fixing portions 130 are connected. That is, the fixing portion 1300 may include a first end facing forward with respect to the rotation direction, and a second end opposite to the first end, and the brush hairs connected to the fixing portion 1300 at the first end (e.g., brush hair 2001) may be higher with respect to the cleaning surface than the brush hairs connected to the fixing portion 1300 toward the second end (e.g., brush hair 2002). By doing so, the contact surface of the brush device 1000, contacting particles or grains during a rotation, may increase. Additionally, the contact time of the brush device 1000, contacting particles or grains during a rotation, may increase. Accordingly, an impact force applied to the particles or grains may decrease. Thus, the brush device 1000 may move the particles or grains together in a direction where the brushes are rotated without bouncing off the particles or grains contacted by the brush device 1000.

In FIG. 3, the position at which the brush hairs and the fixing portion 1300 are connected may be formed in various ways. Among the brush hairs included in each of the plurality of brushes 2000, a position at which brush hairs disposed in the middle with respect to the rotation direction and the fixing portion 1300 are connected, and a position at which brush hairs disposed rearward with respect to the rotation direction and the fixing portion 1300 are connected are at the same height.

The positions at which the brush hairs and the fixing portion 1300 are connected may vary based on each section. For example, a section where the position at which the brush hairs disposed forward with respect to the rotation direction among the brush hairs included in each of the plurality of brushes 2000 and the fixing portion 1300 are connected is higher than the position at which the remaining brush hairs and the fixing portion 1300 are connected may be referred to as a first section. In FIG. 3, a section from Ymin to Ymid may be the first section. A section where the position at which the brush hairs disposed forward with respect to the rotation direction among the bush hairs included in each of the plurality of brushes 2000 and the fixing portion 1300 are connected, and the position at which the remaining brush hairs and the fixing portion 1300 are connected are formed at the same height may be referred to as a second section. In FIG. 3, a section from Ymid to Ymax may be the second section. In other words, the height of the plurality of brushes 2000 connected to the fixing portion 1300 may decrease from a front end to a specific point and may remain constant from the specific point to a rear end, with respect to the rotation direction. Accordingly, the brush device 1000 may accommodate foreign substances such as dust or grains in the first section, and prevent an escape of dust or grains, which is caused by force of friction with a floor surface, in the second section. Additionally, the brush device 1000 may clean all sizes of dust in the second section.

The cross-section of each of the brush hairs of the plurality of brushes 2000 may have a circle shape. However, the cross-section of each of the brush hairs may not be limited thereto, and may have various shapes. For example, the cross-section of each of the brush hairs may have an oval shape. Specifically, the cross-section of each of the brush hairs may be shaped into an oval where a diameter in a direction perpendicular to a cleaning surface contacted by the brush hairs is less than a diameter in a direction parallel with the cleaning surface. Additionally, the cross-section of each of the brush hairs may be shaped into a closed curve having a certain curvature. Herein, the certain curvature may vary.

A coupling relationship between the plurality of brushes 2000 and the plurality of fixing portions 1300 to which the plurality of brushes 2000 is fixed is described hereafter from 4A.

FIGS. 4A and 4B are diagrams a coupling relationship between a plurality of brushes 2000 and a plurality of fixing portions 1300 to which the plurality of brushes is fixed according to one or more embodiments. FIGS. 4A and 4B are graphs showing a cross-section cut along a surface formed at the Y axis and the Z axis, with respect to one of the plurality of fixing portions 1300 illustrated in FIG. 3. In other words, FIGS. 4A and 4B are views showing a surface where brush hairs of the plurality of brushes 2000 illustrated in FIG. 3 are coupled to the fixing portion 1300.

The formation of brush hairs included in each of the plurality of brushes 2000 illustrated in FIGS. 4A and 4B, in two layers, in the Z-axis direction, is described, but embodiments are not limited thereto, and the brush hairs included in each of the plurality of brushes 2000 may be formed in one layer or in a plurality of layers.

In FIGS. 4A and 4B, each of the plurality of brushes 2000 may include brush hairs 2010a and 2020a.

Referring to FIG. 4A, a position at which brush hairs 2010a, 2020a disposed forward with respect to the rotation direction (e.g., position Ymin) among the brush hairs and the fixing portion 1300 are connected may be higher than a position at which the remaining brush hairs 2010a, 2020a and the fixing portion 1300 are connected. In FIG. 4A, the brush hairs 2010a, 2020a disposed foremost with respect to the rotation direction may be disposed at Zh. As for the brush hairs 2010a, 2020a, a Z-axis height decreases from Ymin toward Ymax. The brush hairs 2010a, 2020a may contact the ground surface, when reaching Ymax.

Referring to FIG. 4B, the brush hairs may be divided into a plurality of sections with respect to Ymid. For example, as illustrated FIG. 4B, the section between Ymin and Ymid is a first section, and the section between Ymid and Ymax is a second section. Like the brush hairs 2010a, 2020a formed in FIG. 4A, the brush hairs 2010b, 2020b formed in the first section may have the Z-axis height that decreases from Ymin toward Ymid. The brush hairs 2010b, 2020b formed in the second section may have a constant Z-axis height from Ymid toward Ymax. Herein, the brush hairs 2010b, 2020b disposed in the first section may be parallel with each other. However, the brush hairs may not necessarily be limited thereto, and the brush hairs 2010b, 2020b disposed in the first section may be formed at different angles. According to FIG. 4A and FIG. 4B, the escape of particles or dust grains, caused by friction with the ground surface, may be prevented.

In other words, among the brush hairs included in each of the plurality of brushes 2000, a position at which brush hairs disposed in the middle with respect to the rotation direction and the fixing portion 1300 are connected, and a position at which brush hairs 2010c, 2020c disposed rearward with respect to the rotation direction and the fixing portion 1300 are connected are at the same height.

FIGS. 5A to 5E are diagrams illustrating a coupling relationship among a plurality of brushes fixed to a plurality of fixing portions according to one or more embodiments.

FIGS. 5A to 5E are views showing a cross-section where the plurality of brushes 2000 connected to the plurality of fixing portions 1300 in FIG. 3 is cut along a surface formed at the X axis and the Z axis. In FIGS. 5A to 5E, each brush hair of the plurality of brushes 2000 may be formed at a different height with respect to the surface formed at the X axis and the Z axis. The reference numerals of brush hairs of the plurality of brushes 2000 are 2100-2600, and greater numerals denote brush hairs disposed rearward, and based on this, each drawing is described hereafter.

FIGS. 5A to 5E, the brush hairs 2100, 2200, 2300, 2400, 2500, and 2600 included in each of the plurality of brushes 2000 may have a height that decreases as the brush hairs 2100, 2200, 2300, 2400, 2500, 2600 extend away from a first end of the fixing portion 1300. In FIG. 5A, brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a included in each of the plurality of brushes 2000 may have a constant height from the middle Xmid to the end Xmax in an extension direction farther from the first end of the fixing portion.

In FIG. 5A, the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a may be divided into two sections. The section from Xmin to Xmid is a first section, and the section from Xmid to Xmax is a second section. In the first section, the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a may have a Z-axis height that decreases from Xmin toward Xmid. The angle of the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a with respect to the cleaning surface, which is determined at Xmin, may increase from the brush hair 2100a disposed foremost toward the brush hair 2600a disposed rearmost, with respect to the rotation direction. In other words, in the case of an angle of the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a at Xmid, the brush hairs disposed further forward with respect to the rotation direction have a greater Z-axis height. In the second section, the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a may have a constant Z-axis height even toward Xmid and Xmax. Referring to both of FIG. 3 and FIG. 4B, as the brush device 1000 operates, dust grains or particles may be moved to a space between Xmin and Xmid and a space between Ymin and Ymid of the plurality of brushes 2000, and accumulated in the space between Xmin and Xmid and the space between Ymin and Ymid.

In other words, each of the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a included in each of the plurality of brushes 2000 may include a first end connected to the fixing portion 1300 and a second end opposite to the first end, and has a height that decreases from the first end toward the second end, where the first end is a point at which Xmin is placed, and the second end is a point at which Xmax is placed. Additionally, each of the brush hairs 2100a, 2200a, 2300a, 2400a, 2500a, 2600a included in each of the plurality of brushes 2000 may have the same height in a portion from a middle point between the first end and the second end to the second end.

Referring to FIGS. 5B to 5D, the brush hairs 2100, 2200, 2300, 2400, 2500, 2600 included in each of the plurality of brushes 2000 may have a height that decreases from a start to the middle in a direction farther from the second end of the fixing portion 1300, and may have a plurality of peaks from the middle to an end in an extension direction farther from the first end of the fixing portion 1300. In FIG. 5C, brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c included in each of the plurality of brushes 2000 may have the same height as the ground surface in an end portion in the direction farther from the first end of the fixing portion 1300.

Referring to FIG. 5B, brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b may be divided into a plurality of sections. Hereafter, description is provided under the assumption that the section from Xmin to Xmid1 is a first section, the section from Xmid1 to Xmid2 is a second section, the section from Xmid2 to Xmid3 is a third section, the section from Xmid3 to Xmid4 is a fourth section, and the section from Xmid4 to Xmid5 is a fifth section. In the first section, a Z-axis height of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b may decrease from Xmin toward Xmid as described with reference to FIG. 4A. The angle of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b with respect to the cleaning surface, which is determined at Xmin, may increase from a first brush hair 2100b disposed foremost with respect to the rotation direction toward a sixth brush hair 2600b disposed rearmost with respect to the rotation direction. Herein, the brush hair 2600b disposed rearmost with respect to the rotation direction may be formed in the way that the brush hair 2600b contacts the ground surface from Xmid1 to Xmax. In the second section, the Z-axis height of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b may decrease from Xmid1 toward Xmid2, and may be formed at a height where the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b all contact the ground surface at a point where Xmid2 is placed. In the third section, the Z-axis height of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b may increase from Xmid2 to the middle of the third section, and then decrease from the middle of the third section to a point at which Xmid4 is placed. Herein, in the case of a Z-axis height of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b up to the middle of the third section, the first brush hair 2100b disposed forward may have a greater height than the sixth brush hair 2600b disposed rearward with respect to the rotation direction. The brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b formed in the fourth section may be formed like the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b in the third section. In the fifth section, the Z-axis height of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b may increase from Xmid4 toward a point at which Xmax is placed. In the case of a Z-axis height of the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b at Xmax, the first brush hair 2100b disposed forward may have a greater height than the sixth brush hair 2600b disposed rearward with respect to the rotation direction.

Referring to FIG. 5C, the brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c may be divided into a plurality of sections. The brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c formed from Xmin to Xmid4 in FIG. 5C may have the same shape as the brush hairs 2100b, 2200b, 2300b, 2400b, 2500b, 2600b formed in FIG. 5B. Detailed description in relation to this is provided above, and accordingly, some description may be omitted. In FIG. 5C, the brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c may be formed from Xmid4 to Xmax at the same height as the ground surface.

Based on the configuration of the brush hairs of FIGS. 5B and 5C, dust grains or particles may be accommodated in each peak-shaped groove formed at the brush hairs 2100, 2200, 2300, 2400, 2500, 2600, as the brush device 1000 rotates.

In other words, in FIGS. 5B and 5C, each of the brush hairs 2100, 2200, 2300, 2400, 2500, 2600 included in each of the plurality of brushes 2000 may have a zigzag pattern that has a plurality of inflection points of a different height with respect to a cleaning surface. Additionally, in FIG. 5C, each of the brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c included in each of the plurality of brushes 2000 may include a first end connected to the fixing portion 1300 and a second end opposite to the first end, where the first end denotes an area where Xmin is placed, and the second end denotes an area where Xmax is placed. The second end of each of the brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c included in each of the plurality of brushes 2000 may have a height at which the second end is contactable with a cleaning surface.

Referring to FIG. 5D, brush hairs 2100d, 2200d, 2300d, 2400d, 2500d, and 2600d may respectively be formed in a different cycle and in a different form. A first brush hair 2100d disposed foremost with respect to the rotation direction is formed in the same way as the brush hair in FIG. 5C is formed, and accordingly, description in relation to this is omitted. A second brush hair 2200d disposed second foremost to a fourth brush hair 2400d disposed fourth foremost with respect to the rotation direction may form three peaks from Xmid to Xmax. Among the peaks, Z-axis heights of peaks disposed at both sides close to Xmid and Xmax may be greater than a Z-axis height of a peak disposed in the middle. The Z-axis heights of the peaks disposed near Xmid and Xmax of the second brush hair 2200d dispose second foremost to the fourth brush hair 2400d disposed fourth foremost with respect to the rotation direction may decrease from the second brush hair 2200d toward the fourth brush hair 2400d. However, the Z-axis height of the peak disposed in the middle of the second brush hair 2200d disposed second foremost to the fourth brush hair 2400d disposed fourth foremost with respect to the rotation direction may increase from the second brush hair 2200d toward the fourth brush hair 2400d. A fifth brush hair 2500d disposed fifth foremost with respect to the rotation direction may form four peaks from Xmid to Xmax with respect to the rotation direction. A Z-axis height of each peak of the fifth brush hair 2500d may be less than the Z-axis height of the peak of the fourth brush hair 2400d. A sixth brush hair 2600d disposed rearmost may be formed at a height where the sixth brush hair 2600d contacts the ground surface from Xmid to Xmax. Accordingly, dust grains or particles may be accommodated in peak-shaped grooves formed at the brush hairs 2100, 2200, 2300, 2400, 2500, 2600 as the brush device 1000 operates.

Referring to FIG. 5E, brush hairs 2100e, 2200e, 2300e, 2400e, 2500e, 2600e formed in FIG. 5E have the same shape as the brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c formed in FIG. 5C, from Xmin to Xmid and from Xmid4 to Xmax. Additionally, the brush hairs 2100e, 2200e, 2300e, 2400e, 2500e, 2600e formed in FIG. 5E form the same number of peaks as the brush hairs 2100c, 2200c, 2300c, 2400c, 2500c, 2600c formed in FIG. 5C, from Xmid1 to Xmid4. However, Z-axis heights of the brush hairs 2100e, 2200e, 2300e, 2400e, 2500e, 2600e formed in FIG. 5E may be changed in the form of a curved line.

In other words, the heights of the brush hairs 2100e, 2200e, 2300e, 2400e, 2500e, 2600e included in each of the plurality of brushes 2000 may decrease from a start to the middle in a direction farther from a first end of the fixing portion 1300, and may form a plurality of curved peaks from the middle to an end (a second end) in a direction farther from the first end of the fixing portion 1300, where the first end denotes an area where Xmin is placed, and the second end denotes an area where Xmax is placed. The plurality of curved peaks may have the same shape as y=cos(x)−1. However, the shape of the plurality of curved peaks is not limited thereto, and the plurality of curved peaks may have various curve shapes. In other words, each of the brush hairs 2100e, 2200e, 2300e, 2400e, 2500e, 2600e included in each of the plurality of brushes 2000 may have a curve pattern having a plurality of inflection points of a different height, with respect to a cleaning surface.

FIGS. 6A, 6B and 6C are diagrams illustrating a robot apparatus 1 including a protrusion 3000 according to at least one or more embodiments.

In FIGS. 6A, 6B and 6C, the robot apparatus 1 may include a suction portion 100 and a protrusion 3000. The suction portion 100 may be formed on the bottom surface of the main body 10. The suction portion 100 is specifically described above with reference to FIG. 2, and accordingly, detailed description in relation to the suction portion 100 is omitted.

The protrusion 3000 may be disposed on one side of the brush device 1000, on the bottom surface of the main body 10. The protrusion 3000 may sequentially collide with the plurality of brushes 2000 at a time of rotation of the brush device 1000. Accordingly, the protrusion 3000 may expel foreign substances attached to each of the plurality of brushes 2000 toward the suction portion 100. Thus, the robot apparatus 1 may suction the foreign substances through a suction inlet 110 formed at the suction portion 100.

In FIG. 6A, the protrusion 3000 may have a length from a point between the heights of the brush hairs coupled with the ground surface to the bottom surface of the main body 10. In other words, the length of the protrusion 3000 may be the length of the height acquired by subtracting the height of Ztip from the height up to the bottom surface of the main body 10. Accordingly, all the brushes 2000 of the brush device 1000 may collide with the protrusion 3000 while the brush device 1000 operates.

In FIGS. 6B and 6C, the protrusion 3000 may be disposed on area where the rotation operation of the brush device 1000 is performed. The area may be referred to as a protrusion area 4000. As an area starting from a contact point, at which a line L2 extending from one point of the suction portion 100 disposed at an opposite point of the brush device 1000 contacts the circle of a turning radius, to a line where a line L3 extending from one point of the suction portion 100 at a side close to the brush device 1000 extends to the center of the brush device 1000, the protrusion area 4000, in the turning radius, may be formed as an area passed by the plurality of brushes 2000. The protrusion 3000 may be disposed on the protrusion area 4000. Accordingly, the protrusion 3000 may sequentially collide with the plurality of brushes 2000 at a time of rotation of the brush device 1000, and may expel foreign substances attached to each of the plurality of brushes 2000 toward the suction inlet.

In FIGS. 6B and 6C, the brush device 1000 may be disposed in an edge area on one side of the suction portion 100 with respect to the center thereof, in an edge area of the bottom surface of the main body 10. The protrusion 3000 may be a structure protruding from the bottom surface of the main body 10 such that at least part of the protrusion 3000 may be disposed in the turning radius of the plurality of brushes 2000, in the front area of the suction portion 100.

FIGS. 7A, 7B and 7C are diagrams illustrating a coupling relationship between a protrusion 3000 and a brush device 1000 according to one or more embodiments.

In FIG. 7A, the protrusion 3000 may be disposed in the state of being partially held on the protrusion area 4000. Specifically, when the brush device 1000 is viewed from above, the cross-section of the protrusion 3000 may have a circle shape. A partial area of the cross-section of the protrusion 3000 may be disposed on the protrusion area 4000. Accordingly, an outermost portion of the plurality of brushes 2000 may only collide with the protrusion 3000 at a time of rotation of the brush device 1000. Thus, the protrusion 3000 may prevent damage to the plurality of brushes 2000 and secure improvement in the durability of the plurality of brushes 2000.

In FIG. 7B, the protrusion 3000 may be entirely disposed on the protrusion area 4000 in the state of being included in the protrusion area 4000. Specifically, when the brush device 1000 is viewed from above, the cross-section of the protrusion 3000 may have a circle shape as shown in FIG. 7A. Accordingly, a large surface area of the plurality of brushes 2000 may collide with the protrusion 3000 at a time of rotation of the brush device 1000. Thus, the protrusion 3000 may fly foreign substances attached to each of the plurality of brushes 2000 effectively toward the suction inlet.

In FIG. 7C, the protrusion 3000 may be disposed in the state of being partially held on the protrusion area 4000. Specifically, when the brush device 1000 is viewed from above, the cross-section of the protrusion 3000 may have a square shape. As described above, the protrusion 3000 may have various shapes. For example, when the brush device 1000 is viewed from above, the cross-section of the protrusion 3000 may have a triangle shape. The protrusion 3000 may have various shapes such as a sphere of which a surface area varies depending on a height, and the like as well as a triangular prism, a cylinder, and a rectangular prism, for user convenience.

Each of the elements set forth herein may include one or more components, and the name of the element may vary depending on the sort of an electronic apparatus.

The embodiments according to the disclosure are respectively described above, but each embodiment does not need to be implemented necessarily solely, and the configuration and operation of each embodiment may be implemented in combination with at least one of the other embodiments.

The embodiments according to the disclosure are described in association with the robot apparatus 1, but not limited thereto, and the brush device 1000 may be implemented independently.

While example embodiments of the present disclosure are illustrated and described above, embodiments of the disclosure are not limited to the embodiments set forth herein, and various modifications thereof may be made by those skilled in the art to which the present disclosure pertains, without departing from the scope the disclosure claimed in the section of claims, and should not be understood as separating from the technical spirit or prospect of the disclosure.