CN207492727U

CN207492727U - It may be mounted to the clearer of clean robot

Info

Publication number: CN207492727U
Application number: CN201621493743.8U
Authority: CN
Inventors: W.戈达德; M.布劳因
Original assignee: iRobot Corp
Current assignee: iRobot Corp
Priority date: 2016-12-15
Filing date: 2016-12-30
Publication date: 2018-06-15
Anticipated expiration: 2026-12-30
Also published as: CN113273939B; CN207492728U; CN108209771A; CN113273939A; CN207236742U; CN207444902U; CN108209771B

Abstract

A kind of clearer that may be mounted to clean robot, the axis of elongation including extending to the second end from first end along rotation axis.First and second ends may be mounted to the clean robot, for being rotated around rotation axis.Clearer further comprises core, is attached to around axis, and with the outer end that first and second end is positioned and closed on along the axis of elongation.Core is tapered towards the center of axis near the first end of axis.The clearer further comprises sheath, and sheath is attached to the core, and extends beyond the outer end of the core.Sheath includes the first half portion and the second half portion, and the center of each of the first half portion and the second half portion towards the axis is tapered.

Description

It may be mounted to the clearer of clean robot

Technical field

The specification is related to clearer, is particularly used for clean robot.

Background technology

Automatic cleaning robot traveling can pass through ground when being sucked by vacuum floor surface to suck clast from floor surface Plate surface and avoiding obstacles.Clean robot may include the roller from floor surface pickup clast.When clean robot moves During by floor surface, robot meeting rotating said rolls, the roller is by clast towards the vacuum pneumatic by clean robot generation Guiding.In this regard, roller and vacuum pneumatic can cooperate that robot is allowed to suck clast.During the rotation of roller, roller is engageable It is included in the clast of hair and other filaments.Filament clast can be wrapped in around the roller.

Utility model content

According to the utility model on one side, a kind of clearer that may be mounted to clean robot is provided, which is characterized in that The clearer includes：

The axis of elongation, the axis of elongation extend to the second end, the first and second ends along a rotation axis from first end Clean robot is may be mounted to, for being rotated around rotation axis；

Core, the core are attached to around the axis, and are had along the axis and closed on first and second end The outer end of portion's positioning；

Sheath, the sheath are attached to the core and extend beyond the outer end of the core；And

Well is collected, which is limited by the outer end and sheath of core.

Preferably, the core roller that direction is positioned along the rotation axis near the first end of the axis Center it is tapered.

Preferably, the length of the clearer is in 20 centimetres to 30 cm ranges, and sheath is along the clearer 70% to the 90% of length is attached to the core.

Preferably, core includes the multiple discontinuous sections for surrounding the axis and being positioned in the sheath.

Preferably, at least one of the multiple discontinuous section includes：

Loop section, the loop section be attached to the axis and

Multiple protrusions, multiple protrusion extend radially outward from the loop section, and the protrusion is about the rotary shaft Line is axisymmetric.

Preferably, the multiple discontinuous section limits gap between them, and the sheath passes through the gap Extend to the axis.

Preferably, at least one of the multiple discontinuous section include along in the multiple discontinuous section extremely The longitudinal rib of length extension one few, the longitudinal rib subtract relative to the center of height towards the axis of the rotation axis It is small.

Preferably, the core includes the multiple columns extended far from the rotation axis towards the sheath, and the column connects The sheath is closed so that the sheath is connected to the core.

Preferably, the sheath includes the shell for surrounding and being attached to core, which includes truncated cone half portion.

Preferably, sheath includes：

Be attached to core shell and

The blade extended radially outward from the shell, wherein the height for closing on the blade of the first end of the axis is less than Close on the height of the blade at the center of the axis.

In one aspect, the clearer that may be mounted to clean robot includes extending to the from first end along rotary shaft The axis of elongation of two ends.First and second ends may be mounted to clear robot, for being rotated around rotary shaft.Clearer further wraps Core is included, which is attached at around the axis, and has and positioned along the axis of elongation and close on the first and second ends Outer end.The core is tapered towards the center of axis near the first end of axis and the second end from axis near court It is tapered to the center of axis.Clearer further comprises sheath, is attached to core and extends beyond the outer end of the core. Sheath includes the first half portion and the second half portion, and the center of each of the first half portion and the second half portion towards the axis is tapered.Clearly Clean roller further comprises the collection well limited by the outer end and sheath of core.

On the other hand, automatic cleaning robot includes main body, is operable such that main body moves through floor surface Driver and cleaning assemblies.Cleaning assemblies includes roller.The roller is for example mounted to main body and rotatable around first axle First clearer and the cleaning assemblies further comprise being installed to main body and can be revolved around the second axis for being parallel to first axle The second clearer turned.The shell of first clearer and the second clearer limit interval between them, and the interval is along first Axis extends and the center increase of the length of the first clearer of direction.

In some embodiments, the length of clearer is in 20 centimetres to 30 cm ranges.Sheath is for example along the shield 75% to the 90% of the length of set is attached to the axis of elongation.

In some embodiments, the axis of elongation is configured to the motor driving by clean robot.

In some embodiments, core is included around axis positioning and multiple discontinuous portions in the sheath Point.In some cases, sheath is fixed to the core between the discontinuous section.In some cases, sheath The axis is adhered at position between the discontinuous section of core.

In some embodiments, core includes the multiple columns extended far from rotary shaft towards the sheath.Column engages institute Sheath is stated to couple the sheath to the core.

In some embodiments, the minimum diameter of core is at the center of the axis.

In some embodiments, each include outer surface in the first half portion and the second half portion of sheath.The outer surface The angle being for example formed in rotation axis in the range of 5 to 20 degree.

In some embodiments, center of the first half portion of sheath to axis near first end is tapered, Yi Jihu Second half portion of set is tapered towards the center of the axis near the second end of axis.

In some embodiments, sheath includes the shell for surrounding and being attached to core.The shell includes conical butt half portion.

In some embodiments, sheath includes the shell for surrounding and being attached to core.The sheath includes, for example, from this The blade (vane) that shell extends radially outwardly.The height for closing on the blade of the first end of axis is, for example, less than to close in the axis The height of the blade of the heart.In some cases, the blade follows the V-arrangement path along the outer surface of sheath.In certain situations Under, close on first end blade height in the range of 1 to 5 millimeter and close on axis center blade height 10 To in the range of 30 millimeters.

In some embodiments, the length for collecting one of well is 5% to the 15% of the length of clearer.

In some embodiments, the tubular portion of sheath limits the collection well.

In some embodiments, sheath further comprises surrounding and is attached to the shell of core, and the maximum width of the shell is 80% to the 95% of the overall diameter of sheath.

In some embodiments, the shell of the shell of the first clearer and the second clearer limits the interval.

In some embodiments, the center of the length for being spaced in the first clearer is in 5 to 30 millimeters of ranges It is interior.

In some embodiments, the length of the first clearer is in 20 to 30 cm ranges.In some cases, first The length of clearer is more than the length of the second clearer.In some cases, the length of the first clearer is equal to the second clearer Length.

In some embodiments, the front portion of main body has formed in substantially rectangular shape.First and second cleanings Roller is for example mounted to the downside of the front portion of main body.

In some embodiments, the first clearer and the second clearer limit between them in the first clearer The air gap at the center of length.The air gap such as width changes when the first clearer and the second clearer rotate.

The advantages of aforementioned, may include, but be not limited to, below and those described elsewhere in this paper.Cleaning Roller can improve pickup of the clast from floor surface.Torque can be more easily transmitted to clearly along the total length of clearer from drive shaft The outer surface of clean roller.The improved torque transmission can be such that the outer surface of the clearer is more easily moved when engaging the clast Dynamic clast.Compared with no other clearers of feature described here that can be realized improved torque and transmit, the clearer More clasts can be picked up when by torque drive with specified rate.

The clearer can have increased length without reducing clearer from the ability of floor surface pickup clast.It is special Not, clearer may require that a greater amount of driving torques when longer.However, the improved torque due to clearer transmits, compared with A small amount of torques can be used to that the clearer is driven to pick up to obtain the clast similar with the clast pick-up capability of other clearers Ability.If clearer is mounted to clean robot, then the clearer, which can have, extends close to the lateral of clean robot The length of side, so that the clearer can get at clast in a wider context.

In other examples, the clearer may be structured to collect in a manner of no sanitary characteristics for interfering clearer Filament clast.Filament clast can be easily removed when being collected.Particularly, when clearer and the filament for coming from floor surface When clast engages, clearer can cause filament clast by towards wherein for the outer of the clearer where the collection well of filament clast End guiding.It when roller is unloaded from robot, collects well and user is easily accessible by, so that can easily to dispose filament broken by user Bits.Other than preventing to the damage of clearer, appearance that the improved collection of filament clast can for example by surrounding clearer Face winds to reduce the possibility that filament clast would interfere with the clast pick-up capability of clearer.

In further example, clearer can cooperate to define interval between them with another clearer, should Interval improves the feature of the air stream generated by vacuum subassembly.The interval, by being become much larger towards the center of clearer, Air stream can be concentrated towards the center of clearer.Although the end that filament clast can tend towards clearer is collected, Other clasts can more easily be sucked by the center of the highest clearer of wherein air speed.

The details of one or more embodiments of theme described in the specification in the accompanying drawings and in being described below into Elaboration is gone.Other potential feature, aspect and advantages will become obvious from specification, drawings and the claims.

Description of the drawings

Figure 1A is the bottom view of the cleaning head during the clean operation of clean robot；

Figure 1B is the sectional view of the clean robot of Figure 1A and cleaning head during clean operation；

Fig. 2A is the bottom view of the clean robot of Figure 1B；

Fig. 2 B are the exploded side perspective views of the clean robot of Fig. 2A；

Fig. 3 A are the front perspective views of clearer；

Fig. 3 B are the exploded front perspective views of the clearer of Fig. 3 A；

Fig. 3 C are the front views of the clearer of Fig. 3 A；

Fig. 3 D are the preceding Section Views of the clearer of Fig. 3 A, and the wherein part of the sheath of clearer and support construction is removed To show the collection well of clearer；

Fig. 3 E are the sectional views of the sheath of the clearer of Fig. 3 A that the section 3E-3E shown in Fig. 3 C is intercepted；

Fig. 4 A are the perspective views of the support construction of the clearer of Fig. 3 A；

Fig. 4 B are the front views of the support construction of Fig. 4 A；

Fig. 4 C are the sectional views of the end of the support construction of Fig. 4 B that the section 4C-4C shown in Fig. 4 B is intercepted；

Fig. 4 D are the enlarged perspectives of illustration 4D marked in 4A of the end of the sub-component of pictorial image 4A；

Fig. 5 A are the enlarged views of illustration 5A marked in fig. 3 c of the central part of the clearer of pictorial image 3C；

Fig. 5 B are the sectional views of the end of the clearer of Fig. 3 C that the section 5B-5B shown in Fig. 3 C is intercepted；

Fig. 6 is the schematic diagram in the case of the free portion of the sheath of the clearer of the clearer of Fig. 3 A is removed.

The identical reference numeral element identical with mark expression in various figures.

Specific embodiment

With reference to Figure 1A and 1B, include clearer 104a, 104b, the cleaning for the cleaning head 100 of clean robot 102 Roller is oriented the clast 106 on joined floorboards surface 10.Figure 1A illustrates the cleaning head 100 during clean operation, cleaning First 100 are isolated with the clean robot 102 that cleaning head 100 is mounted thereto.Clean robot 102 is sucked from floor surface 10 It is moved around on floor surface 10 during clast 106.Figure 1B illustrates clean robot 102 by floor surface 10 and revolves Turn the roller 104a, 104b with during clean operation from floor surface 10 suck clast 106 when clean robot 102, Middle cleaning head 100 is mounted to clean robot 102.During clean operation, clearer 104a, 104b is rotatable with by clast 106 are promoted from floor surface 10 into clean robot 102.Clearer 104a, 104b outer surface engagement clast 106 and Stir clast 106.The rotation of clearer 104a, 104b promote internal motion of the clast 106 towards clean robot 102.

In some embodiments, as described in this, clearer 104a, 104b are elastomeric rolls, it is characterised in that edge The pattern (showing in figure 1A) of the blade 224a, 224b of the armband shape of the appearance EDS maps of clearer 104a, 104b.Clearly At least one of clean roller 104a, 104b, for example, clearer 104a blade 224a, 224b along clearer 104a, 104b's Length is contacted with floor surface 10, and undergoes the frictional force consistently applied during rotation, and there is no have the clearer The brush of flexible bristle.In addition, clearer 104a similar from the clearer with the different bristles from axis radially, 104b has the blade 224a, 224b extended radially outward.However, blade 224a, 224b is also in a longitudinal direction along clear Clean roller 104a, the outer surface of 104b continuously extend.Blade 224a, 224b are also along clearer 104a, the outer surface edge of 104b Circumferentially extending, so as to limit as described in this along clearer 104a, the V-arrangement path of the outer surface of 104b.However, other are suitable Conjunction construction be also it is conceivable that.For example, in some embodiments, in addition to blade 224a, except 224b or as blade The alternative of 224a, 224b, at least one of back roller and preliminary roller 104a, 104b may include stirring the floor surface Bristle and/or elongation flexible catch.

As shown in Figure 1A, interval 108 and the air gap 109 be limited at clearer 104a and clearer 104b it Between.Both interval 108 and the air gap 109 extend to the of clearer 104a from the first outer end 110a of clearer 104a Two outer end 112a.As described in this, in the case that interval 108 corresponds to the blade on not having clearer 104a 104b The distance between clearer 104a, 104b, and the air gap 109 corresponds to and is included in clearer 104a, the blade on 104b In the case of the distance between clearer 104a, 104b.The air gap 109 is sized to as roller 104a, 104b rotations It accommodates by roller 104a, the clast 106 of 104b movements and when clearer 104a, 104b can be sucked into air stream when rotating In clean robot 102 and change width.Although the air gap 109 width can become during roller 104a, the rotation of 104b Change, but be spaced 108 has constant width during roller 104a, the rotation of 104b.Interval 108 promotes by roller 104a, 104b Caused clast 106 upwardly toward robot 102 internal motion so that clast is sucked by robot 102.As retouched herein It states, 108 size is spaced towards the center 114 of the length L1 of clearer 104a, for example, the longitudinal axis along clearer 104a The cleaning roller center 114 of line 126a increases.Interval 108 width towards clearer 104a end 110a, 112a reduce.In this way The construction at interval 108 can improve the clast pick-up capability of roller 104a, 104b, while reduce by roller 104a, 104b pickups it is thin Silk clast interferes the possibility of the operation of roller 104a, 104b.

Exemplary clean robot

Clean robot 102 is to suck clast from the different piece of floor surface 10 simultaneously automatically by floor surface 10 106 automatic cleaning robot.In the example illustrated in Figure 1B and 2A, what robot 102 included crossing floor surface 10 can Dynamic main body 200.Main body 200 includes multiple connection structures in some cases, and the movable member of clean robot 102 is mounted to Multiple connection structure.The connection structure includes, for example, covering the outer housing of the internal part of clean robot 102, driving wheel 210a, 210b and roller 104a, 104b are mounted to chassis thereon, are installed to the buffer etc. of outer housing.As shown in Fig. 2A , in some embodiments, main body 200 is including the forepart 202a with substantially rectangular shape and with basic upper semi-circle The rear portion 202b of shape.Forepart 202a is, for example, preceding 1/3rd of clean robot 102 arrive preceding half, rear portion 202b It is the rear half of clean robot 102 to 2/3rds.Forepart 202a includes, for example, substantially perpendicular to forepart 202a Front side 206 two lateral sides 204a, 204b.

As shown in Fig. 2A, robot 102 includes drive system, and drive system includes actuator 208a, 208b, example Such as, motor can together be operated with driving wheel 210a, 210b.Actuator 208a, 208b are mounted in the body 200 and can grasp It is connected to driving wheel 210a, 210b with making, which is rotatably mounted main body 200.Driving wheel 210a, 210b support Main body 200 is above floor surface 10.Actuator 208a, 208b make driving wheel 210a, 210b rotation when being driven, can make Robot 102 automatically moves across floor surface 10.

Robot 102 includes controller 212, operates actuator 208a, 208b automatically to make during clean operation Robot 102 travels everywhere in floor surface 10.Actuator 208a, 208b is operable (to show driving forwards direction 116 In Figure 1B) on driving robot 102 and turn to robot 102.In some embodiments, robot 102 includes support master Castor 211 of the body 200 above floor surface 10.Castor 211, for example, the rear portion 202b of supportive body 200 is in floor surface 10 The forepart 202a of top and driving wheel 210a, 210b supportive body 200 is above floor surface 10.

As shown in Figure 1B and 2A, vacuum subassembly 118 is carried in the main body 200 of robot 102, for example, in master In the rear portion 202b of body 200.Controller 212 operates the vacuum subassembly 118 to generate the sky flowed through close to roller 104a, 104b Main body 200 and the air stream 120 from main body 200 out are flowed through in gas gap 109.Vacuum subassembly 118 includes, for example, when rotation The propeller of air stream 120 is generated when turning.Roller 104a when air stream 120 and rotation, 104b cooperation are clast 106 to be sucked In robot 102.The cleaning box 122 of installation in the body 200 accommodates the clast 106 sucked by robot 102, in main body 200 In filter 123 before air stream 120 enters vacuum subassembly 118 and is discharged from main body 200 by clast 106 and air Stream 120 separates.In this regard, clast 106 is trapped in wash-up tray 122 and filtering in air stream 120 before the discharge of main body 200 In 123 the two of device.

As shown in Figure 1A and 2A, cleaning head 100 and roller 104a, 104b are located in position in the forepart 202a of main body 200 Between lateral side 204a, 204b.Roller 104a, 104b is operably connected to actuator 214a, 214b, for example, motor.Clearly Clean head 100 and roller 104a, 104b are located at the front of cleaning box 122, and cleaning box is located at the front of vacuum subassembly 118.About figure In the example of the robot 102 of 2A, 2B description, the shape of the substantial rectangular of the forepart 202a of main body 200 can make roller 104a, The roller that 104b ratios are used for the clean robot for example with circular shape main body is longer.

Roller 104a, 104b are mounted to the housing 124 of cleaning head 100 and are for example indirectly or directly installed to machine The main body 200 of people 102.Particularly, roller 104a, 104b are mounted to the downside of the forepart 202a of main body 200, so that clear During clean operation when the downside is towards floor surface 10, the roller 104a, the clast 106 on 104b joined floorboards surface 10.

In some embodiments, the housing 124 of cleaning head 100 is mounted to the main body 200 of robot 102.This point On, roller 104a, 104b are also attached to the main body 200 of robot 102, for example, being indirectly mounted to main body by housing 124 200.Alternately or in addition, cleaning head 100 is the removable component of robot 102, middle casing 124 with it is installed therein Roller 104a, 104b are removably attachable to the main body 200 of robot 102.Housing 124 and roller 104a, 104b are as a unit It can be removed from main body 200, so that cleaning head 100 is readily replaceable with replacing cleaning head.

In some embodiments, be not to be removably attachable to main body 200, the housing 124 of cleaning head 100 be not with The separated component of main body 200, but, corresponding to the integral part of the main body 200 of robot 102.Roller 104a, 104b are mounted to The main body 200 of robot 102, for example, being mounted directly to the integral part of main body 200.Each of roller 104a, 104b can be from clear It the housing 124 of clean head 100 and/or is independently removed from the main body 200 of robot 102, so that roller 104a, 104b can be easy It is cleaned or is replaced with roller is replaced.As described in this, roller 104a, 104b may include the collection well for filament clast, described Well is collected to be readily accessible to and cleaned by user when dismantling from housing 124 in roller 104a, 104b.

The housing 124 of roller 104a, 104b relative to the cleaning head 100 and main body 200 relative to robot 102 can revolve Turn.As shown in Figure 1B and 2A, roller 104a, 104b can be revolved around the longitudinal axis 126a, 126b for being parallel to floor surface 10 Turn.Axis 126a, 126b is parallel to each other and corresponds respectively to the longitudinal axis of clearer 104a, 104b.In some cases, axis Line 126a, 126b drive forwards direction 116 perpendicular to robot 102.The center 114 of clearer 104a is along longitudinal axis 126a is positioned, and the midpoint of the length L1 corresponding to clearer 104a.In this regard, center 114 is along clearer 104a's Rotation axis positions.

In some embodiments, with reference to the decomposition view of cleaning head 100 shown in Fig. 2 B, roller 104a, 104b is each All include sheath 220a, 220b, which includes shell 222a, 222b and blade 224a, 224b.Each of roller 104a, 104b are also Including support construction 226a, 226b and axis 228a, 228b.Sheath 220a, 220b are by elastomeric material in some cases The single moulded parts formed.In this regard, shell 222a, 222b and its respective vanes 224a, 224b are the one of single moulded parts Part.Sheath 220a, 220b extend inwards from its outer surface towards axis 228a, 228b, so that sheath 220a, 220b's Quantity of material inhibits sheath 220a, 220b in response to contact target, such as floor surface 10 and deflection.Sheath 220a, 220b's High skin-friction force can make sheath 220a, and 220b engagement clasts 106 simultaneously guide clast 106 towards in clean robot 102 Portion, for example, towards the air pipeline 128 in clean robot 102.

Axis 228a, 228b and, in some cases, support construction 226a, 226b are mounted in roller 104a, 104b Actuator 214a, 214b (being shown schematically in Fig. 2A) are operably connected to during the main body 200 of robot 102.When Roller 104a, when 104b is mounted to main body 200, the erecting device on axis 228a, the second end 232a, 232b of 228b 216a, 216b coupling spindle 228a, 228b are to actuator 214a, 214b.First end 230a, the 230b quilt of axis 228a, 228b can The erecting device 218a, 218b being rotatably mounted in the housing 124 of cleaning head 100 or the main body 200 of robot 102.The peace Assembling device 218a, 218b are fixed relative to housing 124 or main body 200.In some cases, as described herein, support knot The part of structure 226a, 226b and axis 228a, 228b cooperate rotatably to couple clearer 104a, 104b to actuator 214a, 214b and clearer 104a, 104b are rotatably mounted to the erecting device 218a, 218b.

As shown in Figure 1A, roller 104a and roller 104b are separated from each other, so that the longitudinal axis 126a and roller of roller 104a The longitudinal axis 126b of 104b limits an interval S 1.Interval S 1, for example, in 2 to 6 cm ranges, for example, at 2 to 4 centimetres In the range of, in 4 to 6 cm ranges etc..

Roller 104a and roller 104b is mounted so that the shell 222b of the shell 222a and roller 104b of roller 104a limits interval 108. Interval 108 is longitudinally extended between shell 222a and shell 222b and between shell 222a, 222b.Particularly, the shell of roller 104b The outer surface of 222b and the outer surface of the shell 222a of roller are separated by the interval 108, the width at the interval along roller 104a, 104b's Longitudinal axis 126a, 126b variation.108 centers 114 towards clearer 104a are spaced, for example, towards clearer is passed through The plane for being centrally and perpendicular to longitudinal axis 126a, 126b of both 104a, 104b are tapered.The width at interval 108 is in The heart 114 reduces.

Interval 108 is measured as the width between the outer surface of shell 222a and the outer surface of shell 222b.In some cases, The width at interval 108 is measured as the most low coverage between the shell 222a at each point along longitudinal axis 126a and shell 222b From.The width at interval 108 is measured along the plane across both longitudinal axis 126a, 126b.In this regard, the width Variation, so that the distance S3 between roller 104a, 104b at their center is more than the distance S2 between their end.

With reference to the reference numeral 132a in Figure 1A, the length S2 at the interval 108 of the first end 110a of adjacent roll 104a exists In the range of 2 to 10 millimeters, for example, in the range of 2 millimeters to 6 millimeters, in the range of 4 millimeters to 8 millimeters, at 6 millimeters to 10 millis In the range of rice etc..The length S2 at interval 108, for example, corresponding to interval 108 along the minimum length of the length L1 of roller 104a.Ginseng According to the reference numeral 132b in Figure 1A, close on the center 114 of clearer 104a interval 108 length S3 for example at 5 millimeters extremely In the range of 30 millimeters, such as in the range of 5 millimeters to 20 millimeters, in the range of 10 millimeters to 25 millimeters, at 15 millimeters to 30 millis In the range of rice etc..Length S3, for example, it is 3 to 15 times bigger than length S2 such as 3 to 5 times bigger than length S2,5 to 10 times, 10 to 15 Times etc..The length S3 at interval 108, for example, corresponding to interval 108 along the maximum length of the length L1 of roller 104a.In some feelings Under condition, interval 108 is linearly increased from the center of clearer 104 114 towards end 110a, 110b.

The air gap 109 between roller 104a, 104b is defined as the blade on opposite roller 104a, 104b The distance between free terminal of 224a, 224b.In some examples, the distance is according to blade 224a, and 224b is during rotation How to be aligned and change.The air gap 109 between roller 104a, the sheath 220a, 220b of 104b is along roller 104a, 104b Longitudinal axis 126a, 126b variations.Particularly, the size of the width of the air gap 109 is according to roller 104a, the blade of 104b The relative position variation of 224a, 224b.The width of the air gap 109 is by the distance between sheath 220a, the periphery of 220b limit It is fixed, for example, when blade 224a, 224b are facing with each other during roller 104a, the rotation of 104b, limited by blade 224a, 224b. When the blade 224a, 224b of both roller 104a, 104b be not towards another roller, the width of the air gap 109 by shell 222a, The restriction of the distance between periphery of 222b.In this regard, although the periphery of roller 104a, 104b are as described herein along roller The length of 104a, 104b are consistent, but the width of the air gap 109 between roller 104a, 104b is with roller 104a, 104b is rotated and is changed.Particularly, although interval 108 has constant length during the rotation of opposite roller 104a, 104b, To limit the distance of the air gap 109 due to roller 104a, the relative motion of the blade 224a, 224b of 104b and in roller 104a, Change during the rotation of 104b.1 millimeter to 10 when the width of the air gap 109 will be from as blade 224a, 224b face each others The minimum widith of millimeter is changed to when blade 224a, 5 millimeters to 30 millimeters of maximum width when 224b is not aligned with.The maximum Width corresponds to, for example, in clearer 104a, the length S3 at the interval 108 at the center of 104b, and minimum widith corresponds to The length at the interval 108 at clearer 104a, the center of 104b subtracts the height of blade 224a, 224b.

Reference Fig. 2A, in some embodiments, in order to which clast 106 is cleaned towards roller 104a, 104b, robot 102 Including brush 233, around non-horizontal axis, for example, with floor surface 10 into the axis of the angle in the range of 75 degree to 90 degree Line rotates.Non-horizontal axis, for example, with clearer 104a, the longitudinal axis 126a, 126b of 104b are formed in 75 degree to 90 degree In the range of angle.Robot 102 includes the actuator 234 for being operably connected to brush 233.Brush 233 extends beyond master The periphery of body 200, so that brush 233 can be on the part of floor surface 10 that generally can not reach of engagement roller 104a, 104b Clast 106.

During the clean operation shown in fig. ib, when controller 212 operates actuator 208a, 208b so that robot 102 cross floor surface 10 when driving, if brush 233 exists, controller 212 operates actuator 234 so that brush 233 It is rotated around non-horizontal axis with engagement roller 104a, the clast 106 that 104b cannot be reached.Particularly, brush 233 can engage close The clast 106 of the wall of environment and clast 106 is swiped towards roller 104a, 104b.Brush 233 by clast 106 towards roller 104a, 104b is cleaned so that the interval 108 that clast 106 may pass through between roller 104a, 104b is inhaled into.

Controller 212 operates actuator 214a, 214b so that roller 104a, 104b are rotated around axis 126a, 126b.Roller The clast 106 of 104a, 104b on joined floorboards surface 10 when, upon rotating, and clast 106 is made to be moved towards air pipeline 128. As shown in fig. 1b, roller 104a, 104b, for example, reversely rotating to pass through interval 108 and court in clast 106 relative to each other It cooperates when being moved to air pipeline 128, for example, roller 104a is rotated on 130a in the clockwise direction, and roller 104b is in side counterclockwise It is rotated on 130b.

Controller 212 also operates vacuum subassembly 118 to generate air stream 120.Vacuum subassembly 118 be operated to generate across The air stream 120 at interval 108, so that air stream 120 can make by roller 104a, the clast 106 that 104b is withdrawn moves.Air Clast 106 is brought into the cleaning box 122 of clast 106 collected and conveyed by air stream 120 by stream 120.In this regard, vacuum Both component 118 and roller 104a, 104b promote sucking of the clast 106 from floor surface 10.Air pipeline 128 is received comprising broken The air stream 120 of bits 106 simultaneously directs into air stream 120 in cleaning box 122.Clast 106 is deposited in cleaning box 122. During the rotation of roller 104a, 104b, roller 104a, 104b apply force to floor surface 10 to stir appointing on floor surface 10 What clast.The agitation of clast 106 can cause clast 106 to be removed from floor surface 10, so that roller 104a, 104b can more connect Clast 106 is touched, so that the air stream 120 generated from vacuum subassembly 118 can be more easily by 106 band of clast to robot 102 Inside.As described herein, it is transmitted from actuator 214a, 214b towards roller 104a, the improved torque of the outer surface of 104b Roller 104a, 104b can be made to apply the power of bigger.As a result, with reduction torque transmit roller and brush or in response to floor Compared with surface 10 or the roller and brush that contact and be easily deformed with clast 106, roller 104a, 104b can preferably stir floor table Clast 106 on face 10.

Exemplary clearer

The example of roller 104a, 104b about Fig. 2 B descriptions may include such as describing about Fig. 3 A-3E, 4A-4D and 5A-5B Accessory configurations.As shown in Fig. 3 B, the example of roller 300 includes sheath 302, support construction 303 and axis 306.Roller 300, example Such as, corresponding to about the back roller 104a described in Figure 1A, 1B, 2A and 2B.Sheath 302, support construction 303 and axis 306, which are similar to, to close In sheath 220a, support construction 226a and the axis 228a of Fig. 2 B descriptions.In some embodiments, sheath 220a, support construction 226a and axis 228a is sheath 302, support construction 303 and axis 306 respectively.As shown in Figure 3C, 2 class of total length L of roller 300 It is similar to about roller 104a, the total length L 1 of 104b descriptions.

Similar to clearer 104a, clearer 300 can be mounted to clean robot 102.With clean robot 102, clear The clean roller 300 absolute and relative size related with their component is described herein.Some these sizes are in figure by attached drawing mark Note, for example, W1, S1-S3, L1-L10, D1-D7, M1 and M2 are represented.The example values of these sizes in embodiment are herein Such as it is described in the part of " exemplary dimensions of clean robot and clearer ".

With reference to Fig. 3 B and 3C, axis 306 is the elongate member with the first outer end 308 and the second outer end 310.Axis 306 Along longitudinal axis 312, for example, the axis 126a that roller 104a is rotated about, the second end 310 is extended to from first end 308. Axis 306 is the drive shaft for example formed by metal material.

The first end 308 and the second end 310 of axis 306 are configured to be installed to clean robot, for example, robot 102.The second end 310 is configured to be installed to erecting device, for example, erecting device 216a.Erecting device coupling spindle 306 arrives The actuator of clean robot, for example, the actuator 214a about Fig. 2A descriptions.First end 308 is rotatably mounted axis 306 To erecting device, for example, erecting device 218a.The second end 310 is driven by the actuator of clean robot.

With reference to Fig. 3 B, support construction 303 is positioned around axis 306, and is rotationally coupled to axis 306.Support construction 303 Core 304 including being attached to axis 306.As described herein, core 304 and axis 306 are attached to each other, in some embodiment party In formula, by being embedded to molding process, during the embedment molding process, core 304 is adhered to axis 306.Reference Fig. 3 D and 3E, Core 304 includes the first outer end 314 and the second outer end 316, therein each to be positioned along axis 306.The first of core 304 End 314 is positioned to close on the first end 308 of axis 306.The second end 316 of core 304 is oriented to close on the of axis 306 Two ends 310.Core 304 extends along longitudinal axis 312 and closes the axis of axis 306.

With reference to Fig. 3 D and 4A, in some cases, support construction 303 further comprises the longitudinal axis 312 along roller 300 The elongated portion 305a that the first end 308 of line from first end 314 towards the axis 306 of core 304 extends.Elongated portion 305a is divided to have, for example, cylindrical shape.The elongated portion 305a of support construction 303 and the first end 308 of axis 306, for example, It is configured to be rotatably mounted to erecting device, for example, erecting device 218a.Erecting device 218a, 218b, for example, playing The effect of supporting surface, so that elongated portion 305a, thus roller 300 can be around its longitudinal axis 312 with by elongated portion It is rotated under comparatively small frictional force caused by contact between 305a and erecting device.

In some cases, support construction 303 includes longitudinal axis 312 along roller 300 from the second end of core 304 The elongated portion 305b that the second end 310 of portion 314 towards the axis 306 extends.The elongated portion 305b of support construction 303 and The second end 314 of core 304, for example, the erecting device is coupled to, for example, erecting device 216a.Erecting device 216a Roller 300 can be made to be mounted to the actuator of clean robot, for example, being rotationally coupled to the motor shaft of the actuator.Elongated portion Point 305b has a such as prismatic shape, which has a noncircular cross section, such as square, hexagon or other are polygon Shape rotatably couples the support construction 303 to rotatable erecting device, for example, erecting device 216a.Elongated portion 305b is engaged with the erecting device 216a, rotatably to couple the support construction 303 to the erecting device 216a.

Rotatably both coupling spindle 306 and support construction 303 arrive the actuator of clean robot to erecting device 216a, so as to Improve from actuator to axis 306 and support construction 303 torque transmit.Axis 306 can be with improvement from axis 306 to support construction 303 and sheath 302 torque transmit mode be attached to support construction 303 and sheath 302.With reference to Fig. 3 C and 3E, sheath 302 It is attached to the core 304 of support construction 303.As described herein, support construction 303 and sheath 302 are attached to each other, Rotatably to couple the sheath 302 to support construction 303, particularly, with along between sheath 302 and support construction 303 The total length on composition surface improves the mode transmitted from support construction 303 to the torque of sheath 302.Sheath 302 is attached to core 304, for example, being directly bonded to mutual cladding by wherein core 304 and sheath 302 moulds or is embedded to molding process.Separately Outside, in some embodiments, sheath 302 and core 304 include interlocking geometry, ensure the rotation fortune of core 304 The rotary motion of dynamic driving sheath 302.

Sheath 302 includes the first half portion 322 and the second half portion 324.First half portion 322 corresponds to across in roller 300 The part of the heart 326 and the sheath 302 on the side of the central plane 327 of the longitudinal axis 312 of roller 300.Second half portion 324 correspond to another part of the sheath 302 on the opposite side of central plane 327.Central plane 327 is for example by roller 300 It is divided into the bisector planes of two symmetrical half portions.In this regard, fixed part 331 centers on the bisector planes.

Sheath 302 is included in the first outer end 318 in the first half portion 322 of sheath 302 and second in sheath 302 The second outer end 320 in half portion 324.Sheath 302 extends beyond support construction 303 along the longitudinal axis 312 of roller 300 Core 304, especially more than the first end 314 of core 304 and the second end 316.In some cases, sheath 302 along The longitudinal axis 312 of roller 300 extends beyond elongated portion 305, and elongated portion 305b is along the longitudinal axis 312 of roller 300 Extend beyond the second end 320 of sheath 302.

In some cases, it is attached to branch along the fixed part 331a of the sheath 302 of the length of core 304 extension Support structure 303, and the free portion 331b of the sheath 302 of the length of core 304 is extended beyond, 331c is not attached to branch Support structure 303.Fixed part 331a extends along the both direction of longitudinal axis 312 from central plane 327, such as so that Gu It is symmetrical to determine part 331a about central plane 327.Free portion 331b is fixed to one end of fixed part 331a, and And free portion 331c is fixed to the other end of fixed part 331a.

In some embodiments, fixed part 331a is intended to when 302 contact target of sheath of roller 300, such as connects During clast in plate surface of contacting to earth 10 and floor surface 10, than free portion 331b, 331c deformations are relatively small.In some feelings Under condition, the free portion 331b, 331c of sheath 302 with floor surface 10 in response to contacting and deflection, and fixed part 331b, 331c is radially compressed.The radial compression amount of fixed part 331b, 331c are less than the radial direction deflection of free portion 331b, 331c Amount, because fixed part 331b, 331c include the material towards axis 306 radially.As the described herein, in some feelings Under condition, axis 306 and core 304 described in the material of fixed part 331b, 331c are formed.

Fig. 3 D illustrate the Section View of roller 300, and the part of sheath 302 is removed.With reference to Fig. 3 A, 3D and 3E, roller 300 Well 328 and second, which is collected, including first collects well 330.The volume that well 328,330 corresponds on the end of roller 300 is collected, by roller The filament clast of 300 engagements tends to collect in the volume.Particularly, when 300 joined floorboards of roller described during clean operation During filament clast on surface 10, filament clast moves on the end of sheath 302 318,320, is wound around the axis 306, It is subsequently collected in and collects in well 328,330.Filament clast surrounds elongated portion 305a, the 305b winding of support construction 303, and And it can be easily removed by user from elongated portion 305a, 305b.In this regard, elongated portion 305a, 305b are positioned in receipts Collect in well 328,330.Well 328,330 is collected to be limited by sheath 302, core 304 and axis 306.It is super by extending to collect well 328,330 The free portion for crossing the sheath 302 of the end 314 and 316 of core 304 limits.

First collection well 328 is located in the first half portion 322 of sheath 302.First collects well 328, for example, by core 304 First end 314, the elongated portion 305a of support construction 303, the free portion 331b of sheath 302 and axis 306 limit.Core The first end 314 of body 304 and the free portion 331b of sheath 302 limit the first length L5 for collecting well 328.

Second collection well 330 is located in the second half portion 324 of sheath 302.Second collects well 330 for example by core 304 The second end 316, the free portion 331c of sheath 302 and axis 306 limit.The second end 316 of core 304 and sheath 302 Free portion 331c limits the second length L5 for collecting well 330.

With reference to Fig. 3 E, sheath 302 along the longitudinal axis 312 of roller 300 towards center 326, such as towards central plane 327 It is tapered.Both first half portion 322 of sheath 302 and the second half portion 324 all along longitudinal axis 312 towards center 326, such as It is tapered at least part of the first half portion 322 and the second half portion 324 respectively towards central plane 327.The first half Portion 322 is tapered to center 326 nearby from the first outer end 308 of axis 306, and the second half portion 324 is outside the second of axis 306 End 310 is tapered to center 326 nearby.In some embodiments, the first half portion 322 from first outer end 318 to Center 326 is tapered and the second half portion 324 is tapered from the second outer end 320 to center 326.In some embodiments, Be not it is tapered towards center 326 along the total length of sheath 302, sheath 302 along sheath 302 fixed part 331a courts Tapered to center 326, the free portion 331b, 331c of sheath 302 are not tapered.The taper of sheath 302 is in some realities It applies and changes between mode.The example other parts herein for limiting the size of the taper are described.

Similarly, in order to which the center 326 for making sheath 302 towards roller 300 is tapered, support construction 303 includes tapered portion Point.The core 304 of support construction 303 is for example including the tapered part in the center 326 towards roller 300.Fig. 4 A-4D illustrate core The representative configuration of body 304.With reference to Fig. 4 A and 4B, core 304 includes the first half portion 400 and the second half portion 402, the first half portion 400 include first end 314, and the second half portion 402 includes the second end 316.First half portion 400 of core 304 and the second half portion 402 about central plane 327 be symmetrical.

First half portion 400 is tapered along the center 326 of longitudinal axis 312 towards roller 300, and the second half portion 402 is towards roller 300 center 326, for example, it is tapered towards central plane 327.In some embodiments, the first half portion 400 of core 304 Tapered from first end 314 towards center 326, the second half portion 402 of core 304 is along longitudinal axis 312 from the second end 316 is tapered towards center 326.In some cases, core 304 along the total length L 3 of core 304 towards center 326 into cone Shape.In some cases, the outer diameter D 1 close to the center 326 of roller 300 or the core 304 at the center of roller 300 326 is less than Close to the first and second ends 314,316 of core 304 or the core at the first and second ends 314,316 of core 304 304 outer diameter D 2, D3.The outer diameter of core 304, for example, along roller 300 longitudinal axis 312 for example, from along longitudinal axis 312 The position at both ends 314,316 linearly reduce to center 326.

In some embodiments, the core 304 of support construction 303 is from first end 314 and the second end 316 towards roller 300 center 326 is tapered, and elongated portion 305a, 305b are integrated into core 304.Core 304 is total along core 304 Length L3 is attached to axis 306.By being attached to core 304 along the total length L 3 of core 304, be applied to core 304 and/ Or the torque of axis 306 can more uniformly be transmitted along the total length L 3 of core 304.

In some embodiments, support construction 303 is single single component, and wherein core 304 is along support construction 303 Total length extension without any discontinuous.Core 304 is integrated into first end 314 and the second end 316.Alternatively, join According to Fig. 4 B, core 304 include positioning around the axis 306, be located in sheath 302 and be attached to sheath 302 it is multiple not Continuous part.First half portion 400 of core 304 includes such as multiple portions 402a, 402b, 402c.Part 402a, 402b, 402c is discontinuous each other, so that core 304 is included in part 402a, the gap between 402b and part 402b, 402c 403.Each in multiple portions 402a, 402b, 402c is attached to axis 306, to improve from axis 306 to 304 He of core The torque of support construction 303 transmits.In this regard, axis 306 is by multiple portions 402a, and each in 402b, 402c mechanically joins It is connected to each other, so that part 402a, 402b, 402c is jointly rotated with axis 306.In multiple portions 402a, 402b, 402c Each of towards roller 300 center 326 it is tapered.Multiple portions 402a, 402b, 402c, for example, each is far from core 304 first end 314 is tapered, and tapered towards center 326.The elongated portion 305a of support construction 303 is fixed To the part 402a of core 304, for example, being integrated into the part 402a of core 304.

Similarly, the second half portion 402 of core 304 includes such as discontinuous multiple portions 404a, 404b each other, 404c, so that core 304 is included in part 404a, the gap 403 between 404b between part 404b, 404c.Multiple portions Each in point 404a, 404b, 404c is attached to axis 306.In this regard, axis 306 is by multiple portions 404a, 404b, 404c In it is each be mechanically coupled to each other so that part 404a, 404b, 404c is jointly rotated with axis 306.Core 304 Therefore second half portion 402 is jointly rotated with the first half portion 400 of core 304.In multiple portions 404a, 404b, 404c Each is tapered towards the center 326 of roller 300.Multiple portions 404a, 404b, 404c, for example, each is far from core 304 The second end 314 it is tapered and tapered towards center 326.The elongated portion 305b of support construction 303 is fixed to core The part 404a of body 304, for example, being integrated into the part 404a of core 304.

In some cases, near the part 402c of first half portion 400 at center 326 and near center 326 The part 404c of two half portions 402 is continuous each other.The part 404c of the part 402c of first half portion 400 and the second half portion 402 Form the continuous part 406 that the extension of both first end 314 and the second ends 316 of core 304 is outwardly directed to from center 326. In such an example, core 304 includes five different, discontinuous section 402a, 402b, 406 404a, 404b.It is similar Ground, support construction 303 include five different, discontinuous sections.First in these parts include elongated portion 305a and The part 402a of core 304.Second part 402b for corresponding to core 304 in these parts.Third in these parts A continuous part 406 corresponding to core 304.The 4th part 404b for corresponding to core 304 in these parts.These portions The 5th part 404a for including elongated portion 305b and core 304 in point.Although core 304 and support construction 303 are retouched It is to include five differences and discontinuous section to state, but in some embodiments, core 304 and support construction 303 are included more Less or additional discontinuous section.

With reference to both Fig. 4 C and 4D, the first end 314 of core 304 includes alternate rib 408,410.Rib 408,410 is every A all longitudinal axis 312 far from roller 300 extend radially outward.Rib 408,410 is continuous and forms part each other 402a。

Cross rib 408 is extended transversely with relative to longitudinal axis 312.Cross rib 408 includes being fixed to the ring portion of axis 306 Divide 412 and the protrusion 414a-414d extended radially outward from the loop section 412.In some embodiments, protrusion 414a- 414d is axisymmetric about loop section 412, for example, the longitudinal axis 312 about roller 300 is axisymmetric.

Longitudinal rib 410 is longitudinally extended along longitudinal axis 312.Rib 410 includes the loop section 416 for being fixed to axis 306 With the protrusion 418a-418d extended radially outward from loop section 416.Protrusion 418a-418d is axis pair about loop section 416 Claim, for example, the longitudinal axis 312 about roller 300 is axisymmetric.

The loop section 412 of rib 408 has the wall thickness of the wall thickness of the loop section 416 more than rib 410.The protrusion of rib 408 414a-414d has the wall thickness of the wall thickness of the protrusion 418a-418d more than rib 410.

The free end 415a-415d of protrusion 414a-414d limits the outer diameter of rib 408, the free end of protrusion 418a-418d 419a-419d limits the outer diameter of rib 410.The distance between free end 415a-415d, 419a-419d and longitudinal axis 312 restriction The width of rib 408,410.In some cases, these width are the outer diameters of rib 408,410.Free end 415a-415d, 419a- 419d is the part along the consistent arc of the circle of longitudinal axis 312, the e.g. circumference of these circles with center.These circles are same each other The heart and concentric with loop section 412,416.In some cases, the outer diameter of the rib 408,410 at the closer center 326 is more than Further away from the outer diameter of the rib 408,410 at center 326.The outer diameter of rib 408,410 is from first end 314 to center 326, for example, arriving Central plane 327 linearly reduces.Particularly, as shown in Fig. 4 D, rib 408,410 forms the length along part 402a The continuous longitudinal rib 411 of extension.The rib extends radially outward from longitudinal axis 312.Rib 411 is relative to longitudinal axis 312 Height reduces towards center 327.The height of rib 411 for example linearly reduces towards center 327.

In some embodiments, referring also to Fig. 4 B, the core 304 of support construction 303 includes the longitudinal axis far from roller 300 The column 420 that line 312 extends.Column 420 for example extends from the longitudinal axis 312 for being parallel to roller 300 and extends through the vertical of the roller 300 Extend to the plane of axis 312.As described herein, the torque that column 420 can be improved between sheath 302 and support construction 303 passes It passs.Column 420 extends in sheath 302 and transmits and improve the bonding between sheath 302 and support construction 303 to improve torque Intensity.The vibration in roller 300 can be stablized and be mitigated to column 420 by balancing the Mass Distribution on entire roller 300.

In some embodiments, column 420 perpendicular to core 304 rib, for example, prolonging perpendicular to protrusion 418a, 418c It stretches.Protrusion 418a, 418c vertically extend for example away from the longitudinal axis 312 of roller 300, and column 420 is from protrusion 418a, 418c Extend and perpendicular to protrusion 418a, 418c.Column 420 has the length L6 for example in the range of 0.5 to 4 millimeter, for example, 0.5 to 2 Length in the range of millimeter, the length in the range of 1 millimeter to 3 millimeters, the length in the range of 1.5 millimeters to 3 millimeters, 2 millimeters are arrived Length in the range of 4 millimeters etc..

In some embodiments, core 304 is included in more at multiple positions along the longitudinal axis 312 of roller 300 A column 420a, 420b.Core 304 includes what is for example extended from the single transverse plane of the longitudinal axis 312 perpendicular to roller 300 Multiple column 420a, 420c.Column 420a, 420c for example extend along the longitudinal axis 312 for being parallel to roller 300 and extend through this The fore-and-aft plane of the longitudinal axis 312 of roller 300 is mutually symmetrical.The fore-and-aft plane is different from and perpendicular to column 420a, 420c from Its transverse plane extended.In some embodiments, the longitudinal axis of column 420a, 420c about roller 300 at transverse plane Line 312 is axisymmetrically arranged.

Although for each illustrating four protrusions in rib 408,410, in some embodiments, rib 408, 410 include less or additional protrusion.Although Fig. 4 C and 4D is retouched about the part 402a of first end 314 and core 304 State, but the construction of the other parts 402b, 402c and 404a-404c of the second end 316 and core 304 can be similar to about The construction of example description in Fig. 4 C and 4D.First half portion 400 of core 304 is for example about 327 and second half portion of central plane 402 is symmetrical.

The sheath 302 positioned around core 304 has several appropriate constructions.Fig. 3 A-3E illustrate an exemplary structure It makes.Sheath 302 includes the shell 336 for surrounding and being attached to core 304.Shell 336 is included about central plane 327 symmetrical the first half 338 and second half portion 340 of portion.First half portion 322 of sheath 302 includes the first half portion 338 of shell 336, and the second the half of sheath 302 Portion 324 includes the second half portion 340 of shell 336.

In some embodiments, the first half portion 338 of shell 336 and the second half portion 340 include truncated cone part 341a, 341b and cylindrical portion 343a, 343b.In truncated cone part 341a, 341b and cylindrical portion 343a, 343b Each longitudinal axis 312 for being parallel to and passing through roller 300 in mandrel line extends.

The free portion 331b, 331c of sheath 302 include cylindrical portion 343a, 343b.In this regard, cylindrical portion 343a, 343b extend beyond the end 314,316 of core 304.Cylindrical portion 343a, 343b are with the inner surface and the outer surface Tubular portion.Well 328,330 is collected by cylindrical portion 343a, the inner surface of 343b limits.

The fixed part 331a of sheath 302 includes the truncated cone part 341a, 341b of shell 336.Frustoconical portion 341a, 341b is divided to extend from central plane 327 along longitudinal axis 312 towards the end 318,320 of sheath 302.Frustum of a cone Body portion 341a, 341b are disposed on the core 304 of support construction 303, so that the outer diameter of shell 336 is towards in roller 300 The heart 326, for example, reducing towards central plane 327.The outer diameter D 4 of shell 336 at central plane 327 is, for example, less than in sheath The outer diameter D 5, D6 of shell 336 at 302 outer end 318,320.However, the inner surface of cylindrical portion 343a, 343b are freely , the inner surface of truncated cone part 341a, 341b are fixed to core 304.In some cases, the outer diameter court of shell 336 Linearly reduce to center 326.

Although sheath 302 is described as having cylindrical portion 343a, 343b, in some embodiments, part 343a, 343b are truncated cone part 341a, a part of 341b, and are also tapered.Truncated cone part 341a, 341b extends along the total length of sheath 302.In this regard, well 328,330 is collected by truncated cone part 341a, 341b's Inner surface limits.

With reference to Fig. 3 D, shell 336 includes core fixed part 350, the protrusion of core 304 is attached to, for example, protrusion 414a-414d, 418a-418d.Particularly, core fixed part 350 fixes the truncated cone part 341a, 341b to core Body 304.Each core fixed part 350 radially inwardly extends, and be attached to core 304 from the outer surface of shell 336 Protrusion.For example, core fixed part 350 is interlocked with core 304 can realize from core 304 to truncated cone part 341a, The uniform torque of 341b transmits.Particularly, core fixed part 350 is located at the protrusion 414a-414d of core 304,418a- Between 418d, so that core 304 can more easily drive the shell 336 when core 304 rotates, sheath is thus driven 302.Core fixed part 350 is, for example, wedge-like portion, in the adjacent protrusion 414a-414d of core 304,418a-418d Between extend circumferentially over upon and radially inwardly extend towards the loop section 412,416 of core 304.

With reference to Fig. 3 E, shell 336 further comprises axis fixed part 352, inside from the outer surface of shell 336 towards axis 306 Radially.Truncated cone part 341a, 341b are fixed to axis 306 by axis fixed part 352.Particularly, axis fixed part Divide 352 to extend inwardly into axis 306 between discontinuous section 402a, 402b, 402c, enable axis fixed part 352 by sheath 302 Fixed to axis 306.In this regard, sheath 302 is attached to support construction 303 by core 304, and sheath 302 passes through core Gap 403 (showing in figure 4b) between the discontinuous section of body 304 is attached to axis 306, and gap 403 can realize sheath Being in direct contact between 302 and axis 306.In some cases, as described herein, axis fixed part 352 was moulded in cladding Axis 306 is directly bonded to during journey to form sheath 302.

Because axis 306 is attached to both core 304 and axis 306, being transmitted to the torque of axis 306 can be easily transferred to protect Set 302.Increased torque transmission can improve the ability that sheath 302 picks up clast from floor surface 10.Torque is transmitted due to sheath Interlocking composition surface between 302 and core 304 can be constant along the length of roller 300.Particularly, the core of shell 336 is fixed Part 350 is interlocked with core 304.It the outer surface of shell 336 can be with 306 the same or similar rate of axis along shell 336 and core The whole length rotation on the composition surface between 304.

In some embodiments, the sheath 302 of roller 300 is single component, including shell 336 and the appearance from shell 336 The cantilevered paddle that face essentially radially extends.Each blade has the one end for the outer surface for being fixed to shell 336, and The other end is free.The height of each blade is defined as at shell 336, such as be attached to the fixing end at the point of shell 336 To the distance of free end.The periphery of the free end inswept sheath 302 during the rotation of roller 300.The periphery is along roller 300 Length is consistent.Because arrive center from axis 312 to the radius of the outer surface of shell 336 from the end of sheath 302 318,320 327 reduce, and the height of each blade increases from the end of sheath 302 318,320 to center 327, so that the periphery of roller 300 exists It is consistent in the length of roller 300.In some embodiments, blade is armband shape, so that two of each blade Each in supporting leg starts at the opposite end of sheath 302 318,320, and two supporting legs are at a certain angle at the center of roller 300 It meets to form " V " shape shape at 327.The end of V is in a rotational direction before the supporting leg.

Fig. 5 A and 5B illustrate one of the sheath 302 including one or more blades on the outer surface of shell 336 Example.With reference to Fig. 3 C, although there is described herein individual blade 342, roller 300 includes multiple leaves in some embodiments Piece is each similar to blade 342 in multiple blades, but is placed along at the different location of the outer surface of shell 336.Blade 342 be sheath 302 can leg portion, when roller 300 rotates during clean operation in some cases and floor surface 10 engagements.Blade 342 is along the truncated cone part 341a, 341b of shell 336 and the outer surface of cylindrical portion 343a, 343b Extension.Blade 342 is from sheath 302 and the longitudinal axis 312 far from roller 300 extends radially outwardly.Blade 342 when it with Deflection during 300 rotating contact floor surface 300 of roller.

With reference to Fig. 5 B, blade 342 extends to the second free end 502 from the first end 500 for being fixed to shell 336.Blade 342 Height correspond to the height H1 that is for example measured from first end 500 to second end 502, for example, the outer surface measuring from shell 336 Blade 342 height.The height H1 of the blade 342 at the center 326 of adjacent roll 300 is more than the first end for closing on axis 306 308 and the second end 310 blade 342 height H1.The height H1 of the blade 342 at the center of adjacent roll 300 is in some cases Under be blade 342 maximum height.In some cases, the height H1 of blade 342 is from the center of roller 300 326 towards axis 306 First end 308 linearly reduces.In some cases, the height H1 of blade 342 is in the cylindrical portion 343a, 343b of shell 336 On be uniform, and along shell 336 truncated cone part 341a, 341b highly linear reduce.In some embodiment party In formula, blade 342 is at an angle of backward relative to the direction of rotation 503 of roller 300 so that blade 342 in response to floor surface 10 contact more easily deflection.

With reference to Fig. 5 A, blade 342 for example follows the V-arrangement path 504 along the outer surface of shell 336.V shapes path 504 includes 506 and second supporting leg 508 of first leg, each supporting leg is respectively from central plane 327 towards the first end 318 of sheath 302 Extend with the second end 320.First and second supporting legs 506,508 along shell 336 outer surface, particularly in the rotation of roller 300 It is extended circumferentially over upon on direction 503.The height H1 of blade 342 is along the first leg 506 in path 504 from 327 direction of central plane First end 318 reduces, and the height H1 of blade 342 along second supporting leg 508 in path 504 from 327 direction of central plane The second end 320 reduces.In some cases, the height of blade 342 from central plane 327 towards the second end 320 linearly Reduce, and linearly reduce from central plane 327 towards first end 318.

In some cases, the outer diameter D 7 of sheath 302, which corresponds to, is arranged in the plane across the longitudinal axis 312 of roller 300 Opposite side on blade 342a, 342b free end 502a, the distance between 502b.The outer diameter D 7 of sheath 302 is in some feelings On the total length of sheath 302 it is uniform under condition.In this regard, although the truncated cone part 341a, 341b of shell 336 into Taper, but due to variation sheath 302 blade 342a, 342b height so that the outer diameter of sheath 302 in sheath 302 It is uniform in length.

When roller 300 and another roller, for example, when roller 104b is pairs of, outer surface and another roller of the shell 336 of roller 300 The outer surface of shell 336 limits interval between them, such as interval 108 described here.These rollers define at them it Between the air gap, for example, the air gap described here 109.Due to truncated cone part 341a, 341b is tapered, because The center 326 of the size at this interval towards roller 300 increases.Truncated cone part 341a, 341b, due to inwardly roller 300 Center 326 it is tapered, promote the movement towards the end 318,320 of sheath 302 by the filament clast that roller 300 picks up.Carefully Therefore silk clast can be collected into collects in well 328,330, so that user can easily remove filament clast from roller 300. In some examples, user unloads lower roll 300 so that collection can be made to collect the filament clast in well 328,330 from clean robot It is removed.

In some cases, for the size of the air gap due to truncated cone part 341a, 341b is tapered and changes.It is special Not, the width of the air gap depends on whether the blade 342a of roller 300, and 342 face the blade of another roller.Although in roller The width of the air gap between 300 sheath 302 and the sheath of another roller changes along the longitudinal axis 312 of roller 300, but It is that the peripheries of these rollers is consistent.As described in about roller 300, the free end 502a of blade 42a, 342b, 502b limit roller 300 periphery.Similarly, the free end of the blade of another roller limits the periphery of another roller.If blade 342a, 342b In face of the blade of another roller, then the width of the air gap is corresponding to the minimum widith between roller 300 and another roller, example Such as, the distance between the periphery of the shell 336 of roller 300 and the periphery of shell of another roller.If the blade 342a, 342b of the roller and The blade of another roller be positioned so that the air gap is limited by the distance between shell of these rollers, then the sky The width in gas gap corresponds to the maximum width between these rollers, such as the free end of the blade 342a, 342b in roller 300 Maximum width between the free end of the blade of 502a, 502b and another roller.

The exemplary dimensions of clean robot and clearer

The ruler size of clean robot 102, roller 300 and their component changes between some embodiments.With reference to figure 3E and Fig. 6, in some examples, the length L2 of roller 300 correspond to the length between the outer end 308,310 of axis 306.This point On, the length of axis 306 corresponds to the total length L 2 of roller 300.Length L2 is for example in 10 centimetres to 50 cm ranges, such as 10 Centimetre in 30 cm ranges, in 20 centimetres to 40 cm ranges, in 30 centimetres to 50 cm ranges.The length of roller 300 L2 for example (is shown in fig. 2) in the range of the 70% to 90% of the overall width W1 of robot 102, for example, in robot 102 Overall width W1 70% to 80% in the range of, in the range of 75% to 85% and in the range of 80% to 90% etc..Robot 102 width W1 is for example in 20 centimetres to 60 cm ranges, for example, in 20 centimetres to 40 cm ranges, at 30 centimetres extremely In 50 cm ranges, in 40 centimetres to 60 cm ranges etc..

With reference to Fig. 3 E, the length L3 of core 304 is in 8 centimetres to 40 cm ranges, such as in 8 centimetres to 20 centimetres models In enclosing, in 20 centimetres to 30 cm ranges, in 15 centimetres to 35 cm ranges, in 25 centimetres to 40 cm ranges etc..Core 304 length L3 corresponds to the fixation of the pattern length and sheath 302 of the truncated cone part 341a, 341b of such as shell 336 The length of part 331a.The length L3 of core 304 is in the range of the 70% to 90% of the length L2 of roller 300, for example, in roller 300 Length L2 70% to 80% in the range of, in the range of 70% to 85%, in the range of 75% to 90% etc..The length of sheath 302 L4 is in 9.5 centimetres to 47.5 cm ranges, such as in 9.5 centimetres to 30 cm ranges, in 15 centimetres to 30 cm ranges, 20 centimetres in 40 cm ranges, in 20 centimetres to 47.5 cm ranges etc..The length L4 of sheath 302 is in the length L2 of roller 300 80% to 99% in the range of, for example, in the range of the 85% to 99% of the length L2 of roller 300, and in 90% to 99% model It encloses interior etc..

The length L8 of reference one of Fig. 4 B, the elongated portion 305a, 305b of support construction 303 is for example at 1 centimetre to 5 centimetres In the range of, such as in 1 to 3 cm range, in 2 to 4 cm ranges, in 3 to 5 cm ranges etc..Elongated portion 305a, 306b has a pattern length, such as in the range of the 10% to 30% of the total length L 9 of support construction 303, for example, total In the range of the 10% to 20% of length L9, in the range of 15% to 25%, in the range of 20% to 30% etc..In some examples, it stretches The length of long part 305a is different from the length of elongated portion 305b.The length of elongated portion 305a is, for example, elongated portion 305b Length 50% to 90%, 50% to 70%, 70% to 90%.

The length L3 of core 304 is for example in the range of the 70% to 90% of total length L 9, for example, the 70% of total length L 9 To in the range of 80%, in the range of 75% to 85%, in the range of 80% to 90% etc..Total length L 9 is for example in the total length of roller 300 In the range of the 85% to 99% of L2, for example, in the range of the 90% to 99% of the total length L 2 of roller 300,95% to 99% range It is interior etc..Axis 306 extends beyond mono- length L10 of elongated portion 305a, which is, for example, 0.3 millimeter to 2 millimeters, for example, 0.3 Millimeter is in the range of 1 millimeter, in the range of 0.3 millimeter to 1.5 millimeters etc..As described herein, in some cases, roller 300 Total length L 2 corresponds to the total length of axis 306, extends beyond the length L9 of support construction 303.

With reference to Fig. 3 E, in some embodiments, the length L5 of well 328, one of 330 is collected for example at 1.5 centimetres to 10 In cm range, for example, in 1.5 centimetres to 7.5 cm ranges, in 5 centimetres to 10 cm ranges etc..Length L5 is for example right It should be in the length of the free portion 331b, 331c of the length and sheath 302 of the cylindrical portion 343a, 343b of shell 336.Collect well One of 328,330 length L5 is, for example, 2.5% to the 15% of the length L2 of roller 300, for example, in the length L2 of roller 300 In the range of 2.5% to 10%, in the range of 5% to 10%, in the range of 7.5% to 12.5%, in the range of 10% to 15%.Collect well 328,330 total pattern length is for example in 3 centimetres to 15 cm ranges, for example, in 3 to 10 cm ranges, 10 to 15 lis In the range of rice etc..Total pattern length corresponds to total pattern length of the free portion 331b, 331c of sheath 302 and shell 336 Total pattern length of cylindrical portion 343a, 343b.Total pattern length of well 328,330 is collected for example the length L2's of roller 300 In the range of 5% to 30%, for example, in the range of the 5% to 15% of the length L2 of roller 300, in the range of 5% to 20%, 10% to In the range of 25%, in the range of 15% to 30% etc..In some examples, the pattern length of well 328,330 is collected in core 304 Length L3 5% to 40% in the range of, for example, in the range of the 5% to 20% of the length L3 of core 304,20% to 30% In the range of and 30% to 40% in the range of etc..

In some embodiments, as shown in Figure 6, the roller between the end of sheath 302 318 and end 320 300 width or diameter corresponds to the diameter D7 of sheath 302.Diameter D7 is in some cases from the end of sheath 302 318 to end Portion 320 is uniform.Along the difference of the longitudinal axis 312 of roller 300 between the position of the position of end 318 and end 320 The diameter D7 of roller 300 at position is equal.Diameter D7 is for example in the range of 20 millimeters to 60 millimeters, at 20 millimeters to 40 millis In the range of rice, in the range of 30 millimeters to 50 millimeters, in the range of 40 millimeters to 60 millimeters etc..

With reference to Fig. 5 B, the height H1 of blade 342 is for example in the range of 0.5 millimeter to 25 millimeters, for example, at 0.5 to 2 millimeter In the range of, in the range of 5 to 15 millimeters, in the range of 5 to 20 millimeters, in the range of 5 to 25 millimeters etc..Leaf at central plane 327 The height H1 of piece 342 is for example in the range of 2.5 to 25 millimeters, for example, in the range of 2.5 to 12.5 millimeters, 7.5 to 17.5 in the least In the range of rice, in the range of 12.5 to 25 millimeters etc..The height H1 of blade 342 at the end of sheath 302 318,320 is for example In the range of 0.5 to 5 millimeter, for example, in the range of 0.5 to 1.5 millimeter, in the range of 0.5 to 2.5 millimeter etc..In central plane Height H1s of the height H1 of the blade 342 at 327 for example than the blade 342 at the end of sheath 302 318,320 is big 1.5 to 50 times, for example, 1.5 to 5 times bigger than the height H1 of the blade 342 at the end 318,320,5 to 10 times, 10 arrive 20 times, 10 to 50 times etc..The height H1 of blade 342 at central plane 327 for example corresponding to the maximum height of blade 342, The height H1 of blade 342 at the end of sheath 302 318,320 corresponds to the minimum constructive height of blade 342.In some implementations In mode, the maximum height of blade 342 is 5% to the 45% of the diameter D7 of sheath 302, for example, the diameter D7 of sheath 302 5% to 15%, 15% to 30%, 30% to 45% etc..

Although diameter D7 can be uniform between the end of sheath 302 318,320, the diameter of core 304 can Change at the difference of the length along roller 300.Along central plane 327 core 304 diameter D1 for example at 5 millimeters extremely In the range of 20 millimeters, for example, in the range of 5 to 10 millimeters, in the range of 10 to 15 millimeters, in the range of 15 to 20 millimeters etc..It is close First and second ends 314,316 of core 304 or the core 304 at the first and second ends 314,316 of core 304 Diameter D2, D3 for example in the range of 10 millimeters to 50 millimeters, for example, in the range of 10 to 20 millimeters, 15 to 25 millimeters of ranges It is interior, in the range of 20 to 30 millimeters, in the range of 20 to 50 millimeters.Diameter D2, D3 are, for example, the maximum gauge of core 304, and diameter D1 is the minimum diameter of core 304.Diameter D2, D3 are for example 5 to 20 millimeters smaller than the diameter D7 of sheath 302, for example, diameter group D7 It is 5 to 10 millimeters small, 5 to 15 millimeters, 10 to 20 millimeters etc..In some embodiments, diameter D2, D3 are the diameters of sheath 302 10% to the 90% of D7, for example, being 10% to the 30% of the diameter D7 of sheath 302,30% to 60%, 60% to 90% etc..Directly Diameter D1 is for example 10 to 25 millimeters smaller than the diameter D7 of sheath 302, for example, it is 10 to 15 millimeters smaller than the diameter D7 of sheath 302,10 To 20 millimeters, 15 to 25 millimeters etc..In some embodiments, diameter D1 is 5% to the 80% of the diameter D7 of sheath 302, example Such as, be sheath 302 diameter D7 5% to 30%, 30% to 55%, 55% to 80% etc..

Similarly, although by blade 342a, the outer diameter for the sheath 302 that the free end 502a of 342b, 502b are limited can be Uniform, but the diameter of the shell 336 of sheath 302 can change at the difference of the length along shell 336.Along central plane The diameter D4 of 327 shell 336 is for example in the range of 7 millimeters to 22 millimeters, for example, in the range of 7 to 17 millimeters, 12 to 22 in the least In the range of rice etc..It is for example limited along the diameter D4 of the shell 336 of central plane 327 by the wall thickness of shell 336.In sheath 302 The diameter D5, D6 of shell 336 at outer end 318,320 are for example in the range of 15 millimeters to 55 millimeters, for example, at 15 to 40 millimeters In the range of, in the range of 20 to 45 millimeters, in the range of 30 millimeters to 55 millimeters etc..In some cases, diameter D4, D5 and D6 is 1 to 5 millimeters bigger than the diameter D1, D2 and D3 of the core 304 along central plane 327, for example, big 1 to 3 millis of diameter group D1 Rice, it is 2 to 4 millimeters big, big 3 to 5 millimeters etc..The diameter D4 of shell 336 is for example in 10% to 50% model of the diameter D7 of sheath 302 In enclosing, for example, in the range of the 10% to 20% of diameter D7, in the range of 15% to 25%, in the range of 30% to 50% etc..Shell 336 diameter D5, D6 is for example in the range of the 80% to 95% of the diameter D7 of sheath 302, for example, in the diameter D7 of sheath 302 80% to 90% in the range of, in the range of 85% to 95%, in the range of 90% to 95% etc..

In some embodiments, diameter D4 correspond to along shell 336 length shell 336 minimum diameter, diameter D5, D6 corresponds to the maximum gauge of the shell 336 of the length along shell 336.Diameter D5, D6 correspond to the cylindrical portion of such as shell 336 The maximum gauge of the diameter of 343a, 343b and the truncated cone part 341a, 341b of shell 336.The example illustrated in figure 1A In, 108 length S2 is spaced by clearer 104a, and the maximum gauge of the shell of 104b limits.The length S3 at interval 108 is by clearer The minimum diameter of the shell of 104a, 104b limits.

In some embodiments, the diameter of core 304 linearly changes along the length of core 304.From in core 304 Length range in minimum diameter to maximum gauge, the diameter of core 304 is with for example in the range of 0.01 to 0.4mm/mm, example Such as in the range of 0.01 to 0.3mm/mm, the slope M1 waited in the range of 0.05 millimeter to 0.35mm/mm increases.In this regard, Angle between the slope M1 and longitudinal axis 312 that limited by the outer surface of core 304 for example in the range of 0.5 degree to 20 degree, For example, in the range of 1 to 10 degree, in the range of 5 to 20 degree, in the range of 5 to 15 degree, in the range of 10 to 20 degree etc..

With reference to Fig. 3 E, similarly, in some instances, the diameter of shell 336 also linearly changes along the length of shell 336. From the minimum diameter of the length along shell 336 to maximum gauge, the diameter of core 304 is to be similar to the diameter about core 304 The slope M2 increases on the slope of description.Slope M2 is for example in the range of 0.01 to 0.4mm/mm, for example, 0.01 to 0.3mm/ In the range of mm, in the range of 0.05 millimeter to 0.35mm/mm etc..The slope M2 and longitudinal axis limited by the outer surface of shell 336 it Between angle be similar to core 304 slope M1.Angle between slope M2 and longitudinal axis 312 is for example at 0.5 degree to 20 In the range of degree, for example, in the range of 1 to 10 degree, in the range of 5 to 20 degree, in the range of 5 to 15 degree, range is spent 10 to 20 It is interior etc..Particularly, slope M2 corresponds to the slope M2 of the truncated cone part 341a, 341b of shell 336.

For the illustrative manufacturing process of clearer

One of several appropriate processes system can be used in the specific configuration of the sheath 302 of roller 300, support construction 303 and axis 306 Make.Axis 306 is, for example, by metal manufacturing process, such as the single component of the formation such as mechanical processing, metal injection molded.In order to attached Structure for welding and supporting 303 arrives axis 306, and support construction 303 is for example being formed by plastic material in process of injection molding, in the injection In forming process, the plastic material of fusing is injected into the mold for being used to support structure 303.In some embodiments, exist It is embedded in process of injection molding, before the plastic material of fusing is injected into the mold, axis 306 is inserted into for branch In the mold of support structure 303.The plastic material of fusing bonds with axis 306 and the support construction is formed in mold while cooling 303.As a result, support construction 303 is attached to the axis 306.If the core 304 of support construction 303 includes discontinuous section 402a, 402b, 402c, 404a, 404b, 404c, then the surface of mold in discontinuous section 402a, 402b, 402c, 404a, The axis 306 is engaged at gap 403 between 404b, 404c, support construction 303 to be inhibited to be formed at gap 403.

In some cases, sheath 302 is formed by embedment process of injection molding, wherein forming the fusing of sheath 302 Before plastic material is injected into the mold, axis 306 is inserted into being attached to the support construction 303 of the axis 306 and is used for In the mold of sheath 302.The plastic material of fusing is bonded while cooling with the core of support construction 303 304 and the shape in mold Into sheath 302.By being bonded during process of injection molding with core 304, sheath 302 is attached to described by core 304 Support construction 303.In some embodiments, the mold for sheath 302 is designed to make truncated cone part 341a, 341b are adhered to core 304, and cylindrical portion 343a, 343b are not adhered to core 304.On the contrary, tubular Part 343a, 343b are not attached and freely extend beyond the end 314,316 of core 304, to limit the collection Well 328,330.

In some embodiments, in order to improve the adhesive strength between sheath 302 and core 304, core 304 includes knot Structure feature, the structure feature increase when being cooled down for the plastic material of the fusing of sheath 302 between sheath 302 and core 304 Adhesion area.In some embodiments, the protrusion of core 304, for example, protrusion 414a-414d, 418a-418d, increase shield Adhesion area between set 302 and core 304.The protrusion of core fixed part 350 and core 304 has with wherein core 304 Such as uniform cylindrical or other uniformly prismatic examples are compared with increased adhesion area.In further example, column 420 extend in sheath 302, so as to the adhesion area further between increase core fixed part 350 and sheath 302.Column 420 engagement sheaths 302 arrive core 304 rotatably to couple sheath 302.In some embodiments, discontinuous section 402a, Gap 403 between 402b, 402c, 404a, 404b, 404c can make to be formed the plastic material of sheath 302 towards 306 diameter of axis It extends internally to ground, so that a part for sheath 302 is located at discontinuous section 402a, 402b, 402c in gap 403, Between 404a, 404b, 404c.In some cases, axis fixed part 352 contacts the axis 306, and in this burying for description Axis 306 is directly adhered to during entering forming process.

The example manufacturing process can further promote the uniform torque to support construction 303 and to sheath 302 from axis 306 It transmits.The bonding of enhancing between these structures can reduce torque not from the longitudinal axis 312 of driving axis, such as roller 300 It is outwardly directed to the possibility that the outer surface of sheath 302 is transmitted.Because torque is effectively transferred to the outer surface, therefore clast Pickup can enhance, because the larger portion of outer surface of roller 300 applies a greater amount of torques so that clast is transported on floor surface It is dynamic.

In addition, because of sheath 302, inwardly core 304 extends and is interlocked with core 304, therefore the shell of sheath 302 336 can be held round shape in response to being contacted with floor surface.Although blade 342a, 342b may be in response to and floor table Face contact and/or contact and deflection with clast, but shell 336 can deflection obtain it is relatively small, so as to make shell 336 application bigger The clast that the power of amount is contacted to it.The increased power for being applied to clast can increase the agitation amount of clast, so that roller 300 can be more Easily suck clast.In addition, can help to will be broken by the air stream 120 that vacuum subassembly 118 generates for the increased agitation of clast Bits are taken in clean robot 102.In this regard, it is not in response in being contacted and deflection with floor surface, roller 300 can keep its Shape and power is more easily transmitted to the clast.

Alternate embodiments

Several embodiments have been described.It is understood, however, that it can carry out various modifications.

Although some pervious examples are described about single roller 300 or roller 104a, before roller 300 is similar to Roller 104b, other than the arrangement of blade 224b that the arrangement of the blade 342 of roller 300 is different from preliminary roller 104b, as described herein 's.Particularly because roller 104b is preliminary roller, and roller 104a is back roller, is accordingly used in the V-arrangement path of the blade 224a of roller 104a With the V-arrangement way symmetric of the blade 224b for roller 104b, for example, about to roller 104a, the longitudinal axis 126a of 104b, The equidistant perpendiculars of 126b are symmetrical.For blade 224b V-arrangement path supporting leg along the shell 222b's of roller 104b Outer surface extends on 130b in the counterclockwise direction, and is used for the supporting leg in the V-arrangement path of blade 224a along the shell 222a of roller 104a Outer surface extend on 130a in the clockwise direction.

In some embodiments, roller 104a and roller 104b has different length.Roller 104b is for example shorter than roller 104a.Roller The length of 104b is, for example, 50% to the 90% of the length of roller 104a, for example, being 50% to the 70% of the length of roller 104a, 60% To 80%, 70% to 90%.If the length of roller 104a, 104b are different, then roller 104a, 104b are in some cases The minimum diameter of the shell 222a, 222b of roller 104a, 104b are configured such that along perpendicular to roller 104a, two of 104b indulge The same level of axis 126a, 126b.As a result, the interval between shell 222a, 222b is by shell 222a, the 222b limit in the plane It is fixed.

Therefore, other embodiment is within the scope of the claims.

Claims

1. a kind of clearer that may be mounted to clean robot, which is characterized in that the clearer includes：

The axis of elongation, the axis of elongation extend to the second end along a rotation axis from first end, and the first and second ends can pacify Clean robot is attached to, for being rotated around rotation axis；

Core, the core are attached to around the axis, and with along the axis and closing on first and second end and determine The outer end of position；

Well is collected, which is limited by the outer end and sheath of core.

2. clearer as described in claim 1, which is characterized in that the core is near the first end of the axis towards edge The center for the roller of the rotation axis positioning is tapered.

3. clearer as described in claim 1, which is characterized in that the length of the clearer is at 20 centimetres to 30 cm ranges It is interior, and sheath is attached to the core along 70% to the 90% of the length of the clearer.

4. clearer as described in claim 1, which is characterized in that core is included around the axis and default in the sheath Multiple discontinuous sections of position.

5. clearer as claimed in claim 4, which is characterized in that at least one of the multiple discontinuous section includes：

Loop section, the loop section be attached to the axis and

Multiple protrusions, multiple protrusion extend radially outward from the loop section, and the protrusion is about the rotation axis It is axisymmetric.

6. clearer as claimed in claim 4, which is characterized in that between the multiple discontinuous section limits between them Gap, and the sheath extends to the axis by the gap.

7. clearer as claimed in claim 4, which is characterized in that at least one of the multiple discontinuous section includes edge The longitudinal rib of the length extension of at least one of the multiple discontinuous section, the longitudinal rib is relative to the rotation axis Height towards the axis center reduce.

8. clearer as described in claim 1, which is characterized in that the core is included far from the rotation axis described in Multiple columns of sheath extension, the column engage the sheath so that the sheath is connected to the core.

9. clearer as described in claim 1, which is characterized in that the sheath includes the shell for surrounding and being attached to core, should Shell includes truncated cone half portion.

10. clearer as described in claim 1, which is characterized in that sheath includes：

Be attached to core shell and

The blade extended radially outward from the shell closes on wherein the height for closing on the blade of the first end of the axis is less than The height of the blade at the center of the axis.