# US 11,432,695 B2 · Mobile robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,695 B2 - Document ID: US11432695B2 - Status: Granted - Kind: B2 - Application number: 16/943,064 - Filed: 2020-07-30 - Published: 2021-02-04 - Granted: 2022-09-06 - Earliest claimed: 2019-07-31 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Jaewon Jang; Youngbin Kim; Yeongjae Lee - Web page: https://patentgrep.com/patent/US11432695B2 ## CPC - A47L 11/283: the tools being disc brushes - A47L 11/4038: {Disk shaped surface treating tools} - A47L 11/4069: {Driving or transmission means for the cleaning tools} - A47L 11/4083: {Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices} - A47L 11/4088: {Supply pumps; Spraying devices; Supply conduits} - B25J 11/0085: {Cleaning} - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract Disclosed is a mobile robot including a body, a rotating plate rotatably installed on the body and having a lower surface where a mop portion is attached, and an attachment guider installed on the lower surface of the rotating plate to guide an attachment position of the mop portion. The attachment guider includes a guide rim and a plurality of elastic pieces. The guide rim is disposed to surround a rotation axis of the rotating plate. The plurality of elastic pieces extend from the guide rim in a direction toward the rotation axis, have a free end protruding to a lower side or downward than the guide rim, and are spaced apart from each other along a circumference of the guide rim. ## Claims ### Claim 1 A mobile robot, comprising: a body; a rotating plate rotatably installed on the body and having a lower surface; a mop portion attached to the lower surface of the rotating plate; and an attachment guider positioned on the lower surface of the rotating plate, wherein the attachment guider is configured to guide the attachment of the mop portion to the lower surface of the rotating plate, wherein the attachment guider comprises: a guide rim extending around a rotation axis of the rotating plate; and an elastic piece extending from the guide rim in a direction towards the rotation axis, wherein a first end of the elastic piece is attached to the guide rim and a second end of the elastic piece is vertically spaced apart from the first end. ### Claim 2 (depends on 1) The mobile robot of claim 1, wherein the elastic piece is configured to provide elastic restoring force to the mop portion. ### Claim 3 (depends on 1) The mobile robot of claim 1, wherein the second end of the elastic piece is spaced apart from the rotation axis. ### Claim 4 (depends on 1) The mobile robot of claim 1, wherein the elastic piece comprises a plurality of elastic pieces, and wherein the second ends of the plurality of elastic pieces form a circular pattern having a center at the rotation axis. ### Claim 5 (depends on 1) The mobile robot of claim 1, wherein a width of the elastic piece increases from the second end to the first end. ### Claim 6 (depends on 1) The mobile robot of claim 1, wherein the elastic piece comprises: a first portion having one end forming the first end of the elastic piece, the first end being connected to an inner circumference of the guide rim, and the first portion having a first slope; a second portion having one end connected to an opposite end of the first portion, and the second portion having a second slope greater than the first slope; and a third portion having one end connected to an opposite end of the second portion and an opposite end forming the second end of the elastic piece, the second end being a free end, the third portion having a third slope smaller than the second slope. ### Claim 7 (depends on 6) The mobile robot of claim 6, wherein the second slope of the second portion increases in a direction towards the rotation axis. ### Claim 8 (depends on 6) The mobile robot of claim 6, wherein the opposite end of the third portion is positioned lower than the opposite end of the second portion, and wherein the opposite end of the second portion is positioned lower than the opposite end of the first portion. ### Claim 9 (depends on 6) The mobile robot of claim 6, wherein the opposite end of the first portion is positioned lower than the guide rim. ### Claim 10 (depends on 6) The mobile robot of claim 6, wherein a length of the elastic piece is greater than a maximum width of the elastic piece. ### Claim 11 (depends on 1) The mobile robot of claim 1, wherein the elastic piece comprises a plurality of elastic pieces, and wherein the plurality of elastic pieces are equally spaced apart from each other. ### Claim 12 (depends on 1) The mobile robot of claim 1, wherein the elastic piece slopes downward in a direction toward a center of the guide rim. ### Claim 13 (depends on 1) The mobile robot of claim 1, wherein the attachment guider includes a metal material. ### Claim 14 (depends on 1) The mobile robot of claim 1, wherein the lower surface of the rotating plate includes a receiving groove recessed towards an upper surface of the rotating plate, the receiving groove being configured to accommodate the attachment guider such that a lower portion of the attachment guider is exposed. ### Claim 15 (depends on 1) The mobile robot of claim 1, wherein the mop portion includes a guide hole at a center of the mop portion, and wherein a portion of the attachment guider is inserted into the guide hole. ### Claim 16 (depends on 1) The mobile robot of claim 1, further comprising: a water supply module for supplying water to the mop portion. ### Claim 17 (depends on 1) The mobile robot of claim 1, further comprising: a mop motor configured to rotate the rotating plate. ### Claim 18 (depends on 1) The mobile robot of claim 1, wherein the rotating plate comprises a left rotating plate and a right rotating plate spaced apart from the left rotating plate, and wherein a lower surface of the left rotating plate slopes downward toward a left front side, and a lower surface of the right rotating plate slopes downward toward a right front side. ### Claim 19 (depends on 1) The mobile robot of claim 1, wherein the elastic piece comprises a plurality of elastic pieces spaced apart from each other along a circumference of the guide rim. ### Claim 20 A mobile robot, comprising: a body; a rotating plate rotatably installed on the body and having a lower surface; a mop portion attached to the lower surface of the rotating plate; and an attachment guider installed on the lower surface of the rotating plate, the attachment guider being configured to guide the attachment of the mop portion to the lower surface of the rotating plate, wherein the attachment guider comprises: a guide rim extending around a rotation axis of the rotating plate; and an elastic piece extending from the guide rim in a direction towards the rotation axis and sloping downward in the direction towards the rotation axis.