CN116998959A

CN116998959A - Automatic cleaning equipment

Info

Publication number: CN116998959A
Application number: CN202211740301.9A
Authority: CN
Inventors: 周志威; 温博
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-11-07

Abstract

A robotic cleaning device, the robotic cleaning device comprising: a moving platform configured to automatically move on the operation surface; the cleaning module is assembled on the moving platform and is configured to clean the operation surface, and comprises a first rolling brush, a second rolling brush and a cleaning module, wherein the first rolling brush is arranged along a first direction perpendicular to the front-back line of the moving platform and comprises a first brush piece; the second rolling brush is arranged side by side with the first rolling brush, the second rolling brush comprises a second brush piece and an air duct, the first rolling brush and the second rolling brush are arranged on one side, far away from the operation surface, of the second rolling brush and are configured to guide dust to be contained, when the automatic cleaning equipment executes cleaning operation, the first brush piece and the second brush piece mutually interfere to form an interference area, the interference area is configured to dynamically move along a preset direction, and an air duct inlet of the air duct is arranged at the approximately downstream position of the preset direction.

Description

Automatic cleaning equipment

Technical Field

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

Background

With the continuous development of technology, automatic cleaning devices, such as sweeping robots, sweeping and mopping integrated machines, etc., have been adopted by a wide range of households. In order to realize the sweeping function, the automatic cleaning device is generally provided with a rolling brush to roll up the garbage of different sizes on the floor and suck the garbage into a garbage collection box.

Disclosure of Invention

Some embodiments of the present disclosure provide an automatic cleaning apparatus comprising:

a moving platform configured to automatically move on the operation surface; and

the cleaning module, assemble in moving platform is configured to be right the operation face is clean, the cleaning module includes:

a first rolling brush arranged along a first direction perpendicular to the front-rear axis of the mobile platform, wherein the first rolling brush comprises a first brush piece;

a second rolling brush arranged side by side with the first rolling brush, the second rolling brush comprises a second brush piece, and

the air duct is arranged at one side of the first rolling brush and the second rolling brush away from the operation surface and is configured to guide dust to be accommodated,

wherein the first brush and the second brush interfere with each other to form an interference area when the automatic cleaning apparatus performs a cleaning operation, the interference area being configured to dynamically move in a predetermined direction, and an air duct inlet of the air duct being disposed substantially downstream of the predetermined direction.

In some embodiments, the first roll brush comprises:

a first shaft; and

a first brush member detachably mounted on the first shaft, comprising:

a first cylindrical member configured to fit over the first shaft such that the first cylindrical member is coaxial with the first shaft;

The first brush extends from the outer surface of the first tubular member in a direction away from the first tubular member,

the second rolling brush includes:

a second shaft; and

a second brush member detachably mounted on the second shaft, comprising:

a second cylindrical member configured to fit over the second shaft such that the second cylindrical member is coaxial with the second shaft;

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

In some embodiments, the number of the first brush pieces and the second brush pieces is plural, and the plural first brush pieces are in one-to-one correspondence with the plural second brush pieces, and any one of the plural first brush pieces is configured to interfere with the corresponding second brush piece.

In some embodiments, at least one pair of corresponding first and second brushes interfere with each other at any one time when the robotic cleaning device performs a cleaning operation.

In some embodiments, the plurality of first brushes are evenly distributed in the circumferential direction of the first cylindrical member; and/or

The plurality of second brushes are uniformly distributed in the circumferential direction of the second cylindrical member.

In some embodiments, each first brush covers an angle of 360 °/N or more in the circumferential direction of the first tubular member, wherein N is the number of first brushes, wherein N is a positive integer and N is ≡2; and/or

And the coverage angle of each second brush piece on the circumferential direction of the second cylindrical component is more than or equal to 360 degrees/N, wherein N is the number of the second brush pieces, N is a positive integer, and N is more than or equal to 2.

In some embodiments, the first roller brush rotates in a first rotational direction and the second roller brush rotates in a second rotational direction, the first rotational direction being opposite the second rotational direction, when the robotic cleaning device performs a cleaning operation.

In some embodiments, the first brush extends helically on the outer surface of the first tubular member from one end of the first tubular member to the other end of the first tubular member in a second rotational direction;

and/or

The second brush extends spirally in a first rotational direction from one end of the second cylindrical member to the other end of the second cylindrical member on an outer surface of the second cylindrical member.

In some embodiments, for any pair of first and second brushes, the interference region of the first brush and its corresponding second brush is configured to dynamically move from one end of the combination of the first and second roller brushes toward the other end of the combination.

In some embodiments, the first brush is tipped in a circumferential direction of the first tubular member toward a second rotational direction; and/or

The second brush is inclined in the circumferential direction of the second cylindrical member toward the first rotational direction.

In some embodiments, the first brush extends helically on the outer surface of the first tubular member from one end of the first tubular member in a second rotational direction to a middle of the first tubular member and then helically extends the other end of the first tubular member in the first rotational direction;

and/or

The second brush extends spirally from one end of the second cylindrical member to a middle portion of the second cylindrical member in a first rotational direction on an outer surface of the second cylindrical member and then extends spirally from the other end of the second cylindrical member in a second rotational direction.

In some embodiments, for any pair of first and second brushes, the interference regions of the first and second brushes are configured to move dynamically from the two ends of the combination of the first and second roller brushes toward the middle of the combination, or from the middle of the combination of the first and second roller brushes toward the two ends of the combination.

In some embodiments, the first brush comprises a first long brush and a first short brush, the second brush comprises a first long brush and a second short brush, the first long brush and the second long brush interfere with each other, and the first short brush and the second short brush do not interfere.

In some embodiments, the first long brush and the first short brush are uniformly spaced in the circumferential direction of the first roller brush; and/or

The second long brush pieces and the second short brush pieces are uniformly arranged at intervals in the circumferential direction of the second rolling brush.

In some embodiments, one of the first and second roller brushes is a hard-core roller brush and the other is a soft-core roller brush.

Compared with the related art, the scheme of the embodiment of the disclosure has at least the following beneficial effects:

when the automatic cleaning equipment executes cleaning operation, the first long brush piece of the first rolling brush and the second long brush piece of the second rolling brush of the cleaning module mutually interfere to form an interference area, so that an air inlet passage between the two rolling brushes is at least partially closed, the opening size of the air inlet passage is reduced, the dust collection pressure is increased, and a better dust collection effect is realized. The interference area is configured to dynamically move along a preset direction, so that the area with the largest suction force in the air inlet passage between the two rolling brushes also dynamically moves along the preset direction, and dust at all positions of the operation surface cleaned by the rolling brushes can be sucked into the air duct in sequence by larger suction force and then enter the dust box. The air duct inlet of the air duct is arranged at the downstream of the preset direction, so that dust can conveniently enter the dust box through the air duct.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort. In the drawings:

fig. 1 is a schematic perspective view of an automatic cleaning apparatus according to some embodiments of the present disclosure;

FIG. 2 is a schematic bottom view of a robotic cleaning device provided in some embodiments of the present disclosure;

FIG. 3 is a schematic diagram of a cleaning module according to some embodiments of the present disclosure;

FIG. 4 is a schematic view of a cleaning module according to another embodiment of the present disclosure;

FIG. 5 is a schematic cross-sectional view of a cleaning module according to some embodiments of the present disclosure;

fig. 6 is a schematic structural view of a first and a second rolling brush provided in some embodiments of the present disclosure;

fig. 7 is a schematic structural diagram of a first rolling brush and a second rolling brush according to some embodiments of the present disclosure.

Detailed Description

For the purpose of promoting an understanding of the principles and advantages of the disclosure, reference will now be made in detail to the drawings, in which it is apparent that the embodiments described are only some, but not all embodiments of the disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a commodity or device comprising such element.

In the related art, an automatic cleaning apparatus, such as a sweeping robot, etc., has a double-roll brush type,

for the double-rolling brush type, the front rolling brush and the rear rolling brush can enhance the cleaning capability of the automatic cleaning equipment, 5, but the blades of the front rolling brush and the rear rolling brush are not mutually interfered, and a preset size is always arranged between the two rolling brushes

The gap is used for sucking the garbage on the operation surface into the air duct. The dust collection effect of the automatic cleaning equipment needs to be further improved.

The present disclosure provides an automatic cleaning apparatus comprising: a movable platform configured on the operation surface

Automatically moving upwards; the cleaning module is assembled on the moving platform and is configured to clean the operation 0 surface, and comprises a first rolling brush and a second rolling brush, wherein the first rolling brush is arranged along the axis perpendicular to the moving platform

A first direction of the wire, the first roller brush comprising a first elongate brush member; the second rolling brush is arranged side by side with the first rolling brush, the second rolling brush comprises a second long brush piece and an air duct, the second rolling brush is arranged at one side of the first rolling brush and the second rolling brush away from the operation surface and is configured to guide dust to be accommodated,

wherein the first long brush and the 5 th long brush interfere with each other to form an interference area when the automatic cleaning device performs cleaning operation, the interference area being configured to dynamically move along a predetermined direction

And moving, wherein an air channel inlet of the air channel is arranged at the downstream of the preset direction.

When the automatic cleaning equipment executes cleaning operation, the first long brush piece of the first rolling brush and the second long brush piece of the second rolling brush of the cleaning module mutually interfere to form an interference area, so that the two rolling brushes enter

The air passage is at least partially closed, so that the opening size of the air inlet channel is reduced, the dust collection pressure is increased, and a better dust collection effect is realized. And the interference areas are configured to dynamically move along a preset direction to obtain two interference areas

The area with the largest suction force in the air inlet passage between the rolling brushes dynamically moves along the preset direction, and dust at all positions of the operation surface cleaned by the rolling brushes can be sucked into the air duct in sequence by larger suction force and then enter the dust box. The air duct inlet of the air duct is arranged at the downstream of the preset direction, so that dust is convenient to use

Enter the dust box through the air duct

5 an alternative embodiment of the application is described in detail below with reference to the drawings.

Fig. 1-2 are schematic structural views of an automatic cleaning apparatus according to an exemplary embodiment, which may be a vacuum suction robot, a mopping/brushing robot, a window climbing robot, etc., as shown in fig. 1-2

Comprises a mobile platform 1000, a perception system 2000, a control system (not shown), a driving system 0, 3000, an energy system (not shown), a man-machine interaction system 4000 and a cleaning module 5000. Wherein:

mobile platform 1000 may be configured to automatically move along a target direction on a manipulation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a floor mopping robot, and the automatic cleaning device works on the floor, which is the operation surface; the automatic cleaning equipment can also be a window cleaning robot, and works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, which is the operation surface. Purely for the sake of illustration, the following description of the application will be given by way of example of a mopping robot.

In some embodiments, 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 operational decisions according to unexpected environmental inputs; the autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute a given program or operate in accordance with certain logic. Accordingly, when mobile platform 1000 is an autonomous mobile platform, the target direction may be autonomously determined by the autonomous cleaning device; when mobile platform 1000 is an autonomous mobile platform, the target direction may be set systematically or manually.

Sensing system 2000 includes sensing devices located above mobile platform 1000 (not shown), a buffer located in a forward portion of mobile platform 1000 (not shown), cliff sensors located at the bottom of the mobile platform (not shown), and ultrasonic sensors (not shown), infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), and the like, to provide various positional and motion state information of the machine to the control system.

For convenience of description, the following directional definitions are made: the automatic cleaning device can be calibrated by means of three mutually perpendicular axes defined: a transverse axis Y, a front-rear axis X and a vertical axis Z. The direction in which the arrow along the front-rear axis X points is denoted as "backward", and the direction opposite to the arrow along the front-rear axis X is denoted as "forward". The transverse axis Y is substantially the direction along the width of the robotic cleaning device, with the direction of the arrow along the transverse axis Y being denoted as "left" and the direction opposite the arrow along the transverse axis Y being denoted as "right". The vertical axis Z is in a direction extending upwardly from the floor of the robotic cleaning device. As shown in fig. 1, a direction along the front-rear axis X is defined as a second direction, which is, for example, a forward direction or a backward direction; the direction perpendicular to the second direction in the horizontal plane is a first direction, and the first direction is, for example, a left direction or a right direction.

A control system (not shown in the figure) is disposed on a circuit board in the mobile platform 1000, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and an application processor, where the application processor is configured to receive the sensed environmental information of the plurality of sensors transmitted from the sensing system, draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the position determining device by using a positioning algorithm, such as SLAM, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 3000 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system may also determine whether to start the cleaning module 5000 to perform the cleaning operation according to the environmental information and the environmental map.

Drive system 3000 can execute drive commands to maneuver the robotic cleaning device across the floor based on specific distance and angle information, such as the x, y, and θ components. Drive system 3000 includes a drive wheel assembly, and drive system 3000 can control both the left and right wheels simultaneously, and for more precise control of movement of the machine, drive system 3000 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically disposed along a transverse axis defined by mobile platform 1000. In order for the robotic cleaning device to be able to move more stably or with greater motion capabilities on the floor, the robotic cleaning device may include one or more steering assemblies, which may be driven wheels or drive wheels, in configurations including, but not limited to, universal wheels, which may be positioned in front of the drive wheel assemblies.

The energy system (not shown) includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection.

The man-machine interaction system 4000 comprises keys on a panel of the host machine, wherein the keys are used for a user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a cell phone client program may also be included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at the mobile phone client, and more abundant and humanized functional items can be provided for the user.

As shown in fig. 2, the cleaning module 5000 includes a dust box, a blower, and a main brush module. The main brush module cleans the garbage on the ground in front of a dust collection opening between the main brush module and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dust removal capability of the sweeper can be characterized by the sweeping efficiency DPU (Dust pickup efficiency) of the garbage, the sweeping efficiency DPU is influenced by the wind power utilization rate of an air duct formed by a dust collection opening, a dust box, a fan, an air outlet and connecting parts among the dust collection opening, the dust box, the fan and the air outlet, and the wind power utilization rate of the air duct is influenced by the type and the power of the fan, so that the sweeper is a complex system design problem. The improvement in dust removal capability is of greater significance for energy-limited cleaning automatic cleaning equipment than for conventional plug-in cleaners. Because the dust removal capability is improved, the energy requirement is directly and effectively reduced, that is to say, the original machine which can clean the ground of 80 square meters after charging once can be evolved into the machine which can clean the ground of 180 square meters or more after charging once. And the service life of the battery with reduced charging times can be greatly prolonged, so that the frequency of replacing the battery by a user can be reduced. More intuitively and importantly, the improvement of dust removal capability is the most obvious and important user experience, and users can directly draw a conclusion on whether the dust is cleaned/rubbed clean.

Fig. 2 is a schematic bottom view of the automatic cleaning apparatus in fig. 1, and as shown in fig. 2, the automatic cleaning apparatus includes a moving platform 1000, the moving platform 1000 is configured to move freely on an operation surface, a cleaning module 5000 is disposed at the bottom of the moving platform 1000, and the cleaning module 5000 is configured to clean the operation surface. The cleaning module 5000 includes a driving unit 5100, a rolling brush frame 5200, and a rolling brush 5300 fitted in the rolling brush frame 5200. The driving unit 5100 provides a driving force for forward rotation or reverse rotation, and applies the driving force to the rolling brush 5300 through a multi-stage gear set, and the rolling brush 5300 is rotated by the driving force to clean an operation surface, or the rolling brush 5300 is rotated by the driving force to collect dust.

As shown in fig. 2, a front brush mounting position 5211 and a rear brush mounting position 5212 for accommodating a cleaning brush are provided in the brush frame 5200. The front brush attachment 5211 has a first end 52111 and a second end 52112 opposite the first end 52111, one end of the first roller brush 100 being secured by a snap fit at the first end 52111 and the other end of the first roller brush being secured by a snap fit at the second end 52112. In some embodiments, the front brush mounting location 5211 is an elongated groove structure in the moving platform that extends in a first direction. The rear brush mounting location 5212 has a third end 52121 and a fourth end 52122 opposite the third end 52121. In some embodiments, the rear brush mounting location 5212 is substantially identical to the front brush mounting location 5211, e.g., is also an elongated groove structure in a mobile platform that extends in the first direction, and a second roller brush is mountable within the elongated groove of the rear brush mounting location 5212 through an opening of the elongated groove structure. Wherein the two elongated groove structures are parallel to each other in the second direction. The shape and the size of the strip-shaped groove structure are not limited, and at least one part of the first rolling brush and the second rolling brush is accommodated. The first end of the front brush mounting position 5211 and the third end of the rear brush mounting position 5212 are located on one side of the front-rear axis X axis, and the second end of the front brush mounting position 5211 and the fourth end of the rear 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 disclosure, the front cleaning brush mounting position 5211 is taken as a strip-shaped groove structure on the automatic cleaning device, which is close to the steering wheel, and the rear cleaning brush mounting position 5212 is taken as a strip-shaped groove structure, which is far away from the steering wheel, which is of course, and vice versa.

As shown in fig. 2, in some embodiments, the automatic cleaning apparatus includes two cleaning roller brushes 5300, one cleaning roller brush is disposed at the front cleaning brush mounting location 5211, which is considered 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 rolling brush can be installed in the front cleaning brush installation position 5211 through the opening of the strip-shaped groove structure, and the rear rolling brush can be installed in the rear cleaning brush installation position 5212 through the opening of the strip-shaped groove structure.

Fig. 3 is a schematic structural view of a cleaning module according to some embodiments of the present disclosure, fig. 4 is a schematic structural view of another view of the cleaning module according to some embodiments of the present disclosure, fig. 5 is a schematic sectional structural view of the cleaning module according to some embodiments of the present disclosure, and fig. 6 is a schematic structural view of a first rolling brush and a second rolling brush according to some embodiments of the present disclosure. As shown in fig. 1-6, some embodiments of the present disclosure provide a robotic cleaning device that includes a mobile platform 1000 and a cleaning module 5000. Mobile platform 1000 is configured to automatically move on an operating surface; a cleaning module 5000 is mounted on the mobile platform 1000 and is configured to perform cleaning operations on the operation surface.

As shown in fig. 3 to 6, the cleaning module 5000 includes a first rolling brush 100, a second rolling brush 200, and an air duct 5400. The first and second roller brushes 100 and 200 constitute the aforementioned roller brush 5300.

The first roll brush 100, for example a front brush, is arranged in a first direction perpendicular to the axis of the moving platform, for example the front-rear axis X, and the first direction, for example the direction in which the transverse axis Y extends. The first rolling brush 100 includes a first long brush member 131, i.e., a first long blade, which is relatively long and thin, and can contact with the ground to flap up dust, hair, etc. to be cleaned and then be sucked into a dust box when treating a flat and hard cleaning surface of a tile, a wooden floor, etc. The contact force between the long blade and the ground is small, and the cleaning is low in noise in daily life.

The second rolling brush 200, for example, a rear brush, is disposed along a first direction perpendicular to the axis of the moving platform, and the second rolling brush 200 includes a second long brush member 231, i.e., a second long blade.

The air duct 5400 is disposed at a side of the first and second roller brushes 100 and 200 away from the operation surface, and configured to guide dust to be accommodated, for example, to a dust box.

When the automatic cleaning apparatus performs a cleaning operation, the first and second rolling brushes 100 and 200 roll in opposite directions to perform a cleaning operation. Specifically, the first rolling brush 100 rotates in a first rotation direction R1, the first rotation direction R1 is, for example, a counterclockwise direction, and the second rolling brush 200 rotates in a second rotation direction R2, the second rotation direction R2 is, for example, a clockwise direction. The first long brush member 131 of the first rolling brush 100 and the second long brush member 231 of the second rolling brush 200 may contact the ground to flap up the dust, hair, etc. to be cleaned.

When the automatic cleaning apparatus performs a cleaning operation, the first long brush member 131 of the first roll brush 100 and the second long brush member 231 of the second roll brush 200 interfere with each other to form an interference region, and specifically, as shown in fig. 5 and 6, the first long brush member 131 and the second long brush member 231 interfere with each other between the first roll brush 100 and the second roll brush 200 to form an interference region. The air inlet passage between the two rolling brushes is at least partially closed, the opening size of the air inlet passage is reduced, the dust collection pressure is increased, and a better dust collection effect is realized.

The interference area is configured to move dynamically in a predetermined direction, for example, in a direction in which the first and second roller brushes 100 and 200 extend, so that dust at all positions of the operation surface cleaned by the roller brushes has a chance to be sucked into the air duct in sequence with a greater suction force and then into the dust box. The duct inlet 5410 of the duct 5400 is disposed downstream of the predetermined direction to facilitate dust entering the dust box through the duct.

In some embodiments, as shown in fig. 1-6, the first roller brush 100 includes a first shaft 110 and a first brush member 130. The first shaft 110 may be a rod-like structure, such as an elongated cylindrical structure. The two ends of the rod-like structure may be detachably mounted to the bottom of the apparatus body of the automatic cleaning apparatus directly or through a connection member. In some embodiments, the first shaft 110 is detachably mounted to the bottom of the device body in an elongated groove structure extending along the transverse axis Y, along with a first brush member 130 disposed on the first shaft 110.

The axis of the first shaft 110 may be regarded as a rotation axis of the first rolling brush 100, and when the first rolling brush 100 is mounted to the apparatus main body of the automatic cleaning apparatus, a driving system located on the apparatus main body can drive the first shaft 110 to rotate, and the rotation direction may be clockwise or counterclockwise. When the first shaft 110 rotates, other components disposed on the first shaft 10, such as the first brush member 130, can be driven to rotate together for cleaning purposes.

The first brush member 130 is detachably mounted on the first shaft 110, facilitating replacement of the first brush member 130 as a consumable. The first brush member 130 includes a first cylindrical member 133 and a first long brush 131.

The first cylindrical member 133 is configured to fit over the first shaft 110 such that the first cylindrical member 130 is coaxial with the first shaft 110. The first cylindrical member 130 may have a long cylindrical structure, and the length of the first cylindrical member 130 is substantially the same as the length of the first shaft 110. The first cylindrical member 130 is tightly sleeved on the first shaft 110, and the inner diameter of the first cylindrical member 130 is substantially equal to or slightly smaller than the diameter of the first shaft 110, so that no relative movement occurs between the first shaft 110 and the first cylindrical member 130 during the rotation process. The first tubular member 130 may be, for example, a flexible member.

The first long brush 131 is a first long blade, and extends from the outer surface of the first tubular member 130 in a direction away from the first tubular member. In some embodiments, the first long brush 131 is integrally formed with the first tubular member 130, e.g., integrally formed of the same material.

The second roll brush 200 includes a second shaft 210 and a second brush member 230. The second shaft 210 may be a rod-like structure, such as an elongated cylindrical structure. The two ends of the rod-like structure may be detachably mounted to the bottom of the apparatus body of the automatic cleaning apparatus directly or through a connection member. In some embodiments, the second shaft 210 is detachably mounted to the bottom of the device body in an elongated groove structure extending in the lateral axis Y direction, along with the second brush member 230 provided on the second shaft 210.

The axis of the second shaft 210 may be regarded as a rotation axis of the second rolling brush 200, and when the second rolling brush 200 is mounted to the apparatus main body of the automatic cleaning apparatus, a driving system disposed on the apparatus main body can drive the second shaft 210 to rotate, and the rotation direction may be clockwise or counterclockwise. When the second shaft 210 rotates, other components disposed on the second shaft 10, such as the second brush member 230, are driven to rotate together, so as to achieve the cleaning purpose.

The second brush member 230 is detachably mounted on the second shaft 210, facilitating replacement of the second brush member 230 as a consumable. The second brush member 230 includes a second cylindrical member 233 and a second long brush 231.

The second tubular member 233 is configured to fit over the second shaft 210 such that the second tubular member 230 is coaxial with the second shaft 210. The second cylindrical member 230 may have an elongated cylindrical structure, and the length of the second cylindrical member 230 is substantially the same as the length of the second shaft 210. The second cylindrical member 230 is tightly sleeved on the second shaft 210, and the inner diameter of the second cylindrical member 230 is substantially equal to or slightly smaller than the diameter of the second shaft 210, so that the second shaft 210 and the second cylindrical member 230 do not move relatively during rotation. The second cylindrical member 230 may be, for example, a flexible member.

The second long brush 231 is a second long blade, and extends from the outer surface of the second tubular member 230 in a direction away from the second tubular member. In some embodiments, the second long brush 231 is integrally formed with the second tubular member 230, e.g., integrally formed of the same material.

In some embodiments, as shown in fig. 1 to 6, the number of the first long brushes 131 and the second long brushes 231 is plural, and the first long brushes 131 are in one-to-one correspondence with the second long brushes 231, and any one of the first long brushes 131 is configured to interfere with the corresponding second long brush 231. Specifically, as shown in fig. 5 and 6, the first roll brush 100 has 5 first long brush members 131, and the second roll brush 200 has 5 second long brush members 231. Each of the first long brush members 131 and the corresponding second long brush member 231 are respectively rotated to a position close to each other with the first and second rolling brushes 100 and 200, for example, between the first and second rolling brushes 100 and 200, and interfere with each other. The first long brush member 131 and its corresponding second long brush member 231 interfere, for example, from one end portion, and as the first and second roller brushes 100 and 200 further rotate, the interference region of the two moves from one end portion to the other end portion. With further rotation of the first and second rolling brushes 100 and 200, the two are separated from interference, and thus, are cyclically reciprocated.

In some embodiments, as shown in fig. 1 to 6, at least one pair of corresponding first long brush 131 and second long brush 231 interfere with each other at any one time when the automatic cleaning apparatus performs a cleaning operation. Specifically, fig. 6 shows a case where two pairs of the first long brush 131 and the second long brush 231 interfere with each other at the same time. D1 shows one pair of the first long brush 131 and the second long brush 231 in an interference state at one end, and D2 shows the other pair of the first long brush 131 and the second long brush 231 in an interference state at the other end. By the arrangement, the area of the interference area can be properly increased, the opening size of the air inlet channel is further reduced, the dust collection pressure is increased, and a better dust collection effect is realized.

In some embodiments, as shown in fig. 1 to 6, the plurality of first long brushes 131 are uniformly distributed in the circumferential direction of the first cylindrical member 133. The plurality of second long brushes 231 are uniformly distributed in the circumferential direction of the second cylindrical member 233. For example, the number of the plurality of first long brushes 131 is 5, and one first long brush 131 is provided every 72 degrees in the circumferential direction of the first cylindrical member 133. For example, the number of the plurality of second long brushes 231 is 5, and one second long brush 131 is provided every 72 degrees in the circumferential direction of the second tubular member 233.

In some embodiments, the first long brush 131 extends from one end to the other end of the first cylindrical member 133, which does not extend along the axis of the first cylindrical member 133, but is meandering, e.g., spiral, on the outer peripheral surface of the first cylindrical member 133. Each of the first long brushes 131 covers a first predetermined angle in the circumferential direction of the first cylindrical member 133, the first and predetermined angles being 360 °/N or more, wherein N is the number of the first long brushes, wherein N is a positive integer and N is not less than 2. The second long brush 231 extends from one end portion to the other end portion of the second tubular member 233, and is not extended along the axis of the second tubular member 233, but is meandering, for example, spirally provided, on the outer peripheral surface of the second tubular member 233. Each of the second long brushes 231 covers a second predetermined angle in the circumferential direction of the second cylindrical member 233, the second predetermined angle being 360 °/N or more, wherein N is the number of the second long brushes, wherein N is a positive integer and N is not less than 2.

Such an arrangement may enable at least two adjacent pairs of the first long brush 131 and the second long brush 231 to be simultaneously in an interference state. The air inlet passage between the two rolling brushes is at least partially closed, the opening size of the air inlet passage is reduced, the dust collection pressure is increased, and a better dust collection effect is realized.

In some embodiments, as shown in fig. 1 to 6, when the automatic cleaning apparatus performs a cleaning operation, the first and second rolling brushes 100 and 200 are rotated in opposite directions, the first rolling brush 100 is rotated in a first rotation direction R1, for example, in a counterclockwise direction, and the second rolling brush 200 is rotated in a second rotation direction R2, which is opposite to the first rotation direction, for example, in a clockwise direction. So arranged, the first and second rolling brushes 100 and 200 push the dust and other garbage picked up by the first and second long brush members 131 and 231 between the first and second rolling brushes 100 and 200, so that the dust and other garbage can enter the dust box through the air duct 5400.

In some embodiments, as shown in fig. 1 to 6, the first long brush 131 extends spirally from one end of the first cylindrical member 133 to the other end of the first cylindrical member 133 in the second rotation direction R2 on the outer surface of the first cylindrical member 133. The second rotation direction R2 is, for example, a homeotropic direction. The second long brush 231 extends spirally from one end of the second tubular member 233 to the other end of the second tubular member 233 in a first rotation direction R1, for example, a reverse needle direction, on the outer surface of the second tubular member 233.

So configured, for any pair of first and second elongate brush members 131, 231, the interference region of the first elongate brush member 131 and its corresponding second elongate brush member 231 is configured to move dynamically from one end of the combination of the first and second roller brushes 100, 200 toward the other end of the combination, for example along the transverse axis Y in fig. 5.

Specifically, for any one of the first long brush member 131 and its corresponding second long brush member 231, when they are rotated to positions close to each other with the first and second roller brushes 100 and 200, respectively, for example, between the first and second roller brushes 100 and 200, they interfere with each other. The first long brush member 131 and its corresponding second long brush member 231 interfere, for example, from one end of the combined body constituted by the first and second roll brushes 100 and 200, as shown at D1 in fig. 6. As the first and second roll brushes 100 and 200 further rotate, the interference region of the two gradually moves along the transverse axis Y in fig. 6 to the other end of the combined body of the first and second roll brushes 100 and 200, as shown at D2 in fig. 6. With further rotation of the first and second rolling brushes 100 and 200, the two are separated from interference, and thus, are cyclically reciprocated.

In some embodiments, as shown in fig. 1 to 6, the first long brush 131 is inclined toward the second rotation direction R2 in the circumferential direction of the first cylindrical member 133; the second long brush 231 is inclined toward the first rotation direction R1 in the circumferential direction of the second tubular member 233.

Fig. 7 is a schematic structural diagram of a first rolling brush and a second rolling brush according to some embodiments of the present disclosure. As shown in fig. 7, in some embodiments, the blade structures of the first and second roller brushes are different from the embodiment blade structures shown in fig. 5 to 6.

The first long brush 131 extends spirally from one end of the first cylindrical member 131 to a middle portion of the first cylindrical member 133 in the second rotation direction R2 on an outer surface of the first cylindrical member 133 and then extends spirally from the other end of the first cylindrical member 133 in the first rotation direction R1. The first long brushes 131 are, for example, V-shaped on the outer peripheral surface of the first tubular member 133, and straight lines connecting both end portions of the first long brushes 131 are, for example, parallel to the axis of the first tubular member 133. In some embodiments, the number of the first long brushes 131 is, for example, four, and is uniformly distributed in the circumferential direction of the first cylindrical member 133.

Similarly, the second long brush 231 extends spirally from one end of the second cylindrical member 233 to a middle portion of the second cylindrical member 233 in a first rotation direction R1 on an outer surface of the second cylindrical member 233 and then extends spirally from the other end of the second cylindrical member 233 in a second rotation direction R2. The second long brushes 231 are, for example, V-shaped on the outer circumferential surface of the second tubular member 233, and the straight line connecting both end portions of the second long brushes 231 is, for example, parallel to the axis of the second tubular member 233. In some embodiments, the number of the second long brushes 231 is, for example, four, uniformly distributed in the circumferential direction of the second cylindrical member 233.

As shown in fig. 7, when the automatic cleaning apparatus performs a cleaning operation, the first and second roller brushes 100 and 200 are rotated in the first and second rotation directions R1 and R2, respectively, any one of the plurality of first long brush members 131 interferes with its corresponding second long brush member 231, reducing the opening size of the air intake passage, increasing the suction pressure, and achieving a better suction effect.

For any pair of the first long brush member 131 and the second long brush member 231, the interference areas of the first long brush member 131 and the corresponding second long brush member 231 are configured to dynamically move from both ends of the combination of the first rolling brush 131 and the second rolling brush 231 toward the middle of the combination.

Specifically, for any one of the first long brush member 131 and its corresponding second long brush member 231, when they are rotated to positions close to each other with the first and second roller brushes 100 and 200, respectively, for example, between the first and second roller brushes 100 and 200, they interfere with each other. The first long brush member 131 and its corresponding second long brush member 231 interfere, for example, from both ends of the combined body constituted by the first and second roll brushes 100 and 200, as shown at D3 and D4 in fig. 7. As the first and second roll brushes 100 and 200 further rotate, the interference region of the two gradually moves along the transverse axis Y in fig. 7 to the middle of the combined body of the first and second roll brushes 100 and 200, as shown at D5 in fig. 6. With further rotation of the first and second rolling brushes 100 and 200, the two are separated from interference, and thus, are cyclically reciprocated. In this case, the air duct 5400 and the air duct inlet 5410 are provided at the middle of the combined body formed by the corresponding first and second rolling brushes 100 and 200, so that dust can be conveniently introduced into the dust box through the air duct.

In other embodiments, the interference areas of the first long brush member 131 and the corresponding second long brush member 231 are configured to dynamically move from the middle of the combination of the first and second rolling brushes 100 and 200 toward both ends of the combination. In this case, the air duct 5400 and the air duct inlet 5410 are provided at both ends of the combined body formed corresponding to the first and second rolling brushes 100 and 200, so that dust is conveniently introduced into the dust box through the air duct.

In some embodiments, as shown in fig. 1 to 6, the first rolling brush 100 includes a first short brush member 132, i.e., a first short blade, and the first short brush member 132 does not interfere with the second rolling brush 200. The second roll brush 200 includes a second short brush 232, and the second short brush 232 does not interfere with the first roll brush 100.

The short blades are relatively short and thick, and can provide powerful cleaning force when treating slightly large garbage such as fruit shells, particles and the like. For the working conditions of flat and hard clean surfaces of ceramic tiles, wood floors and the like, the short blades are not contacted with the ground. And when having the carpet cleaning operating mode of certain thickness, long blade and short blade all contact with the carpet surface to the short blade of relative robustness plays key effect this moment, beats the peeling off with dust, the hair of hiding in the carpet, promotes the cleaning effect.

In some embodiments, the first brush member 130 includes the first short brush 132, and the first long brush 131, the first short brush 132, and the first cylindrical member 133 are integrally formed using the same material. The second brush member 230 includes the second short brush 232, and the second long brush 231, the second short brush 232, and the second cylindrical member 233 are integrally formed of the same material.

In some embodiments, as shown in fig. 1 to 6, the first long brushes 131 and the first short brushes 132 are uniformly spaced in the circumferential direction of the first roller brush 100, for example, the first long brushes 131 and the first short brushes 132 are uniformly alternately spaced in the circumferential direction of the first cylindrical member 133. The second long brushes 231 and the second short brushes 232 are uniformly spaced in the circumferential direction of the second roll brush 200, for example, the second long brushes 231 and the second short brushes 232 are uniformly alternately spaced in the circumferential direction of the second tubular member 233.

In some embodiments, one of the first and second roller brushes 100, 200 is a hard-core roller brush and the other is a soft-core roller brush. The soft rolling brush allows the rolling brush to have larger deformation quantity, the trafficability of large-particle garbage is good, the deformation quantity of the hard core rolling brush is small, and the cleaning capability is high.

In some embodiments, the first long brush 131 and the first short brush 132 comprise a first brush, and the second long brush 231 and the second short brush 232 comprise a second brush.

In some embodiments, at least one of the first and second roll brushes 100 and 200 may include a short brush member and further include a long brush member, and when neither the first roll brush 100 nor the second roll brush 200 includes the short brush member, the first long brush member 131 of the first roll brush 100 serves as the first brush member, and the second long brush member 231 of the second roll brush 200 serves as the second brush member, the first brush member and the second brush member interfere with each other to form an interference region.

It should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. An automatic cleaning apparatus, comprising:

2. The automatic cleaning apparatus according to claim 1, wherein,

the first roll brush includes:

a first shaft; and

a first brush member detachably mounted on the first shaft, comprising:

the second rolling brush includes:

A second shaft; and

a second brush member detachably mounted on the second shaft, comprising:

3. The automatic cleaning apparatus of claim 2, wherein the number of the first brush pieces and the second brush pieces is plural, and the plural first brush pieces are in one-to-one correspondence with the plural second brush pieces, and any one of the plural first brush pieces is configured to interfere with the corresponding second brush piece.

4. A robotic cleaning device as claimed in claim 3, wherein at least one corresponding first brush and second brush interfere with each other at any one time when the robotic cleaning device is performing a cleaning operation.

5. The automatic cleaning apparatus according to claim 3 or 4, wherein,

the plurality of first brushes are uniformly distributed in the circumferential direction of the first cylindrical member; and/or

6. The automatic cleaning apparatus according to claim 5, wherein,

The covering angle of each first brush piece on the circumferential direction of the first cylindrical component is more than or equal to 360 degrees/N, wherein N is the number of the first brush pieces, N is a positive integer, and N is more than or equal to 2; and/or

7. The automatic cleaning apparatus according to any one of claims 1 to 4, wherein the first rolling brush rotates in a first rotational direction and the second rolling brush rotates in a second rotational direction, the first rotational direction being opposite to the second rotational direction, when the automatic cleaning apparatus performs a cleaning operation.

8. The automatic cleaning apparatus according to claim 3 or 4, wherein,

the first brush extends spirally from one end of the first cylindrical member to the other end of the first cylindrical member in a second rotational direction on an outer surface of the first cylindrical member;

and/or

9. The robotic cleaning device of claim 8, wherein, for any pair of first and second brushes, the interference region of the first brush and its corresponding second brush is configured to move dynamically from one end of the combination of the first and second roller brushes toward the other end of the combination.

10. The robotic cleaning device of claim 8, wherein,

the first brush is inclined toward a second rotation direction in a circumferential direction of the first cylindrical member; and/or