CN106659344A - 机器人真空吸尘器 - Google Patents

机器人真空吸尘器 Download PDF

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CN106659344A
CN106659344A CN201480081169.2A CN201480081169A CN106659344A CN 106659344 A CN106659344 A CN 106659344A CN 201480081169 A CN201480081169 A CN 201480081169A CN 106659344 A CN106659344 A CN 106659344A
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vacuum cleaner
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CN106659344B (zh
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A·克林特米尔
A·黑格马克
D·卡斯滕松
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Electrolux AB
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0472—Discs
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Mechanical Engineering (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

在此披露了一种机器人真空吸尘器。该真空吸尘器包括面朝待清洁的表面的吸嘴入口(12)以及可旋转侧刷(14)。可旋转侧刷(14)包括与待清洁的表面基本上平行延伸的刷毛(34)，其中，吸嘴入口(12)包括形成开口的框架结构，该开口被安排为与碎屑容器流体连通。这些刷毛(34)延伸越过吸嘴入口(12)的侧部(36)。框架结构(28)包括与待清洁的表面基本上平行延伸的底座部分。该底座部分在第一水平上延伸。侧部(36)的框架结构在第二水平上与待清洁的表面基本上平行延伸。相比于该第二水平，该第一水平被安排为更接近待清洁的表面。

Description

机器人真空吸尘器
技术领域
本发明涉及机器人真空吸尘器。
发明背景
机器人真空吸尘器形成设有驱动装置的自推进单元，该驱动装置包括被配置为沿着待清洁表面控制机器人真空吸尘器的移动的控制系统。控制系统可以包括提供输入以帮助控制机器人真空吸尘器的移动的一个或多个传感器。机器人真空吸尘器的真空产生单元被安排为与面朝待清洁表面的吸嘴入口的开口流体连通。被吸入或以其他方式被推进入开口的碎屑被引导至机器人真空吸尘器的碎屑容器。当碎屑被装满至一定程度时，碎屑容器被清空或被更换。
由于机器人真空吸尘器围绕待清洁表面是自由移动的，因此电线限制了机器人真空吸尘器的移动。因此，机器人真空吸尘器是由电池提供动力的，并且机器人真空吸尘器的清洁能力必须被牢记设计为具有装载电池的容量。相应地，驱动装置、真空产生单元的能力、不同旋转刷的使用等影响电力的消耗，并且因此影响机器人真空吸尘器的设计。
一些机器人吸尘器设有延伸超出机器人真空吸尘器的壳体的可旋转侧刷。该可旋转侧刷被安排为将碎屑从壳体以及吸嘴入口旁边的区域刷至吸嘴入口或至少在真空产生单元围绕吸嘴入口产生吸入范围内。
这样的可旋转侧刷不应阻碍机器人真空吸尘器的移动。因此，在包括可旋转侧刷的机器人真空吸尘器中，设计考虑项包括选择可旋转侧刷的位置使得不妨碍机器人真空吸尘器的移动以及选择与待清洁表面的间隙以允许可旋转侧刷在机器人真空吸尘器的壳体下面差不多自由旋转。相应地，可旋转侧刷的位置以及与待清洁表面的间隙从清洁效率角度上来说可能并非是最佳的。而且，使用可旋转侧刷可能影响其他设计测量，这些设计测量影响机器人真空吸尘器的清洁能力或机器人真空吸尘器的电池容量。
发明内容
本发明的目的是提供一种包括可旋转侧刷的机器人真空吸尘器，本发明的机器人真空吸尘器消除了上述问题中的至少一个问题。
根据本发明的一个方面，该目的是通过机器人真空吸尘器来达到的，该机器人真空吸尘器包括壳体、被配置为沿着待清洁的表面驱动该真空吸尘器的驱动装置、真空产生单元、碎屑容器、面朝该待清洁的表面的吸嘴入口以及具有旋转轴线的可旋转侧刷。该可旋转的侧刷包括刷毛，这些刷毛沿着从旋转轴基本上向外的方向延伸以及延伸与待清洁表面基本上平行。该吸嘴入口包括形成开口的框架结构。该开口被安排为与该碎屑容器流体连通。这些刷毛延伸至该壳体的外侧部并且越过该吸嘴入口的侧部。该框架结构包括与待清洁的表面基本上平行延伸的底座部分。该底座部分在第一水平上延伸。该吸嘴入口的在该侧部处的框架结构在第二水平上与该待清洁的表面基本上平行延伸，其中，相比于该第二水平，该第一水平被安排成更接近高待清洁的表面。
由于该框架结构的底座部分在第一水平上延伸并且该吸嘴入口的在该侧部处的框架结构在第二水平上延伸并且该第一水平相比于该第二水平被安排为更靠近该待清洁的表面，因此，在该侧部处提供的框架结构与待清洁的表面之间的距离大于在该第一水平上延伸的底座部分。因此，在吸嘴入口处提供空间用于可旋转侧刷的至少一个部分，并且机器人真空吸尘器的移动不受可旋转侧刷的影响、或至少受到其较小程度的影响。结果，达到了上述目的。而且，由于该侧部被安排在第二水平上，因此可旋转侧刷可以容易地将较大的碎屑(如沙子和小石头)推进入在该侧部的开口。
应当理解，相比于第二水平，使用机器人真空吸尘器时，第一水平被安排为更接近待清洁的表面。该机器人真空吸尘器可以是自推进单元。该驱动装置可以包括一个或多个轮子，其中至少一个轮子由电动驱动马达直接或间接驱动。该驱动装置可以进一步包括控制系统，该控制系统被配置为控制该电动驱动马达在待清洁的表面周围移动机器人真空吸尘器。该控制系统可以包括提供输入的一个或多个传感器以帮助控制机器人真空吸尘器的移动。高至少一个传感器可以属于一个或多个不同的种类，如红外传感器、激光传感器、超声波传感器或接触传感器。该真空产生单元可以包括由电动风扇马达驱动的风扇。该开口可以被安排为通过碎屑管道系统与碎屑容器流体连通。真空产生单元可以被安排为通过碎屑管道系统与开口流体连通、并且可选地同样与碎屑容器流体连通，即在一些实施例中真空产生单元可以产生从吸嘴入口通过碎屑管道系统至碎屑容器的吸力。在机器人真空吸尘器使用时，在大多数清洁情况下框架结构的前边缘部分在后缘部分前面行进。除了可旋转侧刷，该机器人真空吸尘器可以包括另外一个或多个可旋转刷子以帮助将碎屑朝向吸嘴入口的开口推进或推进入该吸嘴入口的开口。一个或多个电动刷子马达可以驱动可旋转侧刷以及此类另外的可旋转刷子。除了控制驱动电马达之外，控制系统还可以控制风扇马达和/或一个或多个刷子马达。机器人真空吸尘器可以包括一个或多个可再充电电池，这些可再充电电池被配置成为包括控制系统以及不同电动马达的驱动装置充电。
根据多个实施例，该侧部可以从该吸嘴入口的外侧端向该吸嘴入口的中心延伸。因此，该侧部可以形成吸嘴入口的外端部分。
根据多个实施例，该第一水平可以在距离待清洁的表面不到2mm处延伸。以此方式，真空产生单元可以在框架结构的底座部分周围的区域内产生大的吸力，该底座部分被安排在第一水平，并且不需要沿着开口的一部分延伸的突出元件(如弹性脊)来减少流入开口的空气量。由于侧部在第二水平上延伸，从而为可旋转侧刷在开口处提供了空间，因此第一水平以及底座部分可以在距离待清洁的表面不到2mm的规定距离处延伸。当机器人真空吸尘器立于如硬木地板的结实表面上时，测量第一水平与待清洁的表面之间的距离。
根据多个实施例，该底座部分可以是吸嘴入口的延伸至最靠近待清洁的表面的那部分。以此方式，该吸嘴入口可以不需要任何沿着开口的部分延伸的突出元件(如弹性脊)来在底座部分周围的区域内产生足够的吸力。
根据多个实施例，该框架结构可以包括前边缘部分，并且，该前边缘部分的至少一部分可以提供第二水平与第一水平之间的平滑过渡。以此方式，如当机器人真空吸尘器从裸露的地板表面过渡到地毯上或越过门槛时，前边缘部分可以滑动越过待清洁的表面的竖直过渡部。
根据多个实施例，该框架结构可以包括从框架结构的前边缘部分延伸至该框架结构的后边缘部分的至少一个横撑。以此方式，可以防止在开口中捕获如电缆的细长物体。
根据多个实施例，其中，该至少一个横撑可以形成底座部分的一部分并且可以在第一水平上延伸。以此方式，横撑可以防止后边缘在开口中抵靠住待清洗的表面的竖直过渡部(如地毯边缘)。这可能以其他方式防止机器人真空吸尘器继续向前行进。
根据多个实施例，该机器人真空吸尘器可以包括被安排在该壳体内并且沿着包括该侧部的吸嘴入口延伸的可旋转细长刷辊。该细长刷辊可以包括径向延伸的构件，其中，这些径向延伸的构件中的第一径向延伸的构件可以从该壳体内至少延伸至第一水平。以此方式，该细长刷辊可以帮助可旋转侧刷来将特别大的碎屑(如沙子和小石头)推进入开口。
根据多个实施例，该可旋转侧刷的刷毛可以至少部分地在第二水平上延伸或至少部分地在第二水平与第一水平之间延伸。以此方式，当侧刷横跨第二水平延伸至第一水平延伸时，可以通过细长刷辊的第一径向延伸的构件来清洁侧刷的刷毛。更具体地，随着细长刷辊旋转，第一径向延伸的构件可以擦过可旋转侧刷的刷毛，并且由于可旋转侧刷也旋转，可以通过第一径向延伸的构件清洁可旋转侧刷的所有刷毛。
根据多个实施例，第一径向延伸的构件可以包括弹性唇缘。以此方式，可以提供比可旋转侧刷的刷毛更硬的构件。这可以方便清洁可旋转侧刷的刷毛。
根据多个实施例，第一刷子马达可以驱动可旋转侧刷，并且第二刷子马达可以驱动可旋转细长刷辊。可旋转侧刷的旋转可以能够单独控制可旋转细长刷辊的旋转。以此方式，细长刷辊和可旋转侧刷中的每一者可以以最适用于机器人真空吸尘器的具体清洁情况的速度和/或朝一个方向旋转。该清洁情况可能受到例如正在被清洁的表面的类型、机器人真空吸尘器的行进方向、和/或靠近于竖直表面(如房间的墙壁)的影响。
根据多个实施例，可旋转侧刷能够朝两个方向旋转。以此方式，可旋转侧刷可以朝最适合于机器人真空吸尘器的具体行进方向的方向旋转。而且，可以改变可旋转侧刷的旋转方向以适于细长刷辊的旋转方向。进一步地，可以改变可旋转侧刷的旋转方向来改善通过细长刷辊对刷毛的清洁。
根据多个实施例，可旋转侧刷的刷毛可以延伸超出吸嘴入口的侧部。由于相比于在侧部处，可旋转侧刷的刷毛超出该侧部延伸了更大的直径，因此，相比于在侧部处，刷毛在更大的直径处被安排为较为稀疏。因此，发明人已经认识到，在刷毛被安排为较为浓密的部侧处的、在第二水平上延伸的框架结构足以提供如以上讨论的本发明的优点，同样设有包括延长超出侧部的刷毛的可旋转侧刷。
根据本发明，该真空产生单元可以被安排为与该开口流体连通。在这样的实施例中，由于底座部分被安排在第一水平上，该真空产生单元可以在吸嘴入口周围产生高效吸力，同时，相比于如果整个框架结构能够被安排在第一水平上，可旋转侧刷可以在被安排在第二水平上的侧部处旋转，阻碍程度较小。
附图简要说明
从以下详细说明和附图中讨论的实例实施例将容易理解本发明的不同方面，包括其具体特征和优点，在附图中：
图1和图2展示了根据多个实施例的机器人真空吸尘器的俯视图以及透视底视图，
图3a和图3b展示了图2所展示的机器人真空吸尘器的局部放大图，并且
图4展示了机器人真空吸尘器的吸嘴入口。
详细说明
现在更加全面地说明本发明的各个方面。贯穿全文，相同的数字指代相同的元件。为简洁和/或清晰起见，众所周知的功能或构造不必在此进行详细描述。
图1和图2展示了根据多个实施例的机器人真空吸尘器2的俯视图以及透视底视图。机器人真空吸尘器2包括壳体4、被配置为沿着待清洁的表面驱动真空吸尘器2的驱动装置6、真空产生单元8(示意性地展示)、碎屑容器10、面朝待清洁的表面的吸嘴入口12以及具有旋转轴线16的可旋转侧刷14。
驱动装置6确保了真空吸尘器是自推进单元。驱动装置6包括由电动驱动马达20驱动的两个轮子18(示意性地展示)。驱动装置6包括非驱动支撑轮22。驱动装置6还包括被配置为控制电动驱动马达20的控制系统24(示意性地展示)。控制系统24包括帮助控制机器人真空吸尘器2的移动的传感器26。
碎屑容器10被安排在壳体4中。碎屑容器10的一个侧部32形成机器人真空吸尘器2的外表面部分。因此，碎屑容器10是易于进入的并且可由使用者移除以便对其进行清空。吸嘴入口12是细长的并且平行于两个从动轮子18的旋转轴线。因此，吸嘴入口横跨机器人真空吸尘器2的行进方向延伸以便清洁宽覆盖范围。吸嘴入口12包括形成开口30的框架结构28。开口30被安排为与碎屑容器10流体连通并且真空产生单元8被安排为与开口30流体连通。因此，真空产生单元8可以在开口30处产生吸力用于将碎屑从开口30周围的区域通过碎屑管道系统运送至碎屑容器10。
图3a展示了图2的包围面积的放大图。可旋转侧刷14包括刷毛34，这些刷毛沿着从旋转轴线16基本上向外的方向延伸并且与待清洁的表面基本上平行延伸。刷毛34延伸至并超出壳体4的外侧部35并且越过吸嘴入口12的侧部36。图3a已经示意性地展示了刷毛34。实际上，刷毛34可以比展示出的薄得多，并且可旋转侧刷14可以设有比展示出的显著更多的刷毛34。在展示的实施例中，可旋转侧刷14的刷毛34可以延伸超出吸嘴入口12的侧部36。在替代性实施例中，刷毛34可以延伸仅越过吸嘴入口12的侧部36。在这样的实施例中，可旋转侧刷14的位置和/或壳体4的侧部35可以被配置为使得刷毛34至少延伸至侧部35或超出侧部35。刷毛34可以如图3a所展示的基本上径向延伸。替代性地，一些或全部刷毛34可以与径向方向成角度地延伸。同样参见图2，机器人真空吸尘器2包括可旋转细长刷辊38，该细长刷辊被安排在壳体4内并且沿着包括吸嘴入口12的侧部36的吸嘴入口12延伸。
第一刷子马达40(示意性地展示)驱动可旋转的侧刷14并且第二刷子马达42驱动可旋转细长刷辊38。可旋转侧刷的旋转14能够单独控制可旋转细长刷辊38的旋转。控制系统24可以被配置成驱动第一和第二刷子马达40、42。由于提供了两个单独刷子马达40、42，所以可旋转侧刷14以及细长刷辊38是可单独控制的。可旋转侧刷14通过第一刷子马达40能够朝两个方向旋转。
图3b展示了与图3a相同的图2的区域III，但是其中为了清晰起见移除了可旋转侧刷。图4详细展示了图2所示的机器人真空吸尘器2的吸嘴入口12。在这些实施例中，吸嘴入口12被包括在可移除的盖43中，该可移除的盖被配置成位于机器人真空吸尘器2的壳体4中。在替代性实施例中，在壳体4中可以直接形成吸嘴入口12。
如上所述，吸嘴入口12包括形成开口30的框架结构28。框架结构28包括底座部分44，该底座部分在使用机器人真空吸尘器2时与待清洁的表面基本上平行延伸。使用机器人真空吸尘器2时，底座部分44在第一水平上延伸。吸嘴入口12的在侧部36处的框架结构28在使用机器人真空吸尘器2时在第二水平上与待清洁的表面基本上平行延伸。相应地，相比于第二水平，使用机器人真空吸尘器2时，第一水平被安排为更接近待清洁的表面。侧部36从吸嘴入口12的外侧端46朝吸嘴入口12的中心延伸。
使用机器人真空吸尘器2时，第一水平(即底座部分44)可以在距离待清洁的表面不到2mm处延伸。而且，底座部分44可以是吸嘴入口12以及壳体4的、在使用机器人真空吸尘器时延伸最靠近待清洁的表面的那部分。纯粹举例而言，第一与第二水平之间的距离可以在1-8mm之间。
框架结构28包括前边缘部分48和后边缘部分50。在图3a和图4中清楚地可见，侧部36在与底座部分44(即第二水平)不同的水平上延伸。同样，在外侧端46和在侧部36的后边缘部分50，侧部36在第二水平上延伸。框架结构28从外侧端46成斜坡朝向被安排为接纳可旋转侧刷的壳体4部分。同样如在图4中可见的，前边缘部分48包括在第二水平上延伸的多个部分。在这些实施例中，前边缘部分48包括在第二水平上延伸的、包括在侧部36处的六个部分。可替代地，前边缘部分48可以包括在第二水平上延伸的不同数量的部分，如2-5个部分或7-10个部分。因此，在使用机器人真空吸尘器时，可以提供空间供较大的碎屑进入开口30。前边缘部分48的至少一部分提供了第二水平与第一水平之间的平滑过渡。在这些实施例中，前边缘部分包括从第二水平倾斜至第一水平的(即从前边缘部分48的第二水平倾斜至在第一水平的底座部分44)的三角形部分。
框架结构28包括从框架结构28的前边缘部分48延伸至框架结构的后边缘部分50的至少一个横撑52。在这些实施例中，该框架结构包括五个横撑52。至少一个横52撑形成底座部分44的一部分并且相应地在第一水平上延伸。
后边缘部分50形成底座部分44的一部分以及侧部36的一部分。相应地，后边缘部分50在底座部分44处在第一水平上延伸并且后边缘部分50在侧部36处在第二水平上延伸。可以仅通过底座部分44的一部分、侧部的一部分以及底座部分44与侧部36之间的过渡部分形成后边缘部分50。
参照图3a和图3b，细长刷辊38包括径向延伸的构件54，其中，即在细长刷辊38的一次回转过程中，当径向延伸的构件54中的第一径向延伸的构件54’被定位于开口30的中心时，第一径向延伸的构件54’从壳体4内部延伸至少到第一水平。径向延伸构件54可以沿着一个或多个螺旋形路径沿着细长刷辊38延伸。第一径向延伸的构件54’包括弹性唇缘。其他径向延伸的构件54可以包括刷毛。可替代性地，所有径向延伸的构件54可以包括弹性唇缘或刷毛。
可旋转侧刷14的刷毛34至少部分地在第二水平上延伸或至少部分地在第二水平与第一水平之间延伸。因此，随着可旋转侧刷14以及细长刷辊38的旋转，可以通过细长刷辊38的第一径向延伸的构件54’来清洁刷毛34。
本发明不应被解释为限制于在此提出的这些实施例。本领域技术人员将认识到，可以在不脱离所附权利要求书限定的本发明的范围的情况下将本文披露的实施例的不同特征进行组合以创造下面所描述之外的实施例。尽管已经参照多个实例实施例描述了本发明，但许多不同的改变、修改等等对于本领域技术人员将变得清楚。例如，真空产生单元8在一些清洁操作过程中被关闭使得细长刷辊38和/或可旋转侧刷14将碎屑在没有真空帮助的情况下推进入碎屑容器10。因此，应当理解的是，前述内容是对不同实例实施例的说明并且本发明仅由所附权利要求书限定。
在此使用的术语“包括(comprising)”或“包括(comprises)”是开放式的并且包括一个或多个所述的特征、元件、步骤、部件或功能，而并不排除一个或多个其他的特征、元件、步骤、部件、功能或其群组的存在或添加。

Claims (14)

1.一种机器人真空吸尘器(2)，包括壳体(4)、被配置为沿着待清洁的表面来驱动该真空吸尘器(2)的驱动装置(6)、真空产生单元(8)、碎屑容器(10)、面朝该待清洁的表面的吸嘴入口(12)、以及具有旋转轴线(16)的可旋转侧刷(14)，该可旋转侧刷(14)包括沿着从旋转轴线基本上向外的方向延伸并且与该待清洁的表面基本上平行延伸的多个刷毛(34)，其中，该吸嘴入口(12)包括形成开口(30)的框架结构(28)，该开口(30)被安排为与该碎屑容器流体连通，其中，这些刷毛(34)延伸至该壳体(4)的外侧部并且越过该吸嘴入口(12)的侧部(36)，并且其中，该框架结构(28)包括与该待清洁的表面基本上平行延伸的底座部分(44)，该底座部分(44)在第一水平上延伸，
其特征在于，该吸嘴入口(12)的在该侧部(36)处的框架结构(28)在该第二水平上与该待清洁的表面基本上平行延伸，其中，相比于该第二水平，该第一水平被安排成更接近该待清洁的表面。
2.根据权利要求1所述的机器人真空吸尘器(2)，其中，该侧部(36)从该吸嘴入口(12)的外侧端向该吸嘴入口(12)的中心延伸。
3.根据权利要求1或2所述的机器人真空吸尘器(2)，其中，该第一水平在距离该待清洁的表面不到2mm处延伸。
4.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，该底座部分(44)是该吸嘴入口(12)的、最靠近该待清洁的表面延伸的那部分。
5.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，该框架结构(28)包括前边缘部分(48)，并且其中，该前边缘部分(48)的至少一部分提供了该第二水平与该第一水平之间的平滑过渡。
6.根据权利要求5所述的机器人真空吸尘器(2)，其中，该框架结构(28)包括从该框架结构(28)的该前边缘部分(48)延伸至该框架结构的后边缘部分(50)的至少一个横撑(52)。
7.根据权利要求6所述的机器人真空吸尘器(2)，其中，该至少一个横撑(52)形成了该底座部分(44)的一部分并且在该第一水平上延伸。
8.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，包括被安排在该壳体(4)内并且沿着包括该侧部(36)的该吸嘴入口(12)延伸的可旋转细长刷辊(38)，该细长刷辊(38)包括多个径向延伸的构件(54)，其中，这些径向延伸的构件中的第一径向延伸构件(54’)从该壳体(4)内部至少延伸至该第一水平。
9.根据权利要求8所述的机器人真空吸尘器(2)，其中，该可旋转侧刷(16)的这些刷毛(34)至少部分地在该第二水平上延伸或至少部分地在该第二水平与该第一水平之间延伸。
10.根据权利要求8或9所述的机器人真空吸尘器(2)，其中，该第一径向延伸的构件(54’)包括弹性唇缘。
11.根据权利要求8至10中任一项所述的机器人真空吸尘器(2)，其中，第一刷子马达(40)驱动该可旋转侧刷(14)并且第二刷子马达(42)驱动该可旋转细长刷辊(38)，并且其中，该可旋转侧刷(14)的旋转能够单独控制该可旋转细长刷辊(38)的旋转。
12.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，该可旋转侧刷(14)能够朝两个方向旋转。
13.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，该可旋转侧刷(14)的这些刷毛延伸超出该吸嘴入口(12)的该侧部(36)。
14.根据以上权利要求中任一项所述的机器人真空吸尘器(2)，其中，并且该真空产生单元被安排为与该开口(30)流体连通。
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