Cleaner

A cleaner, comprising:

• a cleaning module configured to suck in outside air;
• a main body configured to provide a suction force to the cleaning module;
• a first steering part rotatably coupled to the cleaning module and configured to roll the main body;
• a second steering part rotatably coupled to the first steering part and configured to pitch the main body;
• and
• a pair of wheels rotatably coupled to the cleaning module and configured to rollably move while in contact with a surface to be cleaned,
• wherein, based on a state in which the pair of wheels rollably move over the surface to be cleaned, a point where extension lines of rotation axes of the wheels intersect is located higher than an imaginary straight line that connects centers of the wheels, and
• the second steering part rotates about a longitudinal axis of the first steering part in conjunction with rolling of the first steering part so as to reciprocate between the pair of wheels.

A cleaner, comprising:

• a cleaning module configured to suck in outside air;
• a main body configured to provide a suction force to the cleaning module;
• a first steering part rotatably coupled to the cleaning module and configured to rotate the main body about a rolling axis disposed in a forward-rearward direction;
• a second steering part rotatably coupled to the first steering part and configured to rotate the main body about a pitching axis disposed in a left-right direction;
• and
• a pair of wheels rotatably coupled to the cleaning module and configured to rollably move while in contact with a surface to be cleaned,
• wherein, based on a state in which the pair of wheels rollably move over the surface to be cleaned, a point where extension lines of rotation axes of the wheels intersect is located higher than an imaginary straight line that connects centers of the wheels, and
• the second steering part rotates about the rolling axis behind the cleaning module and the pair of wheels in conjunction with rotation of the first steering part.

A cleaner, comprising:

• a cleaning module configured to suck in outside air;
• a main body configured to provide a suction force to the cleaning module;
• a first steering part rotatably coupled to the cleaning module and configured to rotate the main body about a pitching axis disposed in a left-right direction;
• a second steering part rotatably coupled to the first steering part and configured to rotate the main body about a yawing axis disposed in an up-down direction;
• a third steering part rotatably coupled to the second steering part and configured to rotate the main body about a rolling axis disposed in a forward-rearward direction;
• and
• a pair of wheels rotatably coupled to the cleaning module and configured to rollably move while in contact with a surface to be cleaned,
• wherein, based on a state in which the pair of wheels rollably move over the surface to be cleaned, a point where extension lines of rotation axes of the wheels intersect is located higher than an imaginary straight line that connects centers of the wheels, and
• the second steering part rotates about the yawing axis so as to reciprocate between the pair of wheels.

A cleaner, comprising:

• a cleaning module configured to suck in outside air;
• a main body configured to provide a suction force to the cleaning module;
• a first steering part rotatably coupled to the cleaning module and configured to rotate the main body about a pitching axis disposed in a left-right direction;
• a second steering part rotatably coupled to the first steering part and configured to rotate the main body about a rolling axis disposed in a forward-rearward direction;
• and
• a pair of wheels rotatably coupled to the cleaning module and configured to rollably move while in contact with a surface to be cleaned,
• wherein, based on a state in which the pair of wheels rollably move over the surface to be cleaned, a point where extension lines of rotation axes of the wheels intersect is located higher than an imaginary straight line that connects centers of the wheels, and
• the pair of wheels are spaced apart from each other with the first steering part interposed therebetween.