CN115919207B - Rolling brush device and robot - Google Patents
Rolling brush device and robotInfo
- Publication number
- CN115919207B CN115919207B CN202110943723.5A CN202110943723A CN115919207B CN 115919207 B CN115919207 B CN 115919207B CN 202110943723 A CN202110943723 A CN 202110943723A CN 115919207 B CN115919207 B CN 115919207B
- Authority
- CN
- China
- Prior art keywords
- roller
- obstacle
- brush device
- drum
- roller brush
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Brushes (AREA)
Abstract
The embodiment of the application discloses a rolling brush device and a robot, which comprise a containing cavity, a roller, an obstacle surmounting part, a fluff layer, a driving unit and a water supply device, wherein the roller is rotatably arranged in the containing cavity, the obstacle surmounting part is arranged on the periphery of the roller, the fluff layer is arranged on the periphery of the roller, the driving unit can drive the roller to rotate so as to drive the fluff layer, the water supply device is used for supplying cleaning agent to the fluff layer, and the roller is supported on a raised obstacle on the ground through the obstacle surmounting part so as to raise the height of the rolling brush device. The rolling brush device and the robot can give consideration to cleaning capability and obstacle surmounting capability.
Description
Technical Field
The application relates to the field of robot cleaning, in particular to a rolling brush device and a robot.
Background
The floor washing robot is a cleaning tool for cleaning floors, carpets, or the like. The bottom of a typical floor scrubbing robot is provided with a roller brush device for cleaning floors, floors or carpets. The floor cleaning robot needs to spray liquid, such as cleaning agent, water and the like, to wet the rolling brush device when cleaning the floor, and dirty water needs to be recovered to the inside of the floor cleaning robot after the rolling brush device is cleaned. In the case of an obstacle on the ground, the floor scrubbing robot is supported on the obstacle by the roller of the roller brush device to raise the overall height, thereby realizing obstacle crossing.
In the related art, a long-hair rolling brush or a short-hair rolling brush is generally adopted on a rolling brush device of the floor washing robot.
The short hair rolling brush has the advantages that as the diameter of the roller of the short hair rolling brush is larger, when encountering an obstacle, the roller can drive the whole rolling brush assembly to lift up to overcome the obstacle, namely, the obstacle crossing capability is strong;
When the long-hair rolling brush cleans the ground, the long-hair rolling brush runs at a high speed to wipe the ground, and the dirty sewage is thrown out by the centrifugal principle.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a rolling brush device and a robot, which can achieve both cleaning capability and obstacle surmounting capability.
In order to achieve the above object, the technical solution of the embodiment of the present application is as follows:
A rolling brush device comprises a containing cavity, a roller, an obstacle surmounting part, a fluff layer, a driving unit and a water supply device, wherein the roller is rotatably arranged in the containing cavity, the obstacle surmounting part is arranged on the periphery of the roller, the fluff layer is arranged on the periphery of the roller, the driving unit can drive the roller to rotate to drive the fluff layer, the water supply device is used for supplying cleaning agent to the fluff layer, and the roller is supported on a raised obstacle on the ground through the obstacle surmounting part to raise the height of the rolling brush device.
In one embodiment, the obstacle surmounting part is a convex rib spirally arranged around the circumference of the roller, and/or the obstacle surmounting part is a circular ring arranged around the periphery of the roller, and/or the obstacle surmounting part is an arc section arranged around the periphery of the roller.
In an embodiment, the height of the obstacle surmounting part in the radial direction is greater than or equal to one third of the radius of the roller, and/or the height of the fluff layer in the radial direction is greater than the height of the obstacle surmounting part in the radial direction.
In one embodiment, the obstacle surmounting part is detachably connected with the roller, or the obstacle surmounting part is integrally connected with the roller.
In one embodiment, the roller brush device comprises stiff bristles arranged at the top end of the obstacle surmounting part facing away from the roller.
In one embodiment, the pile layer is bonded to the outer periphery of the drum.
In an embodiment, the rolling brush device comprises a containing cylinder, a connecting rod and a fixing block, wherein the side wall of the containing cylinder is provided with an opening to form the containing cavity, and two ends of the connecting rod are respectively hinged with the fixing block and the containing cylinder.
In one embodiment, the rolling brush device comprises a scraping strip, and the scraping strip is arranged at the edge of one side, close to the ground, of the side wall opening of the accommodating cylinder.
In one embodiment, the water supply device comprises at least one water injection nozzle and water dripping holes, wherein the water injection nozzle is arranged on the side wall of the accommodating cylinder, and the water dripping holes are distributed on the side wall surface of the accommodating cylinder, which is close to the fluff layer, and are communicated with the water injection nozzle.
The robot comprises a negative pressure unit, a water tank and the rolling brush device, wherein at least one sewage outlet is formed in the wall surface of a cavity body of the accommodating cavity, the negative pressure unit is communicated with the sewage outlet, and the water tank is communicated with the water supply device.
According to the rolling brush device and the robot, the rolling brush device is arranged and comprises a containing cavity, a roller, an obstacle surmounting part, a fluff layer, a driving unit and a water supply device, wherein the roller is rotatably arranged in the containing cavity, the obstacle surmounting part is arranged on the periphery of the roller, and the roller is supported on a protruding obstacle on the ground through the obstacle surmounting part to lift the height of the rolling brush device. On the premise of the same driving unit, the larger the height of the obstacle crossing part is, the smaller the radius of the roller is required, so that the diameter of the roller is effectively reduced without affecting the obstacle crossing capability. The smaller the radius of the roller, the longer the fluff layer on the roller can be designed, which is beneficial to the high-speed running of the fluff layer outside the accommodating cavity to wipe the ground, and the dirty sewage is thrown out in the accommodating cavity by the centrifugal principle, without extruding the dirty sewage by extrusion, the fluff layer is always in a fluffy state and has strong cleaning capability, and the cleaning capability and obstacle surmounting capability are considered.
Drawings
FIG. 1 is a schematic view of a rolling brush device according to an embodiment of the present application;
FIG. 2 is a side view of the roll brush device of FIG. 1;
FIG. 3 is a schematic view of the rolling brush device of FIG. 1 from another perspective;
FIG. 4 is a schematic view of a rolling brush device according to an embodiment of the present application, wherein the roller, obstacle surmounting portion and fluff layer are omitted;
FIG. 5 is a schematic view of a drum and obstacle surmounting portion according to an embodiment of the present application;
FIG. 6 is a cross-sectional view A-A of FIG. 5;
FIG. 7 is a schematic view of a drum and obstacle surmounting portion according to another embodiment of the present application;
FIG. 8 is a cross-sectional view B-B of FIG. 7;
FIG. 9 is a schematic view of a drum and obstacle surmounting portion according to another embodiment of the present application;
FIG. 10 is a cross-sectional view of C-C of FIG. 9;
FIG. 11 is a schematic view of a drum and obstacle surmounting portion according to another embodiment of the present application;
FIG. 12 is a D-D sectional view of FIG. 11;
FIG. 13 is a schematic view of a rolling brush device crossing a ground obstacle according to an embodiment of the application, wherein a driving unit and a water supply device are omitted;
fig. 14 is a schematic view of a roller of a prior art roller brush device riding over a ground obstacle.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments of the present application and the technical features of the embodiments may be combined with each other, and the detailed description in the specific embodiments should be construed as illustrating the present application and should not be construed as unduly limiting the present application.
In the description of the embodiments of the present application, the terms "upper," "lower," "left," "right," "front," "rear," and positional relationships are based on the positional relationships shown in the drawings, and it should be understood that these positional terms are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Further, for ease of understanding, in the description of the embodiments of the present application, axial, circumferential, and radial are those of the drum of fig. 1 unless otherwise indicated.
As shown in fig. 1 to 13, a robot for cleaning the floor 9 includes a negative pressure unit (not shown), a water tank (not shown), and a roll brush device 400.
The roll brush device 400 includes a receiving chamber 11, a drum 21, a barrier-surmounting portion 22, a pile layer 3, a driving unit 4, and a water supply device 5. At least one sewage outlet 17 is arranged on the wall surface of the accommodating cavity 11. The drum 21 is rotatably disposed in the accommodating chamber 11. The obstacle surmounting portion 22 is provided on the outer periphery of the drum 21. The pile layer 3 is provided on the outer periphery of the drum 21. The driving unit 4 can drive the drum 21 to rotate so as to drive the fluff layer 3 and the obstacle surmounting portion 22. The water supply device 5 is used for dripping water to the fluff layer 3 so as to facilitate the fluff layer 3 to clean the ground 9.
Specifically, the roll brush device 400 includes a semi-closed accommodating chamber 11, a drum 21, an obstacle surmounting portion 22, a pile layer 3, a driving unit 4, and a water supply device 5. The accommodating cavity 11 is semi-closed, that is, an opening is formed on the side wall of the accommodating barrel 12 (mentioned below), the opening can be aligned to the ground 9 after the rolling brush device 400 is installed on the robot, the roller 21 is rotatably arranged in the accommodating cavity 11, the roller 21 is of a hollow cylinder structure, clamping parts 21a are formed at two ends of the roller 21, rotating shafts 15 are arranged at two ends of the accommodating cavity 11, and the rotating shafts 15 are matched with the clamping parts 21a to perform circumferential transmission and limiting.
At least one sewage outlet 17 is arranged on the wall surface of the accommodating cavity 11. The sewage outlet 17 may be connected to one end of a hose (not shown) and the other end of the hose is connected to a negative pressure unit so that the negative pressure unit communicates with the sewage outlet 17, the negative pressure unit being capable of generating a sufficient negative pressure to pump sewage from the receiving chamber 11 through the sewage outlet 17.
The pile layer 3 is provided on the outer peripheral surface of the drum 21, and the water supply device 5 is used to drip the cleaning agent into the pile layer 3. At least part of the roller 21 is accommodated in the accommodating cavity 11, the fluff layer 3 extending radially from the roller 21 is partially exposed out of the accommodating cavity 11 and aligned to the ground 9, the driving unit 4 can drive the roller 21 to rotate so as to drive the fluff layer 3 and the obstacle surmounting part 22 to correspondingly rotate, the driving unit 4 can be a motor or a motor, the driving unit 4 can be in transmission connection with the rotating shaft 15 through a transmission structure such as a gear, a belt or a chain, and the like, and the gear transmission has the advantages of accurate transmission, high efficiency, compact structure, reliable operation, long service life, simple belt transmission structure, low cost, stable operation, low noise, and the like, and the chain transmission has the advantages of reliable operation, high efficiency, high transmission power, strong overload capacity, and the like.
The fluff layer 3 is made of soft and deformable material capable of absorbing water or cleaning agent, such as terylene, cotton, silk, nylon and the like. The pile layer 3 has no supporting ability and can wipe the floor by means of high-speed running. Specifically, when the drum 21 rotates to drive the fluff layer 3 to rotate, the fluff layer 3 moistened by the water supply device 5 rotates to the outside of the accommodating cavity 11 and then contacts with the ground 9, then rotates to the area in the accommodating cavity 11, continuously moves at a high speed with the ground 9 to wipe the ground, thereby realizing the cleaning of the ground 9, the fluff layer 3 entering the accommodating cavity 11 throws dirty sewage out by a centrifugal principle, the dirty sewage is collected to the sewage outlet 17, a negative pressure unit can generate enough negative pressure to pump away the sewage in the accommodating cavity 11 through the sewage outlet 17, the centrifuged and dehydrated fluff layer 3 continues to rotate to the area corresponding to the water supply device 5, a water tank (not marked) of the robot is communicated with the water supply device 5, cleaning agent is stored in the water tank, can be greasy dirt detergent, clear water or a mixture thereof, the cleaning agent in the water tank is fed into the water supply device 5 through quantitative pumping or self gravity of the cleaning agent, and then flows into the accommodating cavity 11, so that the fluff layer 3 absorbs the clean cleaning agent again, and the cleaning agent is rotated to the accommodating cavity 11 again, and the ground is cleaned, and the circulating process can be continuously performed, so that the machine can clean the ground surface is cleaned.
In some non-limiting embodiments, the pile layer 3 and the outer periphery of the drum 21 may be bonded, i.e. glue is applied between the pile layer 3 and the outer periphery of the drum 21 to achieve bonding, in some non-limiting embodiments the pile layer 3 and the outer periphery of the drum 21 are detachably connected, such as by a velcro adhesive, to facilitate maintenance and replacement of the pile layer 3.
In some non-limiting embodiments, the pile layer 3 may be formed with a detour groove 3a to detour the obstacle detour 22, i.e., the pile layer 3 is disposed on the outer circumference of the drum 21 in the region excluding the obstacle detour 22. In other non-limiting embodiments, the top end 22a of the obstacle surmounting portion 22 may be provided with a partial structure of the pile layer 3 to increase the cleaning effect.
The drum 21 is supported on the raised barrier 91 of the ground 9 by the obstacle surmounting portion 22 to raise the height of the roller brush device 400.
In the related art, referring to fig. 14, the outer circumference of the drum 21' has no obstacle surmounting portion, and the outer circumference of the drum 21' directly contacts the protruding obstacle 91 to support the drum 21' to be lifted up with respect to the protruding obstacle 91. The included angle between the connecting line from the supporting point of the roller 21 'to the axis of the roller 21' and the vertical direction is a, the radius R 'of the roller 21' and the height H of the raised barrier 91 directly influence the included angle a, under the condition that the height H of the raised barrier 91 is unchanged, the smaller the radius R 'of the roller 21' is, the larger the included angle a is, the larger the resistance of the roller 21 'rotating to cross the raised barrier 91 is, the larger the driving force of a required driving unit (not shown) is, when the driving force provided by the driving unit is insufficient to overcome the resistance, the roller 21' cannot cross the raised barrier 91, and the robot is blocked by the raised barrier 91 of the ground 9, so that cleaning cannot be completed.
In the embodiment of the present application, as shown in fig. 1 to 13, the obstacle detouring portion 22 is disposed on the periphery of the drum 21, so that the size of the obstacle detouring portion 22 in the radial direction becomes larger after being combined with the drum 21, when the raised obstacle 91 of the ground 9 is encountered, the top end 22a of the obstacle detouring portion 22 can first contact with the raised obstacle 91 to be supported on the raised obstacle 91, the angle a between the vertical direction and the line of the supporting point of the drum 21 and the raised obstacle 91 of the ground 9 to the axis of the drum 21 is set as the angle a, at this time, the axial distance from the obstacle detouring portion 22 to the drum 21 is the sum of the height M of the obstacle detouring portion 22 and the radius R of the drum 21, and the smaller the sum of the height M of the obstacle detouring portion 22 and the radius R of the drum 21 is the larger when the height H of the raised obstacle 91 is not changed, the resistance of the drum 21 rotates to surmount the raised obstacle 91 is the larger. On the premise that the driving force provided by the driving unit 4 and the height H of the protruding obstacle 91 are both constant, the maximum included angle a that can be passed over is provided, and the height H is unchanged, and the sum of the height M of the obstacle crossing portion 22 and the radius R of the roller 21 is constant, so that if M is 0, the radius R of the roller 21 is maximum, that is, equivalent to the same driving unit 4, the larger the height M of the obstacle crossing portion 22 is, the smaller the radius R of the roller 21 is required, and therefore, the diameter of the roller 21 of the present application can be effectively reduced by the obstacle crossing portion 22 without affecting the obstacle crossing capability.
The smaller the radius R of the drum 21, the longer the pile layer 3 on the drum 21 can be designed. The height of the pile layer 3 in the radial direction is greater than the height of the obstacle surmounting portion 22 in the radial direction, that is, the distance from the top end of the pile layer 3 to the drum 21 should be greater than the height M from the top end 22a of the obstacle surmounting portion 22 to the outer periphery of the drum 21, so that the top end 22a of the obstacle surmounting portion 22 is prevented from contacting the ground before the pile layer 3, and the pile layer 3 can be ensured to run at high speed for wiping the ground. The longer the length of the fluff layer 3, the faster the linear velocity of the fluff layer 3 at the end far away from the roller 21 is at the same angular velocity, which is favorable for the fluff layer 3 to run at high speed outside the accommodating cavity 11 to throw out dirty sewage in the accommodating cavity 11 by the centrifugal principle, without extruding the dirty sewage by extrusion, and the fluff layer 3 is always in a fluffy state and has strong cleaning capability.
Finally, the diameter of the roller 21 of the roller brush device 400 according to the embodiment of the application can be effectively reduced, the obstacle surmounting capability is not affected, the length of the fluff layer 3 on the roller 21 can be designed, the fluff layer 3 can be in a fluffy state for a long time, the cleaning capability is strong, and the cleaning capability and the obstacle surmounting capability of a robot can be considered.
It should be noted that the overall size of the robot itself is limited, so that the design size of the receiving chamber 11 of the roll brush device 400 is generally constant, the larger the diameter of the roll 21, the smaller the length of the pile layer 3 can be designed, i.e. the length of the pile layer 3 plus the diameter of the roll 21 should not exceed the design size of the receiving chamber 11, and therefore the unlimited lengthening of the pile layer 3 on a larger roll 21 will not occur, while the diameter R of the roll 21 can only be reduced as much as possible with a fixed total value, so that sufficient space can be obtained to allow the designed length of the pile layer 3 to be increased, ultimately ensuring a cleaning effect, on the basis of which the obstacle surmounting portion 22 is provided at the outer circumference of the roll 21 to ensure an obstacle surmounting capability to improve the obstacle surmounting capability.
In the various embodiments of the present application, the top end 22a of the obstacle detouring portion 22 is an end distant from the outer circumferential surface of the drum 21, and the bottom end 22b of the obstacle detouring portion 22 is an end close to the outer circumferential surface of the drum 21.
In the non-limiting embodiment illustrated in fig. 1 to 4, one sewage outlet 17 is arranged at the middle position of the cavity wall surface of the accommodating cavity 11, and in other non-limiting embodiments, a plurality of sewage outlets 17 can be uniformly distributed on the cavity wall surface of the accommodating cavity 11 along the axial direction, so that the sewage thrown out by the fluff layer 3 can quickly flow to the sewage outlets 17.
In the non-limiting embodiment illustrated in fig. 1 to 13, the obstacle surmounting portion 22 is integrally connected with the roller 21, the roller 21 may be molded by a high-strength plastic once-through mold, the structure is simple, the cost is low, and the connection strength between the obstacle surmounting portion 22 and the roller 21 is good.
In other non-limiting embodiments, the obstacle surmounting portion 22 is detachably connected to the drum 21 by a clamping connection or a screw connection.
In one embodiment, as shown in fig. 1 to 6 and 13, the obstacle surmounting portion 22 is a bead spirally arranged around the circumference of the drum 21. The radial dimension of the obstacle crossing portion 22 after being combined with the drum 21 becomes larger, that is, the original diameter D1 becomes d1+2m1, the included angle between the line from the supporting point of the drum 21 to the axis of the drum 21 and the vertical direction is a, at this time, the axial distance from the obstacle crossing portion 22 to the drum 21 is 0.5d1+m1, and the smaller the axial distance from the obstacle crossing portion 22 to the drum 21 is, the larger the included angle a is, the larger the resistance of the drum 21 rotating to cross the obstacle 91 is. The larger the height M1 of the obstacle surmounting portion 22 is, the smaller the diameter D1 of the drum is required on the premise of the same driving unit 4 crossing the raised obstacle 91 of the same height, so that the obstacle surmounting portion 22 can effectively reduce the diameter of the drum 21 of the present application without affecting the obstacle surmounting capability.
In one embodiment, as shown in fig. 1 to 4, 7, 8 and 13, the obstacle surmounting portion 22 is at least two ribs spirally arranged around the circumference of the drum 21. The size of the obstacle surmounting portion 22 in the radial direction after being combined with the drum 21 becomes larger, that is, the original diameter D2 becomes d2+m2+m3, the included angle between the line from the supporting point of the drum 21 to the axis of the drum 21 and the vertical direction is a, at this time, the axial distance from the obstacle surmounting portion 22 to the drum 21 is 0.5 x (d2+m2+m3), and the smaller the axial distance from the obstacle surmounting portion 22 to the drum 21, the larger the included angle a, the larger the resistance of the drum 21 rotating to surmount the obstacle surmounting 91, under the condition that the height H of the obstacle surmounting 91 is unchanged. On the premise of the same driving unit 4, the larger the heights M2, M3 of the obstacle surmounting portions 22 are, the smaller the diameter D2 of the drum is required on the premise of crossing the raised obstacles 91 of the same height, so that the obstacle surmounting portions 22 can effectively reduce the diameter of the drum 21 of the present application without affecting the obstacle surmounting capability.
In some non-limiting embodiments, the plurality of obstacle surmounting portions 22 may be arranged in a clockwise spiral around the circumference of the drum 21, in some non-limiting embodiments, a portion of the plurality of obstacle surmounting portions 22 is arranged in a counterclockwise spiral around the circumference of the drum 21, and another portion of the plurality of obstacle surmounting portions 22 is arranged in a clockwise spiral around the circumference of the drum 21, both intersecting at the outer circumference of the drum 21 to form a mesh.
In one embodiment, as shown in fig. 1 to 4, 9, 10 and 13, the obstacle surmounting portion 22 is a ring disposed around the outer periphery of the drum 21. The radial dimension of the obstacle surmounting portion 22 after being combined with the roller 21 becomes larger, that is, the original diameter D3 becomes D4, the included angle between the line from the supporting point of the roller 21 to the axis of the roller 21 and the vertical direction is a, at this time, the axial distance from the obstacle surmounting portion 22 to the roller 21 is 0.5 x D4, and under the condition that the height H of the protruding obstacle 91 is unchanged, the smaller the axial distance from the obstacle surmounting portion 22 to the roller 21 is, the larger the included angle a is, and the larger the resistance of the roller 21 to rotate to surmount the protruding obstacle 91 is. The larger the height of the obstacle surmounting portion 22 is 0.5 x (D4-D3) on the premise of the same driving unit 4, the smaller the diameter D3 of the drum is required, so that the obstacle surmounting portion 22 can effectively reduce the diameter of the drum 21 of the present application without affecting the obstacle surmounting capability.
In one embodiment, as shown in fig. 1 to 4, 11, 12 and 13, the obstacle surmounting portion 22 is an arc segment arranged around the outer periphery of the drum 21. The radial dimension of the obstacle crossing portion 22 after being combined with the drum 21 becomes larger, that is, the original diameter D5 becomes d5+2m4, the included angle between the line from the supporting point of the drum 21 to the axis of the drum 21 and the vertical direction is a, at this time, the axial distance from the obstacle crossing portion 22 to the drum 21 is 0.5d5+m4, and the smaller the axial distance from the obstacle crossing portion 22 to the drum 21 is, the larger the included angle a is, the larger the resistance of the drum 21 rotating to cross the obstacle 91 is. The larger the height M4 of the obstacle surmounting portion 22 is, the smaller the diameter D5 of the drum is required on the premise of the same driving unit 4 crossing the raised obstacle 91 of the same height, so that the obstacle surmounting portion 22 can effectively reduce the diameter of the drum 21 of the present application without affecting the obstacle surmounting capability.
In some non-limiting embodiments, the diameters of the roller 21 are equal everywhere along the axial direction, the heights of the obstacle surmounting portions 22 are equal, and thus the structural design is convenient, in other non-limiting embodiments, the diameters of the roller 21 can be smaller than two and thicker in the middle, and the heights of the obstacle surmounting portions 22 are correspondingly adjusted, for example, the front half section of the roller 21 along the axial direction is wound with the obstacle surmounting portions 22 which are arranged in a clockwise spiral manner, the height is M5, the middle section of the roller 21 along the axial direction is wound with the obstacle surmounting portions 22 which are arranged in a counterclockwise spiral manner, the height is M6, the rear half section of the roller 21 along the axial direction is wound with the obstacle surmounting portions 22 which are arranged in a clockwise spiral manner, the height is M5, and the height is M5 is larger than M6, and the obstacle surmounting portions 22 can be circular rings or arc sections. This allows for flexible cleaning and obstacle surmounting for different situations on the ground 9.
In one embodiment, as shown in fig. 1 to 13, the height of the obstacle surmounting portion 22 in the radial direction is greater than or equal to one third of the radius of the drum 21, and a sufficient height of the obstacle surmounting portion 22 is ensured so that the obstacle surmounting effect is good.
In one embodiment, as shown in fig. 1 to 13, the roller brush device 400 includes the hard bristles 6, the hard bristles 6 being disposed at the tip 22a of the obstacle detouring portion 22 facing away from the roller 21. Specifically, the hard bristles 6 may be multiple bundles, and are spaced apart from each other at the top end 22a of the obstacle surmounting portion 22 facing away from the roller 21, and the top end 22a may be provided with a buried hole 221 in advance, and the hard bristles 6 are implanted into the buried hole 221 and may be connected by clamping, glue bonding, or screws.
The bristles 6 may be bristles, which do not have water absorption, and when the robot cleans in a working environment such as a blanket, the pile layer 3 wipes the floor by high-speed running, and the bristles 6 can better attract impurities, slender hair and the like on the blanket.
Depending on the structural design of the obstacle surmounting portion 22, the bristle 6 is different at the tip 22a of the obstacle surmounting portion 22. For example, the obstacle surmounting portion 22 is a convex rib spirally arranged along the circumferential direction, so that the arrangement of the hard bristles 6 can be spirally arranged to achieve a good cleaning effect, but the actual arrangement of the hard bristles 6 is not limited thereto, and the hard bristles 6 can be arranged in a sine or triangular waveform according to actual needs.
In an embodiment, as shown in fig. 1 to 13, the rolling brush device 400 includes a receiving cylinder 12, a connecting rod 13, and a fixing block 14, where the fixing block 14 is used for fixing with a chassis 100 (mentioned below) of the robot, and a plurality of positioning holes 141 are formed at the bottom of the fixing block 14, and the fixing manner may be a bolt connection. The side wall of the accommodating cylinder 12 is opened to form an accommodating chamber 11, and both ends of the connecting rod 13 are hinged with the fixing block 14 and the accommodating cylinder 12, respectively. In the non-limiting embodiment illustrated in fig. 3 and 13, the roller 21 is supported on the raised obstacle 91 of the ground 9 by the obstacle surmounting portion 22, the fixed block 14 remains fixed on the chassis 100 of the robot, the roller 21 drives the accommodating cylinder 12 to be offset upward as a whole, one end of the connecting rod 13 rotates clockwise by a certain angle around the hinge with the accommodating cylinder 12, and the other end of the connecting rod 13 rotates counterclockwise by a certain angle around the hinge with the fixed block 14, thereby ensuring that the chassis 100 does not move vertically relative to the ground, and the driving wheel 300 always contacts the ground 9 to provide advancing power to the robot.
In one embodiment, as shown in fig. 1 to 4, the rolling brush device 400 includes a scraping bar 7, and the scraping bar 7 is disposed at an edge of a side wall opening of the accommodating cylinder 12, which is close to the ground 9. The scraping strip 7 can be made of rubber and has better elasticity. In the non-limiting embodiment as shown in fig. 2 and fig. 13, the driving unit 4 drives the roller 21 to rotate anticlockwise along the advancing direction of the robot, the fluff layer 3 is driven by the roller 21 to continuously move anticlockwise along the ground 9 at a high speed, so that the floor is wiped in a high-speed operation, the fluff layer 3 throws out dirty sewage through a centrifugal principle after being cleaned, most of the dirty sewage is collected to the sewage outlet 17, a small amount of dirty sewage can be thrown on the ground 9, the scraping strip 7 is closely attached to the ground 9, and the scraping strip 7 drives the dirty sewage accumulated on the ground 9 to be forwardly transferred together with the forward movement of the robot, and finally is pulled out from the sewage outlet 17, so that the dirty sewage is prevented from remaining on the ground 9. When the roller brush device 400 passes over the raised obstacle 91 of the ground 9, the roller 21 is supported on the raised obstacle of the ground 9 by the obstacle surmounting portion 22 to raise the height of the wiper strip 7, thereby preventing the wiper strip 7 from abutting against the raised obstacle 91 and ensuring that the robot is reliably operated in the forward direction. In each embodiment, the water supply device 5 is arranged at the rear side of the sewage outlet 17 along the rotation direction of the drum 21, namely, dirty sewage is thrown out firstly through a centrifugal principle after the fluff layer 3 is cleaned on the ground, the dirty sewage is collected to the sewage outlet 17 to be discharged, and then the fluff layer 3 moves to the area corresponding to the water supply device 5 so as to drop cleaning agent into the fluff layer 3, so that the cleaning ground for the next circulation of the fluff layer 3 is prepared.
In the non-limiting embodiment illustrated in fig. 1 to 4, the edge of the opening of the accommodating chamber 11 may be provided with a barrier strip 16 extending in the axial direction, the barrier strip 16 abuts against the outer peripheral side of the pile layer 3, a relatively sealed space is formed by the barrier strip 16, the inner wall of the accommodating cylinder 12 and the scraping strip 7, and the pile layer 3 is cleaned, and after the ground is cleaned, the dirt is thrown out by the centrifugal principle and collected in the space, so that splashing can be effectively prevented.
In one embodiment, as shown in fig. 1 to 4 and 13, the water supply device 5 includes at least one water injection nozzle 51 and water dripping holes 52, the water injection nozzle 51 is disposed on a side wall of the accommodating tube 12, and the water dripping holes 52 are distributed on an inner side wall surface of the accommodating tube 12 near the fluff layer 3 and are communicated with the water injection nozzle 51. The water filling nozzle 51 is communicated with the water tank through a hose, cleaning agent which can be oil stain detergent, clean water or a mixture thereof is stored in the water tank, the cleaning agent in the water tank is sent into the water filling nozzle 51 through quantitative pumping or self gravity of the cleaning agent, then flows into the accommodating cavity 11 from the water dripping hole 52, and the fluff layer 3 reabsorbs clean cleaning agent and rotates out of the accommodating cavity 11 again to clean the ground 9.
In the non-limiting embodiment as illustrated in fig. 1 to 4, the water supply device 5 includes a plurality of water dropping holes 52, and the plurality of water dropping holes 52 form at least one row of water dropping groups along the axial direction, and each group of water dropping groups is aligned with the fluff layer 3 on the drum 21, so that the cleaning agent absorbed by the fluff layer 3 along the axial direction is uniform, excessive cleaning agent in a part of the region of the fluff layer 3 does not occur, and the cleaning agent in another part of the region of the fluff layer 3 is too little, thereby ensuring the stable cleaning effect of the rolling brush device 400 on the ground 9.
In one embodiment, as shown in fig. 1-13, the robot may be a floor washer. The robot includes chassis 100, universal wheel 200 and drive wheel 300, and drive wheel 300 sets up in the both sides of chassis 100, and negative pressure unit and water tank all set up on chassis 100, along the direction of advance of robot, and round brush device 400 sets up in the place ahead of universal wheel 100 to make the focus of robot be located the region between drive wheel 300 and universal wheel 100, avoid not bearing the too big robot weight of heavy round brush device 400 and lead to the damage. The rolling brush device 400 is contacted with the raised barrier 91 of the ground 9 before the universal wheel 100, so that the forward movement of the robot and the cleaning of the ground can be reliably performed through the better barrier-crossing capability and the good cleaning capability of the rolling brush device 400.
The various embodiments/implementations provided by the application may be combined with one another without contradiction.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943723.5A CN115919207B (en) | 2021-08-17 | 2021-08-17 | Rolling brush device and robot |
| PCT/CN2022/076469 WO2023019893A1 (en) | 2021-08-17 | 2022-02-16 | Roller brush device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943723.5A CN115919207B (en) | 2021-08-17 | 2021-08-17 | Rolling brush device and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115919207A CN115919207A (en) | 2023-04-07 |
| CN115919207B true CN115919207B (en) | 2025-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110943723.5A Active CN115919207B (en) | 2021-08-17 | 2021-08-17 | Rolling brush device and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115919207B (en) |
| WO (1) | WO2023019893A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120947461B (en) * | 2025-10-17 | 2025-12-12 | 潍坊市计量技术研究院 | Wall body roughness measuring device convenient to adjust |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107898381A (en) * | 2017-11-06 | 2018-04-13 | 江苏美的清洁电器股份有限公司 | The roller brush assembly of dust catcher and there is its dust catcher |
| CN109249401A (en) * | 2018-08-15 | 2019-01-22 | 北京思迈特科技有限公司 | A kind of the cable duct crusing robot and its implementation of high obstacle climbing ability |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201510373D0 (en) * | 2015-06-12 | 2015-07-29 | Mitchell Timothy P And Gendel Alon | An automated floor cleaner |
| JP2018007909A (en) * | 2016-07-14 | 2018-01-18 | 日立アプライアンス株式会社 | Self-propelled vacuum cleaner |
| CN208854643U (en) * | 2018-08-15 | 2019-05-14 | 北京思迈特科技有限公司 | A kind of cable duct crusing robot of high obstacle climbing ability |
| CN211511651U (en) * | 2019-10-18 | 2020-09-18 | 微思机器人(深圳)有限公司 | Floor sweeping machine |
| CN212438476U (en) * | 2020-04-22 | 2021-02-02 | 追创科技(苏州)有限公司 | Round brush and machine of sweeping floor |
| CN213787170U (en) * | 2020-08-27 | 2021-07-27 | 深圳市银星智能科技股份有限公司 | Cleaning rolling brush, cleaning module and cleaning robot |
| CN112515584A (en) * | 2020-08-27 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Cleaning roller brush and cleaning robot |
| CN112205912B (en) * | 2020-10-14 | 2022-03-11 | 深圳截明电子科技有限公司 | Surface cleaning device and cleaning method using same |
| CN112890669A (en) * | 2021-03-23 | 2021-06-04 | 苏州富通芯科技有限公司 | Cleaning device |
-
2021
- 2021-08-17 CN CN202110943723.5A patent/CN115919207B/en active Active
-
2022
- 2022-02-16 WO PCT/CN2022/076469 patent/WO2023019893A1/en not_active Ceased
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107898381A (en) * | 2017-11-06 | 2018-04-13 | 江苏美的清洁电器股份有限公司 | The roller brush assembly of dust catcher and there is its dust catcher |
| CN109249401A (en) * | 2018-08-15 | 2019-01-22 | 北京思迈特科技有限公司 | A kind of the cable duct crusing robot and its implementation of high obstacle climbing ability |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115919207A (en) | 2023-04-07 |
| WO2023019893A1 (en) | 2023-02-23 |
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