TWM655872U - Automatic cleaning device - Google Patents

Abstract

The disclosure proposes an automatic cleaning device including a cleaning module configured to clean an operating surface. The cleaning module includes: a first rolling brush arranged in a first direction, the first rolling brush including a first filler and a first brush member arranged along an axial direction of the first rolling brush, the first filler being a resilient member; and a second rolling brush arranged in a direction parallel to the first rolling brush, the second rolling brush including a second filler and a second brush member arranged along an axial direction of the second rolling brush, the second filler being a rigid member; where the first direction is a direction perpendicular to a front and rear axis of the automatic cleaning device, the second direction is a direction of the front and rear axis of the automatic cleaning device, the first direction is perpendicular to the second direction, and the second rolling brush is arranged in the second direction at a front side of the first rolling brush.

Description

Automatic cleaning equipment

The invention relates to the technical field of cleaning equipment, and in particular to an automatic cleaning equipment.

With the continuous development of technology, automatic cleaning equipment, such as sweeping robots and sweeping and mopping machines, have been widely adopted by households. In order to realize the sweeping function, the cleaning robot with sweeping function will be equipped with a cleaning brush to roll up garbage of different sizes on the ground and suck it into the garbage collection box.

The structure and arrangement of the cleaning brush have become one of the important factors affecting the cleaning effect of the automatic cleaning equipment. However, the existing single brush structure cannot improve the cleaning effect of the automatic cleaning equipment, and cannot perform targeted cleaning for different cleaning surface materials, thereby limiting the wide application of the automatic cleaning equipment.

The purpose of the present disclosure is to provide an automatic cleaning device that can solve the problem of low cleaning ability of the automatic cleaning device during the cleaning process. The specifics are as follows:

The present disclosure provides an automatic cleaning device, comprising:

A cleaning module is configured to clean the operating surface, the cleaning module comprising: a first roller brush, arranged along a first direction, the first roller brush comprising a first filler and a first brush component arranged along the axial direction of the first roller brush, the first filler being an elastic component; and a second roller brush, arranged along a direction parallel to the first roller brush, the second roller brush comprising a second axial component and a second brush component arranged along the axial direction of the second roller brush, the second axial component being a rigid component;

The first direction is perpendicular to the front and rear axis of the automatic cleaning device, the second direction is perpendicular to the front and rear axis of the automatic cleaning device, the first direction is perpendicular to the second direction, and the second roller brush is arranged on the front side of the first roller brush along the second direction.

In some embodiments, the cleaning module further includes: an air duct configured to allow the cleaned objects to enter and exit the dust box along the air duct; wherein the air duct has an air duct opening approximately located between the first roller brush and the second roller brush, and the front edge of the air duct opening is located on a side of the axis of the second roller brush close to the first roller brush.

In some embodiments, the cleaning module further includes: an air duct configured to allow the cleaned objects to enter and exit the dust box along the air duct; wherein the air duct has an air duct opening approximately located between the first roller brush and the second roller brush, and the air duct opening is disposed toward one side of the first roller brush.

In some embodiments, the cleaning module further includes: an air duct configured to allow the cleaned objects to enter and exit the dust box along the air duct; wherein the air duct has an air duct opening approximately located between the first roller brush and the second roller brush, and the plane projection area of the first roller brush on the air duct opening is larger than the plane projection area of the second roller brush on the air duct opening.

In some embodiments, the front edge of the air duct opening is located on a side of the axis of the second roller brush close to the first roller brush and does not exceed the rear end section of the outer contour of the second roller brush.

In some embodiments, the front edge of the air duct opening is arranged close to the rear end section of the outer contour of the second roller brush.

In some embodiments, the plane where the lowest point of the second shaft component is located is higher than the plane where the lowest point of the first filler is located.

In some embodiments, the first roller brush further includes: a first shaft; the first filler is sleeved on the first shaft so that the first filler and the first shaft are coaxial; and a first brush component, sleeved on the outer side of the first filler, wherein the first brush component includes:

a first tubular member configured to be sleeved on the outer side of the first filler so that the first tubular member is coaxial with the first shaft; and

A first brush member extends from the outer surface of the first cylindrical member in a direction away from the first cylindrical member;

The second roller brush further includes: a second shaft; the second shaft component is sleeved on the second shaft so that the second shaft component and the second shaft are coaxial; and a second brush component, sleeved on the outer side of the second shaft component, wherein the second brush component includes:

a second cylindrical member configured to be sleeved on the outer side of the second shaft member so that the second cylindrical member is coaxial with the second shaft; and

The second brush member extends from the outer surface of the second cylindrical member in a direction away from the second cylindrical member.

In some embodiments, the horizontal plane where the center of the second shaft is located is higher than the horizontal plane where the center of the first shaft is located.

In some embodiments, the interference amount between the second brush and the operating surface is smaller than the interference amount between the first brush and the operating surface.

In some embodiments, the plane where the lowest point of the second shaft component is located is lower than the plane where the lowest point of the first filler is located.

In some embodiments, the horizontal plane where the center of the second shaft is located is lower than the horizontal plane where the center of the first shaft is located.

In some embodiments, the hardness of the second brush member is less than the hardness of the first brush member.

Compared with the related art, the above scheme of the disclosed embodiment has at least the following beneficial effects: the automatic cleaning device provided by the disclosed embodiment, by setting a double roller brush structure of a first roller brush and a second roller brush, and setting the first filler in the first roller brush as an elastic component, and setting the second filler in the second roller brush as a rigid component, and making the second roller brush in front and the first roller brush in the back, can maximize the cleaning effect of the hard roller brush located at the front side on the cleaning surface, and the hard roller brush can effectively improve the cleaning effect of the hard roller brush on the cleaning surface. When the roller brush is used as the front brush for cleaning, it has a strong cleaning force, a significant dust beating effect, and a strong cleaning effect. For example, in a carpet cleaning environment, the front hard brush can effectively beat up the dust inside the carpet, and it also has a stronger cleaning effect on stubborn stains or heavy sticky particles on surfaces such as floors. After these types of garbage are removed from the ground by the front hard brush, they are gently rolled up by the rear soft roller brush and collected into the dust box, thereby improving the overall cleaning efficiency of the floor.

This disclosure is based on the Chinese patent application with application number 202223604501.X and application date December 30, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure for reference.

In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the attached drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the present invention.

It should also be noted that the terms "include", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of more restrictions, the elements defined by the phrase "comprising one" do not exclude the existence of other identical elements in the product or device including the elements.

In the related technology, automatic cleaning equipment, such as sweeping robots, has a double roller brush model. For this double roller brush model, the two roller brushes are usually soft brush structures that are easy to deform. The roller brush structure of the double soft brush allows a large degree of deformation and has good passability for large particles of garbage. However, due to the complex and high cost of the soft roller brush process, it is easy to deform after long-term use. Therefore, how to reasonably set the structure of the two roller brushes has become a technical problem that needs to be solved urgently.

The disclosed embodiment provides an automatic cleaning device including: a cleaning module configured to clean an operating surface, the cleaning module including: a first roller brush arranged along a first direction, the first roller brush including a first filler arranged along the axial direction of the first roller brush, the first filler being an elastic member; and a second roller brush arranged along a direction parallel to the first roller brush, the second roller brush including a second filler arranged along the axial direction of the second roller brush, the second roller brush including a second filler arranged along the axial direction of the second roller brush. The second filler is a rigid component; wherein the first direction is a direction perpendicular to the front and rear axes of the automatic cleaning device, the second direction is a direction of the front and rear axes of the automatic cleaning device, the first direction is perpendicular to the second direction, and the second roller brush is arranged in front of the first roller brush along the second direction, that is, during the cleaning process of the cleaning module, the object to be cleaned is cleaned by first passing through the second roller brush and then passing through the first roller brush.

The automatic cleaning device provided by the disclosed embodiment can maximize the cleaning effect of the hard roller brush located at the front side on the cleaning surface by setting a double roller brush structure of a first roller brush and a second roller brush, and setting the first filler in the first roller brush as an elastic component, and setting the second filler in the second roller brush as a rigid component, and making the second roller brush in front and the first roller brush in the back. The hard roller brush has a strong cleaning force when used as a front brush to clean, and has a strong cleaning effect on the surface. The dust beating effect is obvious and the cleaning effect is strong. For example, in the carpet cleaning environment, the front hard brush can effectively beat the dust inside the carpet, and it also has a stronger cleaning effect on stubborn stains or heavy sticky particles on surfaces such as floors. After these types of garbage are left off the ground by the front hard brush, they are gently rolled up by the rear soft roller brush and collected into the dust box, thereby improving the overall cleaning efficiency of the floor.

The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

FIG1-FIG2 are schematic diagrams of the structure of an automatic cleaning device according to an exemplary embodiment. As shown in FIG1-FIG2, the automatic cleaning device can be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 1000, a sensing system 2000, a control system (not shown), a drive system 3000, an energy system (not shown), a human-computer interaction system 4000 and a cleaning module 5000. Among them:

The mobile platform 1000 can be configured to automatically move along a target direction on an operating surface. The operating surface can be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a mopping robot, in which case the automatic cleaning device works on the ground, which is the operating surface; the automatic cleaning device can also be a window cleaning robot, in which case the automatic cleaning device works on the outer surface of the glass of a building, which is the operating surface; the automatic cleaning device can also be a pipe cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, which is the operating surface. Purely for the purpose of demonstration, the following description in this application takes a mopping robot as an example.

In some embodiments, the mobile platform 1000 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 1000 itself can automatically and adaptively make operation decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operation decisions based on unexpected environmental inputs, but can execute established procedures or operate according to certain logic. Accordingly, when the mobile platform 1000 is an autonomous mobile platform, the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 1000 is a non-autonomous mobile platform, the target direction may be set by the system or manually.

The perception system 2000 includes a position determination device (not shown in the figure) located above the mobile platform 1000, a buffer (not shown in the figure) located at the forward part of the mobile platform 1000, a cliff sensor (not shown in the figure) and an ultrasonic sensor (not shown in the figure) located at the bottom of the mobile platform, an infrared sensor (not shown in the figure), a magnetometer (not shown in the figure), an accelerometer (not shown in the figure), a gyroscope (not shown in the figure), an odometer (not shown in the figure) and other sensing devices, which provide the control system with various position information and motion status information of the machine.

For ease of description, the following directions are defined: The automatic cleaning device can be calibrated by defining the following three mutually perpendicular axes: the horizontal axis Y, the front-rear axis X, and the vertical axis Z. The direction along the arrow pointing to the front-rear axis X is marked as "backward", and the direction opposite to the arrow along the front-rear axis X is marked as "forward". The horizontal axis Y is essentially along the width of the automatic cleaning device. The direction along the arrow of the horizontal axis Y is marked as "left", and the direction opposite to the arrow of the horizontal axis Y is marked as "right". The vertical axis Z is the direction extending upward from the bottom surface of the automatic cleaning device. As shown in FIG. 1 , the direction along the front-rear axis X is defined as the second direction, such as the forward direction or the backward direction; the direction perpendicular to the second direction in the horizontal plane is defined as the first direction, such as the left direction or the right direction.

The control system (not shown in the figure) is arranged on the circuit board in the mobile platform 1000, including a computing processor, such as a central processing unit, an application processor, which communicates with a non-temporary storage device, such as a hard disk, a flash memory, and a random access memory. The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system, and use a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the automatic cleaning device is located based on the obstacle information fed back by the position determination device, and autonomously determine the driving path based on the environmental information and the environmental map, and then control the drive system 3000 to perform forward, backward and/or turning operations based on the autonomously determined driving path. Furthermore, the control system can also decide whether to start the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

The driving system 3000 can execute driving commands based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device to travel across the ground. The driving system 3000 includes a driving wheel assembly. The driving system 3000 can control the left wheel and the right wheel at the same time. In order to more accurately control the movement of the machine, it is preferred that the driving system 3000 includes a left driving wheel assembly and a right driving wheel assembly respectively. The left and right driving wheel assemblies are symmetrically arranged along the transverse axis defined by the mobile platform 1000. In order for the automatic cleaning device to move more stably or with stronger movement ability on the ground, the automatic cleaning device may include one or more steering assemblies. The steering assembly may be a driven wheel or a driving wheel. Its structural form includes but is not limited to a universal wheel. The steering assembly may be located in front of the driving wheel assembly.

The energy system (not shown in the figure) includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The host is charged by connecting the charging pole arranged on the side or bottom of the fuselage to the charging pile.

The human-machine interaction system 4000 includes buttons on the host panel, which are used by the user to select functions; it may also include a display screen and/or indicator lights and/or speakers, which display the current state of the machine or function options to the user; it may also include a mobile client program. For a path navigation cleaning device, a map of the environment where the device is located and the location of the machine can be displayed to the user on the mobile client, which can provide the user with more abundant and humanized functions.

As shown in FIG2 , the cleaning module 5000 includes a dust box, a fan, and a main brush module. The main brush module sweeps the garbage on the ground to the front of the dust suction port between the main brush module and the dust box, and then the garbage is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dust removal capacity of the sweeper can be characterized by the garbage pickup efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the wind utilization rate of the air duct formed by the dust suction port, dust box, fan, air outlet, and the connecting parts between the four, and is affected by the type and power of the fan. It is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, a machine that can clean 80 square meters of ground on one charge can evolve to clean 180 square meters or even more on one charge. And the service life of the battery with fewer charging times will also be greatly increased, so that the frequency of battery replacement will also be reduced. More intuitively and importantly, the improvement of dust removal ability is the most obvious and important user experience, and users will directly draw conclusions on whether the sweeping/wiping is clean.

FIG2 shows a schematic diagram of the structure of the automatic cleaning device in FIG1 from a bottom view. As shown in FIG2 , the automatic cleaning device includes a mobile platform 1000, and the mobile platform 1000 is configured to move freely on the operating surface. A cleaning module 5000 is provided at the bottom of the mobile platform 1000, and the cleaning module 5000 is configured to clean the operating surface. The cleaning module 5000 includes a driving unit 5100, a roller brush frame 5200, and a roller brush 5300 assembled in the roller brush frame 5200. The driving unit 5100 provides a forward or reverse driving force, and applies the driving force to the roller brush 5300 through a multi-stage gear set. The roller brush 5300 rotates under the action of the driving force to clean the operating surface, or the roller brush 5300 rotates under the action of the driving force to collect dust.

As shown in FIG2 , a front cleaning brush mounting position 5211 and a rear cleaning brush mounting position 5212 for accommodating a cleaning roller brush are provided in the roller brush frame 5200. The front cleaning brush mounting position 5211 has a first end 52111 and a second end 52112 opposite to the first end 52111, one end of the first roller brush 100 is clamped and fixed at the first end 52111, and the other end of the first roller brush 100 is clamped and fixed at the second end 52112. In some embodiments, the front cleaning brush mounting position 5211 is a long strip groove structure in the mobile platform, and the long strip groove structure extends along the first direction. The rear cleaning brush installation position 5212 has a third end 52121 and a fourth end 52122 opposite to the third end 52121. In some embodiments, the rear cleaning brush installation position 5212 is substantially the same in structure as the front cleaning brush installation position 5211, for example, it is also a strip-shaped groove structure in the mobile platform, the strip-shaped groove structure extends along the first direction, and the second roller brush can be installed in the strip-shaped groove of the rear cleaning brush installation position 5212 through the opening of the strip-shaped groove structure. The two strip-shaped groove structures are parallel to each other in the second direction. There is no restriction on the shape and size of the strip-shaped groove structure, and it only needs to accommodate at least a part of the first roller brush and the second roller brush. The first end of the front cleaning brush mounting position 5211 and the third end of the rear cleaning brush mounting position 5212 are located on one side of the front-rear axis X axis, and the second end of the front cleaning brush mounting position 5211 and the fourth end of the rear cleaning brush mounting position 5212 are located on the other side of the front-rear axis X axis.

It should be noted that in the following embodiments of the present disclosure, the long groove structure close to the steering wheel on the automatic cleaning device is used as the front cleaning brush installation position 5211, and the long groove structure far from the steering wheel is used as the rear cleaning brush installation position 5212. Of course, the reverse is also possible.

As shown in FIG. 2 , in some embodiments, the automatic cleaning device includes two cleaning roller brushes 5300, one cleaning roller brush is disposed at the front cleaning brush mounting position 5211 and is regarded as a “front roller brush”; the other cleaning roller brush is disposed at the rear cleaning brush mounting position 5212 and is regarded as a “rear roller brush”. The front roller brush can be mounted in the front cleaning brush mounting position 5211 through the opening of the long strip groove structure, and the rear roller brush can be mounted in the rear cleaning brush mounting position 5212 through the opening of the long strip groove structure.

FIG3 shows the assembly structure of the cleaning module of some embodiments of the present disclosure, and FIG4 shows the cross-sectional structure of the cleaning module of some embodiments of the present disclosure. As shown in FIG3 and FIG4, the roller brush 5300 assembled in the roller brush frame 5200 includes: a first roller brush 100, arranged in a first direction perpendicular to the front and rear axis of the moving platform, the first roller brush 100 includes: a first brush component 130; a first shaft 110; and a first filler 120, the first filler 120 is configured to be sleeved on the first shaft 110 so that the first filler 120 is arranged in a first direction perpendicular to the front and rear axis of the moving platform. The first filler 120 is coaxial with the first shaft 110; and the second roller brush 200 is arranged in a direction parallel to the first roller brush 100, and the second roller brush 200 includes: a second brush component 230; and a second shaft component 220, the second shaft component 220 and the second brush component 230 are coaxial; wherein the first filler 120 is an elastic component, the second shaft component 220 is a rigid component, and the first filler 120 has a first inner diameter and a first outer diameter, so that the first filler 120 has a preset thickness. The first roller brush 100 and the second roller brush 200 rotate in opposite directions relative to each other, so as to roll up the garbage on the operating surface when performing a cleaning task or spit out the garbage in the dust box when performing a dust collection task. It should be noted that, for this embodiment, the first roller brush 100 can be the "front roller brush" or the "rear roller brush" described above, and the second roller brush 200 can also be the "front roller brush" or the "rear roller brush" described above, without limitation.

Specifically, FIG. 5 shows a cross-sectional view of the first roller brush along the second direction of some embodiments of the present disclosure, and FIG. 6 shows a cross-sectional view of the first roller brush along the first direction of some embodiments of the present disclosure, as shown in FIG. 5 and FIG. 6.

The first roller brush 100 includes a first shaft 110, at least one end of which is connected to a multi-stage gear set, receives the driving force of the driving unit 5100 and realizes forward or reverse rotation. The first shaft 110 is in the shape of an elongated cylindrical column, an elongated square column, or an elongated polygonal column, which is not limited to this. The elongated cylindrical shape is used as an example for explanation below. The axis of the first shaft 110 can be regarded as the rotation axis of the first roller brush 100. When the first roller brush 100 is installed on the mobile platform, the driving system 2000 can drive the first shaft 110 to rotate, thereby driving the first brush component 130 on the surface of the first shaft 110 to clean.

The first roller brush 100 further includes a first filler 120, which is configured to be sleeved on the first shaft 110 so that the first filler 120 is coaxial with the first shaft 110. As shown in FIG. 4, the cross-section of the first filler 120 is a ring-shaped structure, and the shape of the inner ring matches the cross-sectional shape of the first shaft 110. The shape of the inner ring can be circular, directional, polygonal, etc., and this is not limited. The inner ring is circular in the following description. For example, the outer ring is generally circular. When the cross section of the first filler 120 is a circular ring, the cross section of the first filler 120 has an inner diameter and an outer diameter. The inner diameter is substantially equal to the diameter of the first shaft 110 to achieve seamless sleeve connection between the first filler 120 and the first shaft 110, and the outer diameter is substantially equal to the inner diameter of the first tubular member 131 to achieve seamless sleeve connection between the first filler 120 and the first tubular member 131. The first filler 120 is a compressible elastic material. The first filler 120 has the characteristics of being compressed inwardly when subjected to force and returning to its original state after the force is removed, such as sponge, organic flexible material, resin material, foam material, etc., which are not exhaustive. In addition, the first filler 120 may also be a hollow material or structure with the same compressible property, such as a spring or a spring, and this is not to be mentioned.

The first roller brush 100 further includes a first brush component 130, which is mounted on the outer side of the first filler 120. The first brush component 130 includes a first cylindrical component 131, which is configured to be mounted on the outer side of the first filler 120 so that the first cylindrical component 131 is coaxial with the first shaft 110. The first cylindrical component 131 is generally cylindrical, and its length is substantially the same as that of the first shaft 110. The first cylindrical component 131 is generally compressible, for example, it is made of elastic plastic or rubber material, and can be compressed inwardly to deform under the action of external force, and can return to its original state after the external force is removed. The first cylindrical component 131 generally has a certain thickness to enhance the wear resistance of the first brush component 130 as a whole. The first brush member 130 further includes a first brush member 132, which may be a plurality of sheet-like structures, and the first brush member 132 extends from the outer surface of the first cylindrical member 131 in a direction away from the first cylindrical member 131, and at least one first brush member 132 extends from one end of the first cylindrical member 131 to the other end of the first cylindrical member 131 along the axial direction of the first cylindrical member 131. The first brush member 132 may be in other forms such as blades or bristles.

In some embodiments, there are multiple first brush members 132, each of which is in a spiral structure on the outer surface of the first cylindrical member 131. The multiple first brush members 132 are roughly evenly distributed along the circumference of the first cylindrical member 131, and the spiral structures of the multiple first brush members 132 are roughly parallel. By designing the first brush member 132 as a spiral structure, when the front and rear roller brushes rotate in opposite directions, the garbage can be easily rolled up without generating excessive impact force to damage the first brush member 132, thereby improving the service life.

In some embodiments, there are multiple first brush members 132, each of which is in a V-shaped structure on the outer surface of the first cylindrical member 131. The multiple first brush members 132 are roughly evenly distributed along the circumferential direction of the first cylindrical member 131, and the tips of the V-shaped structures of the multiple first brush members 132 point in the same direction in the circumferential direction of the first cylindrical member 131. By designing the first brush member 132 as a V-shaped structure, when the front and rear roller brushes rotate in opposite directions, the garbage can be easily rolled up without generating excessive impact force to damage the first brush member 132, thereby improving the service life.

In some embodiments, a plurality of first protrusions 1321 are disposed on the surface of the first brush member 132. The plurality of first protrusions 132 on the first brush member 132 are evenly distributed along the extension direction of the surface of the first brush member 132. The plurality of first protrusions 1321 can increase the friction between the brush member and the garbage, making the cleaning more thorough.

In some embodiments, as shown in FIG. 6-1, the second roller brush 200 includes a second shaft component 220 and a second brush component 230; the second shaft component 220 and the second brush component 230 are coaxial, the second brush component 230 is sleeved on the outer side of the second shaft component 220, the second shaft component 220 constitutes the second shaft of the second roller brush 200, the second shaft component 220 is a rigid hard component, and the second shaft component 220 includes a second shaft component disposed on the second shaft component. At least one mating piece 210 at at least one end of the second shaft component 220 (for example, the mating piece 210 can be provided at one end or both ends of the second shaft component 220), is connected to the multi-stage gear set of the drive system 2000 through the mating piece 210, receives the driving force of the drive system 2000 and realizes forward or reverse rotation, wherein the second shaft component 220 has an outer shape of an elongated cylindrical shape, an elongated square cylindrical shape, or an elongated polygonal cylindrical shape, which is not limited to this, and the elongated cylindrical shape is used as an example for explanation below.

In some embodiments, as shown in FIG. 6-2 , the second shaft component 220 includes a hollow structure 221, and the hollow structure 221 extends axially through the axis of the second shaft component 220 along the axis of the second shaft component 220, and the second shaft component 220 has a second inner diameter _{D_inside} and a second outer diameter _{D_outside} , and the second inner diameter _{D_inside} and the second outer diameter _{D_outside} constitute the radial thickness of the second shaft component 220. At least one end of the hollow structure (for example, one end or both ends of the second shaft member 220) includes a step portion, and the step portion includes one, two or three steps. For example, when the step portion is a two-step step, the end surface of the hollow structure 221 has a third inner diameter and a fourth inner diameter, wherein the second inner diameter is smaller than the third inner diameter and smaller than the fourth inner diameter, wherein the step portion is located at the outermost end of the hollow structure 221 to form a third inner diameter with the largest diameter. The accommodating cavity 222 (for example, the accommodating cavity 222 has a fourth inner diameter), the matching piece 210 has an outer shape structure matching the step portion, and the matching piece 210 is fixedly or detachably connected to the hollow structure after being assembled on the step portion. The matching piece 210 is used to be directly or indirectly connected to the multi-stage gear set of the drive system, receive the driving force of the drive system 2000 and realize the forward or reverse rotation of the second shaft component 220.

The second roller brush 200 further includes a second brush component 230, which is sleeved on the outer side of the second shaft component 220. The second brush component 230 includes a second cylindrical component 231, which is configured to be sleeved on the outer side of the second shaft component 220 so that the second cylindrical component 231 is coaxial with the second shaft component 220. The second cylindrical component 231 is generally cylindrical, and its length is substantially the same as that of the second shaft component 220. The second cylindrical component 231 is generally compressible, for example, made of elastic plastic or rubber material, so as to be sleeved on the outer side of the second shaft component 220. The second cylindrical component 231 generally has a certain thickness to enhance the wear resistance of the second brush component 230 as a whole. The second brush member 230 further includes a second brush member 232, which may be a plurality of sheet-like structures, and the second brush member 232 extends from the outer surface of the second cylindrical member 231 in a direction away from the second cylindrical member 231, and at least one second brush member 232 extends from one end of the second cylindrical member 231 to the other end of the second cylindrical member 231 along the axial direction of the second cylindrical member 231. The second brush member 232 may be in other forms such as blades or bristles.

In some embodiments, there are multiple second brush members 232, each of which is in a spiral structure on the outer surface of the second cylindrical member 231. The multiple second brush members 232 are roughly evenly distributed along the circumferential direction of the second cylindrical member 231, and the spiral structures of the multiple second brush members 232 are roughly parallel. The shape of the second brush member 232 matches the shape of the first brush member 132, that is, when the shape of the second brush member 232 is a spiral structure, the shape of the first brush member 132 is also a spiral structure. By designing the second brush member 232 as a spiral structure, when the front and rear roller brushes rotate in opposite directions, the garbage can be easily rolled up without generating excessive impact force on the second brush member 232 to cause damage, thereby improving the service life.

In some embodiments, there are multiple second brush members 232, each of which is in a V-shaped structure on the outer surface of the second cylindrical member 231. The multiple second brush members 232 are roughly evenly distributed along the circumferential direction of the second cylindrical member 231, and the tips of the V-shaped structures of the multiple second brush members 232 point in the same direction in the circumferential direction of the second cylindrical member 231. The shape of the second brush member 232 matches the shape of the first brush member 132, that is, when the shape of the second brush member 232 is a V-shaped structure, the shape of the first brush member 132 is also a V-shaped structure. By designing the second brush member 232 as a V-shaped structure, when the front and rear roller brushes rotate in opposite directions, the tips of the V-shaped structures of the second brush member 232 can interfere with the tips of the V-shaped structures of the first brush member 132, thereby easily rolling up garbage.

In some other embodiments, the second roller brush 200 can also be implemented in other forms, as shown in FIG6-2. For example, the second roller brush 200 includes a second shaft 240, a second filler 250 and a second brush component 230. The structure of the second brush component 230 is as described in the above embodiment and will not be described in detail here. The second shaft component described in the above embodiment is composed of a second shaft 240 and a second filler 250. The second filler 250 is sleeved on the second shaft 240 so that the second filler 250 is coaxial with the second shaft 240. The cross-section of the second filler 250 is an annular structure, and the shape of its inner ring matches the cross-sectional shape of the second shaft 240. The shape of the inner ring can be circular, directional, polygonal, etc., and this is not limited. The inner ring is used as the following. Taking a circle as an example, the outer ring shape is generally a circle. When the cross-section of the second filler 250 is a circular ring, the cross-section of the second filler 250 has an inner diameter and an outer diameter. The inner diameter is substantially equal to the diameter of the second shaft 240 to achieve a seamless fitting between the second filler 250 and the second shaft 240, and the outer diameter is substantially equal to the inner diameter of the second tubular component 231 to achieve a seamless fitting between the second filler 250 and the second tubular component 231. The second filler 250 is a non-compressible material. The second filler 250 has the characteristic of not being compressed inwards when subjected to force, so as to provide sufficient support force to the second brush component 230. The material of the second filler 250 is, for example, a rigid material such as hard plastic, hard resin material, or metal material. In addition, the second filler 250 can also be a hollow material or structure with the same non-compressible property, such as a non-compressible keel structure, to reduce the weight of the second roller brush. This is also not an exaggeration.

In some other embodiments, the second filler 250 can be integrally formed with the second shaft 240, and the second filler 250 and the second shaft 240 can be integrally formed with a hard material to reduce the rotational clearance.

After the first roller brush 100 and the second roller brush 200 are installed, when the first roller brush 100 and the second roller brush 200 are working, the first roller brush 100 and the second roller brush 200 have the same rotation speed and opposite rotation directions, for example, the first roller brush 100 rotates counterclockwise and the second roller brush 200 rotates clockwise. During the rotation process, the first brush and the second brush are always in an interference contact state in the middle position, that is, the brushes of the upper layer have not yet separated, but the brushes of the lower layer have already contacted; the rotation continues, the brushes of the upper layer separate, and the brushes at both ends of the lower layer contact the middle to form a diamond-shaped closed air path. As the brush components rotate, the brush components will collect the garbage in the middle, so that the garbage is sucked into the dust box in the equipment along the air duct 5400, thereby achieving the purpose of cleaning. As the first roller brush and the second roller brush rotate synchronously, the diamond-shaped closed air path formed by the next layer of brushes will gradually become smaller until the current closed cleaning is completed, and the next closed cleaning will start immediately, that is, the brushes at both ends of the next layer touch the middle to form a diamond-shaped closed air path. In this cycle, the first roller brush and the second roller brush can achieve a continuous cleaning effect, further improving the cleaning efficiency.

In some embodiments, the second brush member 232 is provided with a plurality of second protrusions 2321. The plurality of second protrusions on the second brush member 232 are evenly distributed along the extension direction of the surface of the second brush member 232. The plurality of second protrusions 2321 can increase the friction between the brush member and the garbage, so that the cleaning is cleaner.

In other embodiments, the first brush component in the first roller brush 100 and the second brush component in the second roller brush 200 may be different, and may be specifically set according to cleaning requirements. Optionally, the first roller brush 100 is a hair brush and the second roller brush 200 is a rubber brush. This combination can meet the cleaning effect of various floor environments, that is, the first roller brush can be used to clean garbage on soft floors such as carpets by utilizing the good cleaning ability of the hair brush for hair or fine soft fibers; at the same time, the second roller brush can be used to clean floors, tiles, and the like by utilizing the good cleaning ability of the rubber brush for hard floors.

In some embodiments, the outer diameter of the second shaft component is smaller than the outer diameter of the first filler, and/or the outer diameter of the second shaft component is larger than the inner diameter of the first filler. Since the second roller brush is an incompressible hard core structure, in order to avoid a significant reduction in the passability of large-particle garbage due to the incompressible hard core structure, it is necessary to set the blades of the second roller brush to be longer than the blades of the first roller brush, and the distance from the outer diameter of the second shaft component (hard core) of the second roller brush to the ground is not less than the distance from the outer diameter of the first filler (soft core) of the first roller brush to the ground. At this time, it is necessary to make the outer diameter of the second shaft component smaller than the outer diameter of the first filler. In addition, when the outer diameter of the second shaft component (hard core) of the second roller brush is too large, the flexible space allowed to pass between the front and rear roller brushes will become smaller, and slightly larger hard garbage will be stuck between the first roller brush and the second roller brush; in addition, when the outer diameter of the second shaft component (hard core) of the second roller brush is further reduced, the outer contour diameters of the first brush element of the first roller brush and the second brush element of the second roller brush are the same, and the corresponding second brush element length will gradually increase as the outer diameter of the second shaft component (hard core) decreases. If the length of the second brush exceeds a reasonable range, the cleaning force will be weakened due to the overhang of the second brush, and the surface area of the second brush will be increased, making it easier for the second brush to adhere to dust and affect the cleaning effect. Therefore, in order to ensure the cleaning effect, the length of the second brush should not be too long. At this time, the outer diameter of the corresponding second shaft component (hard core) should not be too small. The outer diameter of the second shaft component can be made larger than the inner diameter of the first filler, thereby ensuring that the length of the second brush is within an appropriate range.

In some embodiments, the plane where the lowest point of the first filler is located is lower than the plane where the lowest point of the second shaft component is located. Since the first filler is compressible, in order to ensure that garbage can pass under the first roller brush and the second roller brush, it is necessary to make the plane where the lowest point of the first filler is located lower than the plane where the lowest point of the second shaft component is located. When the second roller brush is a front roller brush, since the lowest point of the second shaft component is higher, the passability of garbage can still be guaranteed. At the same time, since the first roller brush is a rear roller brush and is closer to the ground, it can intercept garbage and prevent it from leaking from under the first roller brush, thereby improving the cleaning efficiency of the cleaning device.

In some embodiments, the maximum distance that the first brush extends from the outer surface of the first cylindrical component in a direction away from the first cylindrical component is less than the maximum distance that the second brush extends from the outer surface of the second cylindrical component in a direction away from the second cylindrical component. As described above, since the outer diameter of the first filler is greater than the outer diameter of the second shaft component, if the length of the first brush is not less than the length of the second brush, the first roller brush will be larger as a whole. When the first roller brush and the second roller brush are assembled at approximately the same horizontal plane, the interference between the first brush and the ground will be greatly increased, thereby increasing the noise generated by the first brush hitting the ground, and also increasing the resistance to the movement of the automatic cleaning device, making it inconvenient for the automatic cleaning device to perform cleaning tasks.

In some embodiments, the outer contour of the first brush member formed by the farthest distance extending from the outer surface of the first cylindrical member in the direction away from the first cylindrical member forms the outer diameter of the first roller brush, and the outer contour of the second brush member formed by the farthest distance extending from the outer surface of the second cylindrical member in the direction away from the second cylindrical member forms the outer diameter of the second roller brush, and the outer diameter of the first roller brush is substantially equal to the outer diameter of the second roller brush. When the assembly positions of the first roller brush and the second roller brush are substantially located in the same horizontal plane or are not much different, it can be ensured that both the first roller brush and the second roller brush have sufficient interference with the ground, achieving a double brush cleaning effect. In addition, for the automatic cleaning device in a non-working state, the double roller brush in the storage state can be stored roughly flat in the cleaning module, which also reduces the complexity of design and processing caused by the inconsistent design of the front cleaning brush installation position and the rear cleaning brush installation position.

In some embodiments, the distance between the axis of the first roller brush and the axis of the second roller brush is not greater than the outer diameter of the first roller brush and/or the second roller brush. When the outer diameters of the first roller brush and/or the second roller brush are substantially equal, and the distance between the axis of the first roller brush and the axis of the second roller brush is greater than the outer diameter of the first roller brush and/or the second roller brush, there will be no interference effect between the first brush member and the second brush member, and the garbage swept between the first roller brush and the second roller brush cannot be smoothly rolled up, affecting the overall cleaning effect of the cleaning device.

In some embodiments, the outer contour of the first brush member formed by the farthest distance extending from the outer surface of the first cylindrical member in the direction away from the first cylindrical member forms the outer diameter of the first roller brush, the outer contour of the second brush member formed by the farthest distance extending from the outer surface of the second cylindrical member in the direction away from the second cylindrical member forms the outer diameter of the second roller brush, and the distance between the axis center of the first roller brush and the axis center of the second roller brush is no more than half of the sum of the outer diameters of the first roller brush and the second roller brush. When the outer diameters of the first roller brush and/or the second roller brush are not equal, and the distance between the axis of the first roller brush and the axis of the second roller brush is greater than half of the sum of the outer diameters of the first roller brush and the second roller brush, there will be no interference effect between the first brush member and the second brush member, so that the garbage swept between the first roller brush and the second roller brush cannot be smoothly rolled up, affecting the overall cleaning effect of the cleaning device.

In some embodiments, the minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft component is greater than the difference between the inner diameter and the outer diameter of the first filler. When the inner diameter of the first filler is too large, or the outer diameter of the second shaft component is too large so that the minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft component is too small, the flexible space allowed to pass between the front and rear brushes will become smaller, and slightly larger garbage, even soft garbage, will be stuck between the two brushes and cannot enter the dust box. The limit distance is the contact between the outer diameter of the second shaft component and the outer diameter of the first filler. At this time, although the first filler still has a compressible space margin, since there is no gap between the first filler and the second shaft component, the first filler and the second shaft component block the suction force of the fan on the garbage, which will greatly reduce the effect of garbage entering the dust box and reduce the cleaning efficiency.

In some embodiments, the second roller brush and the first roller brush are arranged in front and back along the travel direction of the automatic cleaning device. At this time, a double brush assembly structure with a hard front and a soft back is formed. In order to ensure that garbage does not leak from the back, it is necessary to set the plane where the lowest point of the outer contour of the first roller brush is located lower than the plane where the lowest point of the outer contour of the second roller brush is located, increase the interference between the first brush and the ground, and protect garbage from leaking from under the first roller brush.

In some embodiments, as shown in FIG. 6-3, the cleaning module 5000 includes a first roller brush 100, which is arranged in a first direction perpendicular to the axis of the moving platform 1000, and the first roller brush 100 includes a first filler 120 and a first brush component 130, and the first filler 120 is configured to be arranged along the axis of the first roller brush 100; and a second roller brush 200, which is arranged in a direction parallel to the first roller brush 100, and the second roller brush 200 includes a second filler 250 and a second brush component 230, and the second filler 250 is configured to be arranged along the axis of the second roller brush 100; wherein the first roller brush 100 includes a first filler 120 and a first brush component 130, and the first filler 120 is configured to be arranged along the axis of the second roller brush 100; The elastic modulus of a filler 120 is smaller than the elastic modulus of the second filler 250. For example, the first filler is an elastic component and the second filler is a rigid component. The second roller brush is arranged on the front side of the first roller brush along the direction of the front and rear axis of the automatic cleaning device, so that during the cleaning process of the cleaning module 5000, the object to be cleaned 300 first passes through the second roller brush 200 and then passes through the first roller brush 100 to be cleaned. As shown in FIG. 6-3, the direction indicated by the arrow is the moving direction of the cleaning device. After being cleaned by the second roller brush 200, the object to be cleaned 300 enters the air duct 5400 along the rear end section F of the second roller brush 200.

In some embodiments, the first filler is an elastic component and the second filler is a rigid component. During the cleaning process, when the object to be cleaned 300 is dust on the carpet, paper scraps, etc., it needs to be strongly slapped and then rolled up to complete the cleaning. When the second filler located at the front side is a rigid component, it has a greater slapping force. After the dust on the carpet, paper scraps, etc. adherent to the object to be cleaned 300 are slapped off the carpet, and then rolled up by the soft first roller brush, the cleaning can be completed.

In some embodiments, as shown in FIG. 6-3, the cleaning module 5000 further includes: an air duct 5400, configured to allow the object to be cleaned 300 to enter and exit the dust box (not shown) along the air duct 5400, that is, when performing a cleaning task, the object to be cleaned 300 enters the dust box along the air duct 5400 under the suction action of the fan, and when performing a dust collection task, the object to be cleaned 300 is sucked out of the dust box along the air duct 5400 under the suction action of the fan; wherein the air duct 5400 has an air duct opening 5410 approximately located between the first roller brush 100 and the second roller brush 200, and the air duct 5400 is provided with a plurality of air duct openings 5410 disposed between the first roller brush 100 and the second roller brush 200. The opening 5410 has a front edge A along the axial direction of the cleaning device, and a rear edge B along the axial direction of the cleaning device. The distance D3 between the front edge A and the rear edge B forms the opening distance of the air duct opening 5410 along the front-to-back direction, and the front edge A of the air duct opening 5410 is located on the side of the axis of the second roller brush 200 close to the first roller brush 100, the axis of the second roller brush 200 forms an axial surface E in the vertical direction, the outer contour of the second roller brush 200 has a rear end section F, and the front edge A is located between the axial surface E and the rear end section F of the outer contour of the second roller brush. When performing the cleaning task, the object to be cleaned 300 is collected from front to back in the opposite direction of the arrow, and the dust box is placed at the rear side of the air duct 5400. At this time, the fan is sucking roughly forward and downward, and the wind path is smoother. After the object to be cleaned 300 enters between the first roller brush 100 and the second roller brush 200, due to the forward movement of the automatic cleaning device, the force applied by the object to be cleaned 300 to the first roller brush 100 (soft roller brush) is greater than that applied to the second roller brush 200 (hard roller brush). ) force, at this time, since the first roller brush 100 is a soft roller brush, it is easy to deform, causing the object to be cleaned 300 to compress the first filler of the first roller brush 100 and move upward, thereby causing the object to be cleaned 300 to move upward and enter the air duct with a side that is biased toward the rear side of the rear end section F of the outer contour of the second roller brush. Therefore, the center of the air duct opening 5410 should be located on the rear side of the rear end section F of the outer contour of the second roller brush, that is, the air duct 5400 is set to the rear. In addition, when the cleaning device performs the dust collection task, the first roller brush 100 and the second roller brush 200 need to be reversed to spit out the object to be cleaned 300. At this time, a large amount of the object to be cleaned 300 first contacts the first roller brush 100 (soft roller brush) with stronger flexible deformation ability, which can also reduce the risk of the object to be cleaned getting stuck during dust collection.

In some embodiments, the front edge A of the air duct opening 5410 is located on the side of the axis of the second roller brush 200 close to the first roller brush 100 and does not exceed the rear end section F of the first roller brush 100 and the second roller brush 200. When the front edge A of the air duct opening 5410 exceeds the rear end section F of the first roller brush 100 and the second roller brush 200, since the width D3 of the air duct opening 5410 is less than or equal to the outer diameter of the first roller brush 100, the air duct opening 5410 will be basically blocked by the first roller brush 100, thereby affecting the entry and exit of the object 300 to be cleaned.

In some embodiments, when the width D3 of the air duct opening 5410 is small, the air duct opening 5410 should be as close to the first roller brush as possible, that is, the front edge A of the air duct opening 5410 is arranged close to the rear end section F of the first roller brush 100 and the second roller brush 200.

In some embodiments, the air duct opening is disposed toward one side of the first roller brush. The reasons are as described above and will not be elaborated here.

In some embodiments, the projected area of the first roller brush on the plane of the air duct opening is larger than the projected area of the second roller brush on the plane of the air duct opening. The reasons are as described above and will not be elaborated here.

In some embodiments, the plane where the lowest point of the second filler is located is higher than the plane where the lowest point of the first filler is located. Since the second roller brush 200 is a hard roller brush, it does not have elastic materials such as sponges to buffer, and the slapping noise on the ground (especially hard ground) is larger than that of a soft roller brush. Therefore, setting the plane where the lowest point of the second filler is located higher than the plane where the lowest point of the first filler is located will reduce the sound of the second roller brush 200 slapping on the hard ground, thereby reducing noise.

In some embodiments, as shown in FIG. 5 , the first roller brush 100 further includes: a first shaft 110; the first filler 120 is sleeved on the first shaft 110 so that the first filler 120 is coaxial with the first shaft 110; and a first brush component 130, which is sleeved on the outer side of the first filler 120, wherein the first brush component 130 includes: a first cylindrical component 131, which is configured to be sleeved on the outer side of the first filler 120 so that the first cylindrical component 131 is coaxial with the first shaft 110, and the first cylindrical component 131 is generally compressible, for example, it is made of elastic plastic or rubber material, and can be compressed inwardly to deform under the action of external force, and can return to its original state after the external force is removed. The first cylindrical member 131 generally has a certain thickness to enhance the wear resistance of the first brush member 130 as a whole; and the first brush member 132 extends from the outer surface of the first cylindrical member 131 in a direction away from the first cylindrical member 131 .

In some embodiments, as shown in FIG. 6-2 , the second roller brush 200 further includes: a second shaft 240; the second filler 250 is sleeved on the second shaft 240 so that the second filler 250 is coaxial with the second shaft 240, the second shaft 240 penetrates the second roller brush and is connected to the drive system, and the second filler 250 is a filler of a rigid component and is sleeved on the outer side of the second shaft 240.

In some embodiments, as shown in FIG. 6-1, the second roller brush 200 includes a second shaft component 220 and a second brush component 230; the second shaft component 220 is coaxial with the second brush component 230, and the second brush component 230 is sleeved on the outer side of the second shaft component 220. In this embodiment, the second shaft component 220 directly constitutes the second shaft of the second roller brush 200, that is, the rigid second filler directly constitutes the second shaft, and at least one end of the second shaft is provided with at least one mating component 210, which is connected to the multi-stage gear set of the drive system 2000 through the mating component 210 to receive the driving force of the drive system 2000 and realize forward or reverse rotation.

In some embodiments, as shown in FIG. 6-1 , the second shaft component 220 (second shaft or second filler) includes a hollow structure 221, and the hollow structure 221 extends axially through the axis of the second shaft component 220 along the axis of the second shaft component 220, and the second shaft component 220 has a second inner diameter and a second outer diameter, and the second inner diameter and the second outer diameter constitute the radial thickness of the second shaft component 220. At least one end of the hollow structure (for example, one end or both ends of the second shaft member 220) includes a step portion, and the step portion includes one, two or three steps. For example, when the step portion is a two-step step, the end surface of the hollow structure 221 has a third inner diameter and a fourth inner diameter, wherein the second inner diameter is smaller than the third inner diameter and smaller than the fourth inner diameter, wherein the step portion is located at the outermost end of the hollow structure 221 to form a third inner diameter with the largest diameter. The accommodating cavity 222 (for example, the accommodating cavity 222 has a fourth inner diameter), the matching piece 210 has an outer shape structure matching the step portion, and the matching piece 210 is fixedly or detachably connected to the hollow structure after being assembled on the step portion. The matching piece 210 is used to be directly or indirectly connected to the multi-stage gear set of the drive system, receive the driving force of the drive system 2000 and realize the forward or reverse rotation of the second shaft component 220.

In some embodiments, the second roller brush 200 further includes a second brush component 230, which is mounted on the outside of the second filler 250, wherein the second brush component 230 includes: a second cylindrical component 231, configured to be mounted on the outside of the second filler 250 so that the second cylindrical component 230 is coaxial with the second shaft 210; and a second brush component 232, extending from the outer surface of the second cylindrical component 231 in a direction away from the second cylindrical component 231.

In some embodiments, the horizontal plane where the center of the second shaft is located is higher than the horizontal plane where the center of the first shaft 110 is located. When the outer contour of the first roller brush 100 and the outer contour diameter of the second roller brush 200 are substantially equal, setting the height of the horizontal plane where the center of the second shaft is located (such as the distance D2 shown in FIG. 6-3) to be greater than the height of the horizontal plane where the center of the first shaft 110 is located (such as the distance D1 shown in FIG. 6-3), the first roller brush 100 will be in a lower position, thereby helping to prevent garbage from leaking out of the cleaning module from the first roller brush. In addition, the interference between the second brush 232 and the ground is smaller than the interference between the first brush 132 and the ground, thereby reducing the noise generated by the second brush 232 hitting the ground. At the same time, since there is sufficient interference between the first brush 132 and the ground, the cleaning effect of the first roller brush is guaranteed, and the objects to be cleaned are prevented from being missed.

In some embodiments, for floors such as carpets, especially long-haired carpets, the plane where the lowest point of the second filler is located is set lower than the plane where the lowest point of the first filler is located. In some embodiments, the plane where the second shaft is located is lower than the plane where the first shaft is located. That is, the assembly position of the second roller brush is lower than the assembly position of the first roller brush. Since the beating force of the second roller brush (hard roller brush) is greater than the beating force of the first roller brush (soft roller brush), the assembly position of the second roller brush is lower, further enhancing the role of the second roller brush in beating the dust first. At this time, the hardness of the second brush member can be set to be less than the hardness of the first brush member, thereby reducing the noise of the second roller brush, so that the noise control and beating effect are controlled within a reasonable range.

The automatic cleaning device provided by the disclosed embodiment is provided with a double roller brush structure of a first roller brush and a second roller brush, and the first filler in the first roller brush is set as an elastic component, and the second filler in the second roller brush is set as a rigid component, and the second roller brush and the first roller brush are arranged in the front-to-back direction. The hard brush has a strong cleaning force when used as the front brush, and has a significant dust beating effect and a strong cleaning effect. For example, for a carpet cleaning environment, the front hard brush can effectively beat up the dust inside the carpet, and then the rear soft brush gently rolls it up and collects it in the dust box. In addition, the soft brush design with the air duct opening biased at the back makes it difficult to get stuck with garbage during forward dust suction and reverse dust discharge.

The specific structure of the first roller brush (also called a soft brush or a cleaning brush) is described in detail below in conjunction with Figures 7-12. The same structure and function have the same technical effect, and will not be elaborated here.

Fig. 7 is a three-dimensional structural exploded view of an example of a cleaning brush provided according to the present disclosure. Fig. 8 is a three-dimensional structural view of an example of an end member of the cleaning brush of Fig. 7. Fig. 9 is a three-dimensional structural view of the end member of the cleaning brush of Fig. 8 from another angle.

7 to 9, the disclosed embodiment provides a cleaning brush 100. The cleaning brush 100 includes: a shaft 110, including a shaft body 113 and a first end 111 and a second end 112 located on both sides of the shaft body 113; a first end member 120, configured to be mounted on the first end 111, and the first end member 120 has a first assembly structure 121 on a side away from the shaft 110. Specifically, the first assembly structure 121 is a transmission structure, and the first assembly structure 121 is connected to the driving mechanism of the cleaning device.

Specifically, the first end member 120 has at least one first introduction portion 1221, and the first end 111 has at least one first matching portion 1111. The at least one first introduction portion 1221 matches with the at least one first matching portion 1111 to form a guide matching structure so that the first end member 120 can only be installed to the first end 111 in a circumferential direction assembly manner, that is, the first end member 120 and the shaft 110 have a single installation direction when assembled.

The meaning of the circumferential assembly method in this article is as follows: if two assemblies rotate 360 degrees relative to each other and there are N assembly methods, then the two are deemed to have N circumferential assembly methods, where N is greater than or equal to 1.

As shown in FIG8 , the first end member 120 includes a first guide sleeve 122, the first guide sleeve 122 is configured to accommodate the first end 111, and the at least one first introduction portion 1221 is disposed on the inner circumferential wall of the first guide sleeve 122, and is a protrusion protruding inward from the inner circumferential wall of the first guide sleeve 122. The first end member 120 is installed on the first end 111 located on the driving side.

Specifically, at least the first introduction portion 1221 extends spirally along the circumferential direction of the first guide sleeve 122 in a direction away from the first assembly structure 121, and is specifically a spiral shape that extends helically along the inner circumferential wall, so that the first introduction portion 1221 has a rotation direction, for example, a rotation direction of rotating clockwise (or counterclockwise) around the axis z of the shaft 110.

It should be noted that, in this example, the first introduction portion 1221 is a protrusion protruding from the inner circumferential wall of the first guide sleeve 122, but is not limited to this, as long as one of the first introduction portion 1221 and the first matching portion 1111 is a protrusion and the other is a recessed portion.

In the example of FIG8 , there are two first lead-in parts 1221, and the sizes of the two first lead-in parts 1221 are different. By setting the sizes of the two first lead-in parts different, it can be effectively ensured that the first end member 120 and the end of the driving side of the shaft have only a single installation direction, thereby controlling the installation direction of the blades and other components of the cleaning brush to be unique.

It should be noted that, in this example, the number of the first introduction parts 1221 is two, but it is not limited to this. In other examples, the number of the first introduction parts 1221 can also be three or more. The above is only explained as an optional example and cannot be understood as a limitation of the present utility model.

As can be seen from FIG. 9 , a first matching portion 1111 corresponding to the first introduction portion 1221 is provided on the outer circumference of the first end portion 111 of the shaft 110. In this example, two first matching portions 1111 are provided on the outer circumference of the first end portion 111, and the two first matching portions 1111 correspond to the two first introduction portions 1221 one by one, respectively. The first matching portion 1111 is a groove portion recessed inward from the outer circumference of the first end portion 111, and the first introduction portion 1221 matches the first matching portion 1111 to form a guide matching structure so that the first end member 120 can only be installed to the first end portion 111 in one circumferential direction assembly manner.

By adding two first introduction parts of different sizes to the inner wall of the first guide sleeve, the introduction installation can be carried out more effectively, and the first end component can only be installed to the first end in a circumferential direction assembly method, which can improve the installation simplicity of the end component and the stability of the installation structure.

Optionally, a marking portion 1223 (see FIG. 8 ) is provided on the outer periphery of the first guide sleeve 122, which is configured to mark the position of the first introduction portion 1221 on the outer periphery of the first guide sleeve 122, and is used to indicate the rotational assembly direction of installing the first end member 120 on the first end portion 111 of the shaft 110, so that the first introduction portion 1221 is aligned and assembled with the first mating portion 1111.

As shown in FIGS. 8 to 10 , the first guide sleeve 122 is provided with a first locking portion 1222, for example, a groove portion recessed inwardly from the outer circumference of the first guide sleeve 122. Correspondingly, the first end portion 111 is provided with a first locking matching portion 1112, and the first locking portion 1222 cooperates with the first locking matching portion 1112 so that the first end member 120 is locked to the first end portion 111.

Referring to Figures 9 and 10, the first end member 120 further includes a first guide shaft 123, which extends along the axis of the first guide sleeve 122. A first guide hole 1113 is provided on the end surface of the first end 111 away from the second end 112. The first guide hole 1113 is coaxial with the shaft 110 and is configured to accommodate the first guide shaft 123.

As shown in Figures 9 and 10, the end face of the first assembly structure 121 away from the shaft has a regular polygon, and the number of sides of the regular polygon is a factor of the number of brushes. In other words, the number of sides of the regular polygon on the outer end face of the first end member corresponds to the number of groups of brushes of the automatic cleaning device. For example, the number of sides N of the regular polygon is a factor of the number of groups (for example, 4 sides, 8 groups of blades; for another example, 4 sides, 4 groups of blades). This ensures that after the cleaning brush is installed in the main unit of the automatic cleaning device in N directions, the orientation of the blades and other components in the brush of the cleaning brush is consistent.

It should be noted that, in this embodiment, the sides of the regular polygon are N straight lines, but it is not limited to this. In other embodiments, it can also be adjusted, such as curved sides, or a combination of straight lines and curved sides. In addition, in other examples, the shape of the regular polygon will be adaptively changed according to the number of brushes.

In the example of FIG. 7 , the cleaning brush 100 further includes a brush member 130 coaxially arranged with the shaft 110, and the brush member 130 includes: a cylindrical member 131 sleeved on the outer circumference of the shaft; and a plurality of brush members 132. The plurality of brush members 132 extend from the outer surface of the cylindrical member in a direction away from the cylindrical member 131, and the plurality of brush members 132 are evenly arranged along the circumferential direction of the cylindrical member.

Specifically, the brush member 131 includes a first brush member. For example, the first brush member is V-shaped and includes five groups of first brush members.

It should be noted that, in other examples, the brush member may further include a second brush member or a third brush member, etc., and the second brush member and the third brush member have different shapes and lengths from the first brush member. In addition, the structures of the brush members in different groups are basically the same, and each group of brush members may include one or more blades. When multiple blades are included, the structures of the multiple blades are often not completely the same.

Specifically, a flexible filler (not shown in the figure) is filled between the brush member 130 and the shaft 110 , and the flexible filler covers the outer circumference of the shaft body, exposing the first end and the second end.

Furthermore, the first end member 120 further includes a first blocking structure 125, which is disposed between the first assembly structure 121 and the first guide sleeve 122, and is used to prevent the entangled object from excessively extending away from the brush member and from excessively extending away from the cleaning brush. The first blocking structure 125 is, for example, at least one blocking ring, and in this example, two blocking rings. By providing the blocking structure, entangled objects such as garbage are entangled around the blocking structure of the first end member, effectively preventing the entangled object from being entangled around the shaft, and when the end member is removed, the entangled object can be directly removed following the removal of the end cover member.

A guide fitting structure is formed by the first guide portion in the first guide sleeve of the first end member and the end of the shaft on the driving side, and a locking fitting structure is formed by the first locking portion on the first guide sleeve and the first locking matching portion at the end of the shaft. The guide fitting structure and the locking fitting structure assist in cooperating with each other to achieve a more effective installation structure, further optimize the installation structure of the end member and the shaft, and thus optimize the overall structure of the cleaning brush.

FIG. 11 is a three-dimensional structural explosion diagram of the cleaning brush of FIG. 7 at another angle; FIG. 12 is a partial structural explosion diagram of the second end member and the shaft of the cleaning brush of FIG. 7 at one angle.

As shown in Figures 11 and 12, the cleaning brush 100 further includes a second end member 140. The second end member 140 is located on the driven side and is mounted on the second end 112 of the shaft 110. The second end member 140 has a second assembly structure 141 (specifically a bearing structure) on the side away from the shaft 110. The second assembly structure 141 can rotate relative to the shaft, and other structures (such as the body, etc.) of the cleaning device can be rotated through the second assembly structure 141.

As shown in Figures 11 and 12, the second end member 140 has at least one second introduction portion 1421, and the second end portion 112 has at least one second matching portion 1121. The at least one second introduction portion 1421 matches with the at least one second matching portion 1121 to form a guide matching structure so that the second end member 140 can be installed to the second end in a variety of circumferential assembly methods.

Further, the second introduction portion 1421 spirally extends along the circumferential direction of the second guide sleeve 142 in a direction away from the second assembly structure 141, specifically, a spiral shape that spirally extends along the inner peripheral wall, so that the second introduction portion 1421 has a rotation direction, for example, a rotation direction that rotates clockwise (or counterclockwise) around the axis z of the shaft 110, thereby forming a second introduction direction. In this example, the second introduction direction is the same as the first introduction direction.

It should be noted that, in this example, the first introduction direction and the second introduction direction are the same, but not limited to this. In other examples, the rotation direction of the first introduction portion may be non-helical or linear. In addition, in other examples, the second introduction direction may be different from the first introduction direction. The above is only described as an optional example and cannot be understood as a limitation of the present disclosure.

As shown in FIG. 12 , the at least one second introduction portion 1421 includes two second introduction portions 1421 , and the two second introduction portions 1421 have the same shape and size, so that the second end member can be installed to the second end portion 112 in two circumferential assembly modes.

Preferably, when the introduction directions of the first introduction portion 1221 and the second introduction portion 1421 are the same, the sizes of the two first introduction portions 1221 are different (correspondingly, the size of the first matching portion 1111 and the size of the second matching portion 1121 are different), the sizes of the two second introduction portions 1421 are the same, and the size of the second introduction portion 1421 is between the sizes of the two first introduction portions 1221.

By making the size of the two second guide parts at the driven end between the sizes of the two first guide parts at the driving side, it is possible to ensure that the second end components can be freely installed at multiple angles, and it is possible to ensure that the end components on both sides are not installed upside down, and it can be effectively ensured that the blades and other components are oriented correctly after the cleaning brush is installed.

It should be noted that, in other examples, the number of second introduction parts can also be three or more. The above is only explained as an optional example and cannot be understood as a limitation of the present utility model. In addition, for the first end member and the second end member, it is preferred to arrange the two first introduction parts of different sizes on the driving side, because there is a requirement for the installation angle on the driving side, and the second end member on the driven side does not need to be designed with different sizes, because the second assembly structure (specifically the bearing structure) on the driven side can rotate freely relative to the shaft. When the bearing structure is assembled to the body of the automatic cleaning device, the rest of the cleaning brush is allowed to rotate freely relative to the bearing structure. There is no strong requirement for the assembly angle on the driven side. Therefore, in other examples, the size of the second introduction part can also be the same.

By forming a guide matching structure with the first introduction part 1221 and the second introduction part 1421 and the first matching part 1111 and the second matching part 1121, a more effective guide matching structure can be realized. By setting the two first introduction parts 1221 with different sizes and the second introduction part with different sizes from the first introduction part, the first end member can only be installed to the first end in one circumferential direction assembly method, and the second end member can be installed to the second end in multiple circumferential direction assembly methods, the installation angle of the first end member and the second end member and the shaft can be accurately determined, and a more effective installation structure can be realized.

Furthermore, the outer circumference of the second guide sleeve 142 of the second end member 140 is provided with

The second locking portion 1422 is, for example, a groove recessed inward from the outer circumference of the second guide sleeve 142, or a through hole penetrating the second guide sleeve 142. Correspondingly, a second locking matching portion 1123 is provided on the second end portion 112, and the second locking portion 1422 cooperates with the second locking matching portion 1123 so that the second end member 140 is locked to the second end portion 112 to form a locking matching structure.

As shown in Figure 12, the second end member 140 also includes a second guide shaft 144, which extends along the axis of the second guide sleeve 142. A second guide hole (not shown) is provided on the end surface of the second end 112 away from the first end 111. The second guide hole is coaxial with the shaft 110 and is configured to accommodate the second guide shaft 144.

Furthermore, the second end member 140 further includes a second blocking structure 145 , and the second blocking structure 145 is disposed on a side of the second guide sleeve 142 away from the shaft 110 .

Specifically, the outer diameter of the blocking structure 145 is larger than the outer diameter of the second guide sleeve 142. By arranging the blocking structure at the second end member, entangled objects such as garbage are entangled around the blocking structure of the second end member, effectively preventing the entangled objects from entangled around the shaft, and when the end member is removed, the entangled objects can be directly removed along with the disassembly of the end cover member.

Optionally, the second guide sleeve 142 may also be provided with a marking portion 1423, which is configured to mark the position of the second guide portion 1421 on the outer periphery of the second guide sleeve 142, and is used to indicate the rotational assembly direction of installing the second end member 140 on the shaft 110 and the second end 112, so that the second guide portion is aligned and assembled with the second mating portion.

Further, the second assembly structure 141 of the second end member 140 is configured as a polygonal shape corresponding to the number of the brush members. In this example, the polygonal shape of the outer end surface of the second assembly structure 141 is a pentagon formed by a combination of straight lines and curves.

Preferably, the regular polygonal shape of the outer end face of the first end member 120 is different from the polygonal shape of the outer end face of the second assembly structure 141, so that the outer end face shapes of the first end member and the second end member are different, which makes it easier to distinguish the two ends and improves the convenience of installation.

The cleaning brush disclosed in the present invention ensures that the driving end has a relatively fixed installation direction by setting the introduction component of the end component of the driving end to have a unique circumferential assembly method, which helps to control the installation angle of the roller brush. This will be particularly beneficial in some scenarios where there are certain preset requirements for the sub-components of the roller brush, especially the orientation or alignment direction of the blades, such as those scenarios where two roller brushes of the present invention are used to form a dual brush system and their respective blades have certain alignment requirements.

The cleaning brush disclosed herein forms a guide fitting structure with the end of the shaft through the guide portion of the inner wall of the guide sleeve of the end component, and forms a locking fitting structure with the end of the shaft through the locking portion of the outer periphery of the guide sleeve. The guide fitting structure and the locking fitting structure cooperate with each other, and can more effectively perform the introduction installation, can realize a more effective guide fitting structure, can realize a more effective fool-proof installation structure, can improve the installation simplicity of the end component and the stability of the installation structure, can optimize the installation structure of the end component and the shaft, and thus optimize the overall structure of the cleaning brush.

In addition, by arranging different sizes of the two first introduction parts and arranging different sizes of the second introduction part and the first introduction part, the first end member can only be installed to the first end in one circumferential direction assembly method, and the second end member can be installed to the second end in multiple circumferential direction assembly methods, the installation angles of the first end member and the second end member and the shaft can be accurately determined, and a more effective installation structure can be achieved.

In addition, by providing marking portions on the outer circumference of the first guide sleeve and the second guide sleeve to indicate the rotational assembly direction of installing the first end member and the second end member on the first end and the second end of the shaft, it is possible to effectively ensure that the first lead-in portion is aligned and assembled with the first mating portion, and it is possible to effectively ensure that the second lead-in portion is aligned and assembled with the second mating portion.

In addition, by factoring the number of sides of the regular polygon of the outer end face of the first end component and the number of brush groups of the automatic cleaning device, it can be ensured that after the cleaning brush is installed on the main unit of the automatic cleaning device in N directions, the orientations of components such as blades in the brush of the cleaning brush are consistent.

In addition, by providing a blocking structure at the end member, the entanglement is directly entangled around the blocking structure of the end member, which can effectively prevent the entanglement from entanglement around the shaft.

The specific structure of the second roller brush (also called hard brush or cleaning brush) is described in detail below in conjunction with Figures 13-21. The same structure and function have the same technical effect, so it will not be elaborated here.

Fig. 13 is a three-dimensional structural exploded view of an example of a cleaning brush provided according to the present disclosure. Fig. 14 is a schematic diagram of a cross-sectional structure of the cleaning brush of Fig. 13. Fig. 15 is a three-dimensional structural view of an example of an end member of the cleaning brush of Fig. 13. Fig. 16 is a schematic diagram of a three-dimensional structural view of an example of a matching member of the shaft of Fig. 13. Fig. 17 is a schematic diagram of a three-dimensional structural view of an example of a guide matching structure of the end member of Fig. 13 and the matching member of the shaft. Fig. 18 is a structural exploded view of the guide matching structure of Fig. 17.

13 to 18 , the cleaning brush 200 includes a shaft 210 having a first end 211 and a second end 212 that are axially opposite, wherein at least one of the first end 211 and the second end 212 includes a mating piece 213; a brush member 230 that is coaxially sleeved on the outer periphery of the shaft 210; and an end member 220 that is configured to be mounted in matching relation with the mating piece 213, wherein the end member 220 has a mounting structure 221 on a side away from the mating piece 213.

Specifically, the assembly structure 221 includes, for example, a bearing structure 221" and a transmission structure 221'. When the end member 220 is an end member located on the driving side, that is, the end member 220 is a first-side end member 220' connected to the driving unit of the cleaning module, the assembly structure 221 is, for example, a transmission structure 221'. When the end member 220 is an end member located on the driven side, that is, the end member 220 is a second-side end member 220" opposite to the first-side end member 220', the assembly structure 221 is, for example, a bearing structure 221".

The following mainly uses the end member on the driving side as an example to illustrate the connection and assembly relationship between the end member and the shaft. The connection relationship between the end member on the driven side and the shaft is similar.

As shown in FIG. 14 , an accommodating space 214 is provided on the end surface of the end member 220 at the end where the fitting 213 is located, and the fitting 213 is accommodated in the accommodating space 214 . A portion of the end member 220 is inserted into the accommodating space 214 and installed to match the fitting 213 .

Specifically, the end surface of the matching member 213 close to the assembly structure 221 is farther away from the assembly structure 221 than the opening 2141 of the accommodating space 214, as shown in FIG. 14 for details.

Optionally, the end surface of the brush component 230 close to the assembly structure 221 is flush with the opening 2141 of the accommodating space 214, as shown in FIG14. On the one hand, the end of the brush component is effectively supported, so that the proper force can be maintained when cleaning the floor; on the other hand, the brush component can effectively protect the core rod and the internal matching parts and other installation matching three-dimensional structures to prevent the user experience from being reduced due to bumps and damages.

As shown in FIG. 15 , the end member 220 includes a guide rod 222 , which is located on a side of the assembly structure 221 close to the shaft 210 . The end of the guide rod 222 away from the assembly structure 221 has a guide portion 2221 , and the guide portion 2221 is configured to form a rotational mating structure with the mating member 213 .

Specifically, the guide portion 2221 spirally extends along the circumferential direction of the guide rod 222 in a direction away from the assembly structure 221. The guide portion 2221 is configured as a spiral having a rotation direction, specifically a spiral extending along the outer circumference of the guide rod 222 (i.e., a spiral rotation extension), so that the guide portion 2221 has a rotation direction, for example, a rotation direction that rotates clockwise (or counterclockwise) around the axis of the shaft rod 210.

14 and 15 , the end member 220 includes a guide rod 222 and at least one guide portion 2221, wherein the guide portion 2221 is disposed on the outer circumferential surface of the guide rod 222, and the plurality of guide portions 2221 are evenly distributed in the circumferential direction of the guide rod 222, so that the guide portion 2221 forms a rotational mating structure with the mating member 213, as shown in FIGS. 14 and 17 .

In the example of FIG15 , the guide portion 2221 is a convex portion formed by etching a groove from the outer peripheral surface of the guide rod 222. The guide portion 2221 is formed at an end of the guide rod 222 away from the assembly structure 221.

Specifically, there are multiple guide portions 2221. In the example of FIG15, there are five guide portions 2221, and the five guide portions 2221 have the same size.

It should be noted that in other examples, the number of guide portions may be three, four, six or more, and the size of the guide portions may be different. The above is only an optional example and cannot be understood as a limitation of the present disclosure. In addition, as to the formation of the guide portion, the guide portion may also be a groove formed by etching inward from the outer circumference of the guide rod. The above is only an optional example and cannot be understood as a limitation of the present disclosure. Optionally, at least one of the shape, number and size of the guide portion 2211 is different.

Furthermore, the end member 220 further includes a guide shaft 223 , which extends from the guide rod 222 away from the assembly structure 221 , and the end of the guide shaft 223 away from the guide rod 222 has a snap-fit member 2231 .

In this embodiment, one end of the guide shaft 223 close to the assembly structure 221 is sleeved in the guide rod 222.

Specifically, the guide shaft 223 includes a snap-fitting member 2231 disposed along the outer circumferential surface. The snap-fitting member 2231 is, for example, an annular groove, so that the snap-fitting member 2231 and the fitting member 213 form a snap-fitting structure.

As shown in FIG. 16 , the matching piece 213 includes a matching portion 2131 matching the shape of the guiding portion 2221 , and the matching portion 2131 has a spiral groove for accommodating the guiding portion 2221 .

Specifically, the mating piece 213 includes a main body 2130, the main body 2130 has a cavity, the main body 2130 includes a mating portion 2131 disposed in the cavity, the mating portion 2131 is a spiral groove extending along the inner wall of the cavity, the mating portion 2131 forms a rotational mating structure with the guide portion 2221, so that the guide rod of the end component and the mating piece form a rotational mating mechanism, see Figure 17 for details.

In this example, the number of the matching portions 2131 is the same as the number of the guiding portions 2211 , for example, five.

It should be noted that, in other examples, the shape of the mating portion may be a groove, and the guiding portion may be a convex portion. In other examples, the number of mating portions may be three, four, six or more, as long as the number of guiding portions is the same as the number of mating portions. The above is only described as an optional example and cannot be understood as a limitation of the present disclosure.

By adding a guide portion to the outer circumferential surface of the guide rod, the guide rod of the end member and the matching piece of the shaft rod form a rotational matching structure, which can effectively carry out the guided installation, can realize an effective fool-proof installation structure, can improve the ease of installation of the end member, and can improve the stability of the installation structure. By forming a rotational matching structure between the guide rod of the end member and the matching piece inside the shaft rod, and cooperating with the snap-fit structure formed by the guide shaft and the matching piece, the guided installation can be more effectively carried out, can realize a more effective fool-proof installation structure, can further improve the ease of installation of the end member, and can further improve the stability of the installation structure.

In the example of Figure 16, the fitting 213 includes an extension portion 2132 connected to the main portion 2130 and extending outward from the main portion 2130, wherein the extension portion 2132 is closer to the center of the shaft 210 than the main portion 2130, and the outer diameter of the extension portion 2132 is smaller than the outer diameter of the main portion 2130.

As shown in Figures 17 and 18, the outer peripheral surface of the extension portion 2132 is provided with a plurality of evenly distributed ridges 21321, so that the outer peripheral surface of the extension portion 2132 forms a concave and convex surface, which is used to form a corresponding matching structure with the interior of the shaft 210 (i.e., the shape of the interior of the shaft), so as to increase the contact surface between the matching piece 213 and the interior of the shaft 210, which is more conducive to bonding the matching piece 213 to the accommodating space 214 of the shaft 210, can increase the bonding strength of the bonding structure between the matching piece 213 and the shaft 210, and can make the installation more stable.

It should be noted that the coupling structure between the matching piece 213 and the inner part of the shaft 210 can also be a step matching structure, etc. In other embodiments, the entire matching piece 213 or at least a part of the components can also be formed integrally with the shaft 210. The above is explained as an optional example and cannot be understood as a limitation of the present disclosure.

As shown in FIG17 , a buckle portion 21322 is provided at one end of the mating member 213 close to the center side of the shaft, and the buckle portion 21322 is closer to the center side of the shaft than the ridge 21321. The buckle portion 21322 is, for example, a claw portion, and the buckle portion 21322 and the buckle member 2231 (i.e., the annular groove portion) of the guide shaft 223 of the end member 220 form a buckle fitting structure.

In the example of Fig. 13, the end member 220 is provided with a blocking structure 225 for preventing the winding object from extending too far away from the cleaning brush. The blocking structure 225 is arranged on a side closer to the assembly structure 221 than the guide rod 210 (i.e., a side away from the center side of the shaft).

Specifically, the outer diameter of the blocking structure 225 is larger than the outer diameter of the guide rod 210, and the blocking structure 225 is spaced a certain distance from the first end 211 of the shaft 210, as shown in FIGS. 17 and 18 .

By arranging a blocking structure at the end member, the entangled object is directly entangled around the blocking structure of the end member, which can effectively prevent the entangled object from entangled around the shaft.

In another example, in the cleaning brush 200 shown in FIG. 19 , the end member 220 includes a first side end member 220′ and a second side end member 220″, which are respectively mounted to match the mating members 213 of the first end 211 and the second end 212 of the shaft 210, the shaft 210 is a rigid component, the brush member 230 is directly sleeved on the shaft 210, and the cleaning brush 200 is, for example, a hard brush. Optionally, the shaft 210 is a rigid component, and a rigid filler is filled between the brush member 230 and the shaft 210.

In this example, at least one of the shape, number and size of the first guide portion 2221' of the first side end member 220' (i.e., the end member 220 of Figure 14) and the second guide portion 2221" of the second side end member 220" is different.

In an optional embodiment, the shape and size of the first guide portion 2221’ of the first side end member 220’ and the shape and size of the second guide portion 2221” of the second side end member 220” are the same, the number of the first guide portions 2221’ of the first side end member 220’ is greater than the number of the second guide portions 2221” of the second side end member 220”, and the number of the second guide portions 2221” of the second side end member 220” is not a factor of the number of the first guide portions 2221’ of the first side end member 220’. For example, the number of the first guide portions 2221’ of the first side end member 220’ is five, and the number of the second guide portions 2221” of the second side end member 220” is two.

As shown in Figures 19 and 20, the first side end member 220' (i.e., the end member 220 located on the driving side, the left end shown in Figure 20) is installed on the first end 211 of the shaft 210, and the first side end member 220' includes a transmission structure 221', which is closer to the outside than the first blocking structure 225', and the end face shape of the transmission structure 221' is a polygonal shape, such as a regular polygon. The transmission mechanism 221' is connected to the driving mechanism of the automatic cleaning device.

In this example, the brush component 230 includes: a cylindrical component, which is sleeved on the outer circumference of the shaft; and a plurality of brush components 232, which extend from the outer surface of the cylindrical component in a direction away from the cylindrical component 231, and the plurality of brush components 232 are evenly arranged along the circumferential direction of the cylindrical component.

It should be noted that in this example, the brush member 232 includes at least one size of first brush member, for example, five groups of brush members, each group of brush members includes two sizes of first brush members, for example, the first brush member is V-shaped or spiral-shaped. Since the brush member 230 in this example is substantially the same as the brush member 230 in the example of FIG. 13 , the description of the same parts is omitted.

Specifically, the number of the first guide portions 2221' of the first side end member 220' is a factor of the number of the brushes 232. For example, if the number of the first guide portions 2221' is five, the number of the brushes 232 is a multiple of five, such as five groups, ten groups, etc., wherein each group includes two or more brushes.

By setting the number of the first guide parts 2221' as a factor of the number of groups of the brush members 232, when the roller brush is installed in the roller brush frame, the brush members 232 can have a specific installation angle to facilitate the matching interference of the brush members corresponding to the two roller brushes.

In the example of FIG. 19 , the number of the first guide portions 2221′ is five, and the number of the brush members 232 is five.

As shown in FIG20 , the second side end member 220 ″ is mounted on the second end 212 of the shaft 210 (i.e., the end member located on the driven side, the right end shown in FIG20 ). The second side end member 220 ″ includes an assembly structure (specifically, a bearing structure 221 ″). The bearing structure 221 ″ is rotatable relative to the shaft 210, and is connected to other structures of the cleaning equipment (such as a body, etc.) through the rotation of the bearing structure 221 ″ relative to the shaft.

Specifically, the first side end member 220' is installed on the first matching member 213' of the first end 211 inside the shaft 210, and the second side end member 220" is installed on the second matching member 213" of the second end 212 inside the shaft 210.

It should be noted that since the structure of the shaft and brush member in the example of FIG18 is substantially the same as that of the shaft and brush member in the example of FIG13, the description of the same parts is omitted. In addition, since the structure of the first matching member 213' in FIG19 is substantially the same as that of the matching member 213 in FIG16, the description of the same parts is omitted.

In the example of FIG. 19 , the first side end member 220′ includes a first guide rod 222′, at least one first guide portion 2221′ and a first guide shaft 223′, wherein the first guide rod 222′ is provided with a plurality of first guide portions 2221′, and the first guide portion 2221′ is a convex portion formed by etching a groove from the outer circumference of the first guide rod 222′. The first guide portion 2221′ is formed at one end of the remote transmission structure 221′ of the first guide rod 222′.

As shown in FIG. 20 and FIG. 21, the second side end member 220" includes a second guide rod 222", at least one second guide portion 2221" and a second guide shaft 223", wherein the second guide rod 222" is provided with a plurality of second guide portions 2221".

Optionally, when the shape of the first guide portion 2221' of the first side end member 220' and the shape of the second guide portion 2221" of the second side end member 220" are the same, the number of the first guide portions 2221' of the first side end member 220' and the number of the second guide portions 2221" of the second side end member 220" are different.

Optionally, the number of the first guide portions 2221' of the first side end member 220' is an odd number, and the number of the second guide portions 2221" of the second side end member 220" is an even number. Preferably, the number of the first guide portions 2221' of the first side end member 220' and the number of the second guide portions 2221" of the second side end member 220" are not factors of each other, to ensure that the side end member with a smaller number of guide portions cannot be mis-installed to the mating member corresponding to the side end member with a larger number of guide portions, thereby ensuring that any side end member will not be installed incorrectly, achieving maximum fool-proofing.

As shown in Figures 20 and 21, the second end 212 of the shaft 210 includes a second mating piece 213" that matches the second guide portion 2221" of the second guide rod 222", and the number of the second guide portions 2221" is two. The second guide portion 2221" is a convex portion formed by etching a groove from the outer peripheral surface of the second guide rod 222", and is arranged at one end of the second guide rod 222" away from the bearing structure 221".

Specifically, the second mating piece 213" includes an extension portion 2132" connected to the main body portion 2130" and extending outward from the main body portion 2130", and the outer diameter of the main body portion 2130" is larger than the outer diameter of the extension portion 2132". The main body portion 2130" includes a cavity, and the main body portion 2130" includes a mating portion 2131" disposed in the cavity thereof, and the mating portion 2131" is a spiral groove extending along the inner wall of the cavity, and the mating portion 2131" forms a rotational mating structure with the second guide portion 2221", so that the guide rod of the second side end member and the mating piece form a rotational mating mechanism.

As shown in Figures 20 and 21, the outer circumferential surface of the extension portion 2132" of the second mating piece 213" is provided with a plurality of evenly distributed ridges 21321", so that the outer circumferential surface of the extension portion 2132" forms a concave and convex surface, which is used to form a corresponding mating structure with the interior of the shaft 210 (i.e., the shape of the interior of the shaft), so as to increase the contact surface between the second mating piece 213" and the interior of the shaft 210, which is more conducive to bonding the second mating piece 213" to the accommodating space of the shaft 210, can increase the bonding strength of the bonding structure between the second mating piece 213" and the shaft 210, and can make the installation more stable.

Furthermore, a snap-fitting portion 21322" is provided at one end of the second mating member 213" close to the center side of the shaft, and the snap-fitting portion 21322" is closer to the center side of the shaft than the ridge 21321". The snap-fitting portion 21322" is, for example, a claw portion, and the snap-fitting structure is formed with the snap-fitting portion 21322" and the snap-fitting portion 2231 (i.e., the annular groove portion) of the guide shaft 223 of the second side end member 220".

In the example of Figure 19, the first side end component 220' includes an assembly structure (specifically a transmission structure 221'), a first guide shaft 223', one end of the first guide shaft 223' is internally sleeved on the first guide rod 222', and the other end of the first guide shaft 223' is sleeved on the first guide hole of the first end 211', and the first guide hole is coaxially opened on the end face of the first end 211'.

The bearing structure 221" and the second guide rod 222" of the second side end member 220" are separate structures. Specifically, one end of the second guide shaft 223" passes through the assembly structure (specifically the bearing structure 221") of the second side end member 220", and the other end of the second guide shaft 223" is sleeved on the second guide hole of the second end 212, and the second guide hole is coaxially opened on the end surface of the first end 211.

Optionally, the first side end member 220' is provided with a blocking structure 225', which is specifically disposed between the assembly structure (specifically the transmission structure 221') and the first guide rod 222'. The second side end member 220" is provided with a blocking structure 225", which is specifically disposed between the assembly structure (specifically the bearing structure 221") and the second guide rod 222". The blocking structures of the two side end members are used to prevent the entanglement from excessively extending away from the brush member 230.

In this example, the outer end surface of the first side end member 220' is configured to be in the shape of a first polygon corresponding to the number of the brushes 232. Specifically, the end surface of the transmission structure 221' of the first side end member 220' away from the guide rod 222 has a regular polygon, and the number of sides of the regular polygon is the same as the number of the first guide portions 2221' of the first side end member 220'. At the same time, the number of the first guide portions 2221' of the first side end member 220' is a factor of the number of the brushes 232.

In this way, when the roller brush is installed on the roller brush frame, the brush member 232 can have a specific installation angle. When there are multiple roller brushes with similar structures, this design will be very beneficial for forming a matching relationship between the blades of the multiple roller brushes. Especially in cases where the blades of two roller brushes need to be aligned, it can ensure that the blades are aligned to achieve synchronous operation, interference, or staggered in a certain posture, etc., thereby achieving different cleaning effect requirements.

Compared with the prior art, the cleaning brush disclosed in the present invention forms a rotational fitting structure through the guide portion of the guide rod of the end component and the matching piece inside the shaft, and cooperates with the snap-fit structure formed by the guide shaft and the matching piece, so that it can be guided and installed more effectively, and a more effective fool-proof installation structure can be realized, which can further improve the ease of installation of the end component and the stability of the installation structure.

In addition, by providing a blocking structure at the end member, the entanglement is directly entangled around the blocking structure of the end member, which can effectively prevent the entanglement from entanglement around the shaft.

It should be noted that: each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure is described in detail with reference to the above embodiments, ordinary technical personnel in this field should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

The above is only the preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

100: first roller brush/cleaning brush 110: first shaft/shaft 111: first end 112: second end 113: shaft body 120: first filler 121: first assembly structure 122: first guide sleeve 123: first guide shaft 125: first blocking structure 130: brush member/first brush member 131: first cylindrical member/cylindrical member 132: first brush member/brush member 140: second end member 141: second assembly structure 142: second guide sleeve 144: second guide shaft 145: second blocking structure 200: second roller brush/cleaning brush 210: shaft 211: first end 212: second end 213: mating member 213': first mating member 213": second mating member Component 214: accommodating space 220: second shaft component 220': first side end component 220": second side end component 221: hollow structure/assembly structure 221': transmission structure 221": bearing structure 222: accommodating cavity/guide rod 222': first guide rod 222": second guide rod 223: guide shaft 223': first guide shaft 223": second guide shaft 225: blocking structure 225': blocking structure/first blocking structure 225": blocking structure 230: brush component/second brush component 231: second cylindrical component 232: second brush component 240: second shaft 250: second filler 300: object to be cleaned 1000: moving platform 1111: first matching portion 111 2: first locking matching portion 1113: first guide hole 1121: second matching portion 1123: second locking matching portion 1221: first introduction portion 1222: first locking portion 1223: marking portion 1321: first bump 1421: second introduction portion 1422: second locking portion 1423: marking portion 2000: sensing system 2130: main body 2130': main body 2130": main body 2131: matching portion 2131": matching portion 2132: extension portion 2132': extension portion 2132": extension portion 2141: opening portion 2221: guide portion 2221': first guide portion 2221": second guide portion 2231: buckle 2231': buckle 3000: drive system 4000: human-machine interaction system 5000: cleaning module 5100: drive unit 5200: roller brush frame 5211: front cleaning brush installation position 5212: rear cleaning brush installation position 5300: roller brush 5400: air duct 5410: air duct opening 21321: ridge 21321': ridge 21321": ridge 2 1322: buckle part 21322': buckle part 21322": buckle part 52111: first end 52112: second end 52121: third end 52122: fourth end A: front edge B: rear edge D1: distance D2: distance D3: distance _D2outer : second outer diameter _D2inner : second inner diameter E: axial plane F: rear end section

The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. In the drawings:

FIG1 is a schematic diagram showing a three-dimensional structure of an automatic cleaning device according to some embodiments of the present disclosure;

FIG2 is a bottom view schematically showing an automatic cleaning device according to some embodiments of the present disclosure;

FIG3 is a schematic diagram showing the structure of a cleaning module according to some embodiments of the present disclosure;

FIG4 is a schematic cross-sectional view of a cleaning module according to some embodiments of the present disclosure;

FIG5 is a schematic longitudinal cross-sectional view of a first roller brush according to some embodiments of the present disclosure;

FIG6 is a schematic diagram showing a transverse cross-section of a first roller brush according to some embodiments of the present disclosure;

FIG6-1 is a schematic diagram showing a transverse cross-section of a second roller brush according to some embodiments of the present disclosure;

FIG6-2 is a schematic diagram showing a transverse cross-section of a second roller brush according to some other embodiments of the present disclosure;

FIG6-3 shows a schematic cross-sectional view of a cleaning module according to other embodiments of the present disclosure;

FIG. 7 shows a three-dimensional structural exploded view of an example of the cleaning brush of the present disclosure;

FIG8 is a three-dimensional structural diagram showing an example of a first end member of the cleaning brush of FIG7 ;

FIG9 is an exploded view of a partial structure of the first end member and the shaft of the cleaning brush of FIG7 at an angle;

FIG10 is an exploded view of the partial structure of the first end member and the shaft of the cleaning brush of FIG7 at another angle;

FIG. 11 is a three-dimensional structural exploded view of the cleaning brush of FIG. 7 from another angle;

FIG12 is an exploded view showing a partial structure of the second end member and the shaft of the cleaning brush of FIG7 at an angle;

FIG13 shows a three-dimensional structural exploded view of an example of the cleaning brush of the present disclosure;

FIG14 is a schematic diagram showing a cross-sectional structure of the cleaning brush of FIG13 ;

FIG. 15 is a three-dimensional structural diagram showing an example of an end member of the cleaning brush of FIG. 13 ;

FIG16 is a schematic diagram showing a three-dimensional structure of an example of a matching piece of the shaft of FIG13;

FIG. 17 is a three-dimensional structural schematic diagram showing an example of a guide matching structure of the end member and the matching member of the shaft in FIG. 13 ;

FIG. 18 shows an exploded view of the guide matching structure of FIG. 17 ;

FIG19 is a schematic diagram showing a three-dimensional structural explosion diagram of another example of the cleaning brush of the present disclosure;

FIG. 20 is an exploded view of a local structure of the cleaning brush of FIG. 19 at an angle;

FIG. 21 is an exploded view of the local structure of the cleaning brush of FIG. 19 from another angle.

100: First roll

200: Second roller brush/cleaning brush

300: Objects to be cleaned

5400: Air duct

5410: Air duct opening

A:Front edge

B: Back edge

D1: Distance

D2: Distance

D3: Spacing

E: Axial surface

F: Posterior section

Claims (13)

An automatic cleaning device, comprising: A cleaning module, configured to clean an operating surface, the cleaning module comprising: a first roller brush, arranged along a first direction, the first roller brush comprising a first filler and a first brush component arranged along the axis of the first roller brush, the first filler being an elastic component; and a second roller brush, arranged along a direction parallel to the first roller brush, the second roller brush comprising a second axis component and a second brush component arranged along the axis of the second roller brush, the second axis component being a rigid component; Wherein, the first direction is a direction perpendicular to the front and rear axis of the automatic cleaning device, the second direction is a direction of the front and rear axis of the automatic cleaning device, the first direction is perpendicular to the second direction, and the second roller brush is arranged on the front side of the first roller brush along the second direction. An automatic cleaning device as claimed in claim 1, wherein the cleaning module further includes an air duct configured to allow the cleaned objects to enter and exit the dust box along the air duct; wherein the air duct has an air duct opening approximately located between the first roller brush and the second roller brush, and the front edge of the air duct opening is located on a side of the axis of the second roller brush close to the first roller brush. An automatic cleaning device as claimed in claim 1, wherein the cleaning module further includes an air duct configured to allow the cleaned objects to enter and exit the dust box along the air duct; wherein the air duct has an air duct opening approximately located between the first roller brush and the second roller brush, and the air duct opening is arranged toward one side of the first roller brush. An automatic cleaning device as claimed in claim 1, wherein the cleaning module further includes an air duct configured to allow the cleaned objects to enter and exit the dust box along the air duct; wherein the air duct has an air duct opening approximately located between the first roller brush and the second roller brush, and the plane projection area of the first roller brush at the air duct opening is larger than the plane projection area of the second roller brush at the air duct opening. An automatic cleaning device as claimed in any one of claims 2 to 4, wherein the front edge of the air duct opening is located on a side of the axis of the second roller brush close to the first roller brush and does not exceed the rear end section of the outer contour of the second roller brush. An automatic cleaning device as claimed in any one of claims 2 to 4, wherein the front edge of the air duct opening is arranged close to the rear end section of the outer contour of the second roller brush. An automatic cleaning device as claimed in claim 1, wherein the plane where the lowest point of the second shaft component is located is higher than the plane where the lowest point of the first filler is located. The automatic cleaning device of claim 1, wherein, the first roller brush further comprises: a first shaft; the first filler is sleeved on the first shaft so that the first filler is coaxial with the first shaft, wherein the first brush component is sleeved on the outside of the first filler, and the first brush component comprises: a first cylindrical component, configured to be sleeved on the outside of the first filler so that the first cylindrical component is coaxial with the first shaft; and a first brush component, extending from the outer surface of the first cylindrical component in a direction away from the first cylindrical component; and the second roller brush further comprises: a second shaft; the second shaft component is sleeved on the second shaft so that the second shaft component is coaxial with the second shaft, wherein the second brush component is sleeved on the outside of the second shaft component, and the second brush component comprises: The second cylindrical member is configured to be mounted on the outer side of the second shaft member so that the second cylindrical member is coaxial with the second shaft; and the second brush member extends from the outer surface of the second cylindrical member in a direction away from the second cylindrical member. An automatic cleaning device as claimed in claim 8, wherein the horizontal plane where the center of the second shaft is located is higher than the horizontal plane where the center of the first shaft is located. An automatic cleaning device as claimed in claim 8 or 9, wherein the interference amount between the second brush and the operating surface is less than the interference amount between the first brush and the operating surface. An automatic cleaning device as claimed in claim 8, wherein the plane where the lowest point of the second shaft component is located is lower than the plane where the lowest point of the first filler is located. An automatic cleaning device as claimed in claim 8, wherein the horizontal plane where the center of the second shaft is located is lower than the horizontal plane where the center of the first shaft is located. An automatic cleaning device as claimed in claim 11 or 12, wherein the hardness of the second brush member is less than the hardness of the first brush member.