CN220937948U - Rolling brush assembly for sweeping robot and sweeping robot - Google Patents

Abstract

The application relates to a rolling brush assembly for a sweeping robot and the sweeping robot. According to the present application, the rolling brush assembly includes a rotating main shaft, and a cutting mechanism including a fixed gear row member and a movable gear row member which are stacked and mounted, and the clutch mechanism can change a clutch state in response to a change in a rotation direction of the rotating main shaft, so that the movable gear row member performs a reciprocating cutting motion with respect to the fixed gear row member only in response to a rotation of the rotating main shaft in a first rotation direction, and stops the reciprocating cutting motion when the rotating main shaft rotates in a second rotation direction, and thus, a start or stop of the reciprocating cutting motion of the movable gear row member with respect to the fixed gear row member can be controlled by switching the rotation direction of the rotating main shaft, so that friction noise and ineffective power consumption generated by the cutting mechanism can be reduced by selectively controlling the stop of the reciprocating cutting motion.

Description

Rolling brush assembly for sweeping robot and sweeping robot

Technical Field

The application relates to the field of intelligent cleaning, in particular to a rolling brush assembly for a sweeping robot and the sweeping robot.

Background

The robot includes a moving chassis, a rolling brush assembly, which can perform a winding operation on a lower region of the moving chassis using cleaning brushes radiating from a rotating main shaft, a suction member, and a dust collecting member such as a hard dust box or a flexible dust bag.

For discrete dirt such as dust, food debris, etc., it may be lifted by the cleaning brush to the inside of the sweeping robot, and the suction airflow generated by the suction member at the inside of the sweeping robot is sent into the dust collecting member. However, the filigree-like dirt such as hair may be entangled in the roller brush assembly, so that the suction air flow generated by the suction member cannot be fed into the dust collecting member.

In order to facilitate cleaning of the filth wound around the roller brush assembly, the roller brush assembly may be provided with a cutting mechanism comprising a fixed tooth row member and a movable tooth row member mounted in a stack, wherein the movable tooth row member may continuously undergo a reciprocating cutting motion with respect to the fixed tooth row member during rotation of the roller brush assembly to sever the filth into discrete states that may be fed by the suction air flow to the dust collection member.

However, the cutting of the filth is completed by only a momentary reciprocating cutting motion, and the continuous execution of the reciprocating cutting motion during the rotation period of the rotating roller brush may cause ineffective power consumption of the sweeping robot, and the frictional noise of the movable and fixed tooth row members during the execution of the reciprocating cutting motion may also be continuously generated during the power-on start-up period of the sweeping robot.

Therefore, how to reduce the friction noise and ineffective power consumption generated by the cutting mechanism becomes the technical problem to be solved in the prior art.

Disclosure of Invention

In an embodiment of the application, a rolling brush assembly for a sweeping robot and a sweeping robot are provided, which are helpful for reducing friction noise and ineffective power consumption generated by a cutting mechanism.

One embodiment of the present application provides a roll brush assembly for a floor sweeping robot, including:

a rotating spindle provided with a cleaning brush radially extending from an outer shaft wall;

The cutting mechanism comprises a fixed tooth row component and a movable tooth row component which are arranged on the outer shaft wall along the axial direction of the rotating main shaft;

A shaft moving mechanism movably installed in the axial direction in a hollow shaft cavity surrounded by the outer shaft wall of the rotating main shaft, the shaft moving mechanism and the rotating main shaft forming bidirectional synchronous constraint in a first rotating direction and a second rotating direction opposite to each other;

the guide mechanism is in transmission fit with the axial movement mechanism in the hollow shaft cavity, the axial position of the guide mechanism in the hollow shaft cavity is fixed, and the guide mechanism is switchably in a rotation stopping state and a rotation following state;

The clutch mechanism is in transmission fit with the guide mechanism in the hollow shaft cavity, wherein:

When the axial moving mechanism rotates along the first rotating direction along with the rotating main shaft, the clutch mechanism is in a first clutch state for keeping the guide mechanism in the rotation stopping state, the axial moving mechanism is guided by the guide mechanism in the rotation stopping state to reciprocate axially along the axial direction, and the reciprocating axially moves to cause the reciprocating cutting motion of the movable gear row component relative to the fixed gear row component;

When the shaft moving mechanism rotates along the second rotating direction along with the rotating main shaft, the clutch mechanism is in a second clutch state for keeping the guide mechanism in the rotation-following state, and the guide mechanism in the rotation-following state removes the guide of the shaft moving mechanism by rotating along with the shaft moving mechanism along the second rotating direction.

In some examples, optionally, a first shaft end of the rotating spindle is provided with a driving end cover, a second shaft end of the rotating spindle is provided with a static end cover, wherein the driving end cover and the rotating spindle form bidirectional synchronous constraint in the first rotating direction and the second rotating direction, the driving end cover is used for being in transmission fit with a power motor, and the rotating spindle is in running fit with the static end cover; the clutch mechanism is located between the guide mechanism and the static end cover, wherein the clutch mechanism axially limits the guide mechanism so that the relative axial position between the guide mechanism and the static end cover is fixed, and: when the clutch mechanism is in the first clutch state, the clutch mechanism forms a rotation stopping constraint between the guide mechanism and the static end cover, which prevents the guide mechanism from rotating relative to the static end cover along the first rotation direction, so as to restrict the guide mechanism in the rotation stopping state; when the clutch mechanism is in the second clutch state, the guide mechanism is in the rotation following state which can rotate freely relative to the static end cover under the drive of the shaft moving mechanism.

In some examples, optionally, the clutch mechanism comprises a clutch slide movable in the axial direction, wherein: when the clutch mechanism is positioned at a first axial position, the clutch sliding sleeve is in the first clutch state; when the clutch sliding sleeve is positioned at a second axial position, the clutch mechanism is in the second clutch state; the clutch sleeve is switched between the first axial position and the second axial position in response to a switching change between the first rotational direction and the second rotational direction.

In some examples, optionally, the clutch mechanism further includes a fixed toothed ring fixedly connected with the static end cap and a transmission toothed ring fixedly connected with the guide mechanism, the fixed toothed ring having a clutch tooth slot toward one end of the clutch sliding sleeve and the transmission toothed ring having a transmission tooth slot toward one end of the clutch sliding sleeve; the clutch sliding sleeve is movably arranged between the fixed toothed ring and the transmission toothed ring, the clutch sliding sleeve faces to the first annular opening end of the fixed toothed ring and is provided with clutch convex teeth, and the clutch sliding sleeve faces to the second annular opening end of the transmission toothed ring and is provided with transmission convex teeth, wherein: when the clutch sliding sleeve is positioned at the first axial position, the clutch convex teeth and the clutch convex tooth grooves form a first limit engagement preventing the clutch sliding sleeve from rotating relative to the static end cover along the first rotating direction, the transmission convex teeth and the transmission tooth grooves form a second limit engagement preventing the guide mechanism from rotating relative to the clutch sliding sleeve along the first rotating direction, and the rotation stopping constraint is applied to the guide mechanism through cascading cooperation of the first limit engagement and the second limit engagement; when the clutch slide sleeve is in the second axial position, the clutch teeth disengage from the clutch teeth slots, and the first and second limit bites are released in response to disengagement of the clutch teeth from the clutch teeth slots.

In some examples, optionally, the clutch mechanism further comprises a fixed shaft seat coaxially and fixedly connected with the static end cover, and a transmission shaft coaxially and fixedly connected with the guide mechanism; the fixed shaft seat and the transmission shaft rod form an axial limit for fixing the relative axial position between the guide mechanism and the static end cover; the fixed gear ring is integrated on the end face of the fixed shaft seat, which faces the clutch sliding sleeve, the transmission shaft rod is fixedly sleeved with the fixed gear ring, and the clutch sliding sleeve is movably sleeved with the transmission shaft rod.

In some examples, optionally, the first positive engagement and the second positive engagement also produce a first axial retention force that resists the clutch sleeve from moving away from the first axial position when the clutch sleeve is in the second axial position; when the clutch sleeve is positioned at the second axial position, the transmission convex teeth and the transmission tooth grooves also form synchronous driving engagement which causes the clutch sleeve and the guide mechanism to rotate along the second rotation direction under the drive of the axial movement mechanism, and the synchronous driving engagement generates a second axial retaining force which causes the clutch sleeve to prevent the clutch sleeve from leaving the second axial position.

In some examples, optionally, the clutch lobe has a rotation stop limit groove wall parallel to a longitudinal section of the rotating main shaft on a first phase side opposite to the first rotation direction, and the clutch lobe has a first cambered groove wall on a second phase side in the same direction as the first rotation direction; the clutch convex tooth is provided with a rotation stopping limiting tooth wall parallel to the longitudinal section of the rotating main shaft at the second phase side, and the clutch convex tooth is provided with a first cambered tooth wall matched with the first cambered groove wall at the first phase side; the transmission tooth groove is provided with a second cambered surface groove wall at the second phase side, and the transmission tooth groove is provided with a synchronous meshing groove wall parallel to the longitudinal section of the rotating main shaft at the first phase side; the transmission convex teeth are provided with second cambered tooth walls which are matched with the second cambered groove walls on the first phase side, and the transmission convex teeth are provided with synchronous meshing tooth walls which are parallel to the longitudinal section of the rotating main shaft on the second phase side; when the clutch sliding sleeve is positioned at the first axial position, the anti-rotation limiting tooth wall and the anti-rotation limiting groove wall which are opposite to each other form the first limiting engagement through plane contact, and the second cambered surface tooth wall and the second cambered surface groove wall which are opposite to each other form the second limiting engagement through cambered surface contact; when the clutch sliding sleeve is positioned at the second axial position, the synchronous meshing groove wall and the synchronous meshing tooth wall which are opposite to each other form synchronous driving meshing through plane contact; during the position switching between the first axial position and the second axial position, a sliding fit for guiding the position switching is produced between the first cambered surface groove wall and the first cambered surface tooth wall which are opposite to each other, and between the second cambered surface tooth wall and the second cambered surface groove wall which are opposite to each other.

In some examples, optionally, the clutch mechanism further comprises a switching mechanism, wherein: when the shift mechanism is switched from the second rotation direction to the first rotation direction along the rotation direction of the rotation main shaft, the switching mechanism generates a first axial driving force for driving the clutch sliding sleeve to move from the second axial position to the first axial position in response to a first phase shift of the guide mechanism along the shift mechanism in the first rotation direction; when the shift mechanism is rotated following the rotation direction of the rotation main shaft from the first rotation direction to the second rotation direction, the switching mechanism generates a second axial driving force that drives the clutch slide sleeve to move from the first axial position to the second axial position in response to the guide mechanism following a second phase shift of the shift mechanism in the second rotation direction.

In some examples, optionally, the clutch mechanism further comprises a transmission shaft rod coaxially and fixedly connected with the guiding mechanism, the transmission gear ring is fixedly sleeved on the transmission shaft rod, and the clutch sliding sleeve is movably sleeved on the transmission shaft rod; the clutch sliding sleeve is provided with an inclined guide groove inclined at a preset angle relative to the axial direction; the switching mechanism comprises a fixed outer cylinder and reversing balls, wherein: the fixed outer cylinder is sleeved on the periphery of the clutch sliding sleeve, covers the inclined guide groove and is restrained to be static relative to the static end cover; the reversing ball is movably accommodated in the inclined guide groove, and is in rolling fit with the transmission shaft rod and the fixed outer cylinder; a first slot end of the inclined guide slot is inclined to the first axial position, and a second slot end of the inclined guide slot is inclined to the second axial position; when the axial moving mechanism is switched from the second rotation direction to the first rotation direction along with the rotation direction of the rotation main shaft, the guiding mechanism drives the reversing ball to generate a first planetary motion in the first rotation direction on the inner surface of the fixed outer cylinder through the transmission shaft in the process of generating the first phase shift, and the first planetary motion induces the relative position change of the reversing ball from the second groove end to the first groove end in the inclined guiding groove, so that the reversing ball is driven to generate the first axial driving force to the inclined guiding groove; when the axial moving mechanism is switched from the first rotation direction to the second rotation direction along with the rotation direction of the rotation main shaft, the guiding mechanism drives the reversing ball to generate second planetary motion in the second rotation direction on the inner surface of the fixed outer cylinder through the transmission shaft rod in the process of generating the second phase shift, and the second planetary motion induces the relative position change of the reversing ball from the first groove end to the second groove end in the inclined guiding groove, so that the reversing ball is driven to generate the second axial driving force to the inclined guiding groove.

Another embodiment of the present application provides a floor sweeping robot, including a moving chassis, an integrated cavity housing carried by the moving chassis, and a rolling brush assembly as described in the previous embodiment, the rolling brush assembly being mounted in the integrated cavity housing, wherein: the movable chassis is provided with a chassis opening, the integrated cavity shell is provided with a winding window exposed at the chassis opening and a suction window used for communicating with a dust collecting mechanism, and the installation position of the rolling brush assembly in the integrated cavity shell enables the cleaning brush to extend out of the winding window in the rotating process to execute winding operation; the integrated cavity shell is fixedly provided with a power motor, a first shaft end of the rotating main shaft is in transmission fit with the power motor, the power motor drives the rotating main shaft to rotate in the first rotating direction when the sweeping robot is in a self-cleaning mode that the moving chassis stops moving, and the power motor drives the rotating main shaft to rotate in the second rotating direction when the sweeping robot is in a working mode that the moving chassis moves; when the clutch mechanism is in the first clutch state, the guide mechanism is kept in the rotation stopping state by utilizing rotation stopping constraint applied by the integrated cavity shell on the second shaft end of the rotating main shaft opposite to the first shaft end.

Based on the above-described embodiments, the rolling brush assembly includes the rotating main shaft and the cutting mechanism including the fixed tooth row member and the movable tooth row member mounted in a stacked manner, and the clutch mechanism may change the clutch state in response to a change in the rotation direction of the rotating main shaft, so that the movable tooth row member performs the reciprocating cutting motion with respect to the fixed tooth row member only in response to the rotation of the rotating main shaft in the first rotation direction, and stops the reciprocating cutting motion when the rotating main shaft rotates in the second rotation direction, and thus, the start or stop of the reciprocating cutting motion of the movable tooth row member with respect to the fixed tooth row member may be controlled by switching the rotation direction of the rotating main shaft, so that the frictional noise and the ineffective power consumption generated by the cutting mechanism may be reduced by selectively controlling the stop of the reciprocating cutting motion.

Drawings

The following drawings are only illustrative of the application and do not limit the scope of the application:

fig. 1 is a schematic structural view of a rolling brush assembly for a sweeping robot in an assembled state according to an embodiment of the present application;

Fig. 2 is a schematic view showing a structure of a rolling brush assembly for a sweeping robot in an exploded state according to an embodiment of the present application;

FIG. 3 is a schematic diagram of the working principle of a cutting mechanism of a rolling brush assembly for a sweeping robot according to an embodiment of the present application;

FIG. 4 is a cross-sectional view of a clutch mechanism for a roller brush assembly of a sweeping robot in an embodiment of the application;

FIG. 5 is a schematic view showing a partial structure of a clutch mechanism of a rolling brush assembly for a sweeping robot according to an embodiment of the present application;

Fig. 6 is a schematic diagram of the working principle of the clutch mechanism of the rolling brush assembly for the sweeping robot in the embodiment of the application;

FIG. 7 is a schematic diagram of a state switching process of a clutch mechanism of a rolling brush assembly for a sweeping robot according to an embodiment of the present application;

FIG. 8 is a schematic view showing an exploded structure of a rolling brush assembly for a robot cleaner according to an embodiment of the present application, further including a pre-tightening mechanism;

FIG. 9 is a schematic view of a partial hierarchical structure of a first example of a pretensioning mechanism for a rolling brush assembly of a sweeping robot in an embodiment of the application;

FIG. 10 is a cross-sectional view of a first example of the pretensioning mechanism shown in FIG. 9;

FIG. 11 is a schematic view of a partial hierarchical structure of a second example of a pretensioning mechanism for a rolling brush assembly of a sweeping robot in an embodiment of the application;

FIG. 12 is a cross-sectional view of a second example of the pretensioning mechanism shown in FIG. 12;

FIG. 13 is a schematic view of a partial hierarchical structure of a third example of a pretensioning mechanism for a rolling brush assembly of a sweeping robot in an embodiment of the application;

FIG. 14 is a cross-sectional view of a third example of the pretensioning mechanism shown in FIG. 13;

fig. 15 is a schematic view of a partial structure of a sweeping robot according to an embodiment of the present application;

fig. 16 is a schematic structural view of an integrated cavity case of the sweeping robot in the embodiment of the present application;

fig. 17 is a schematic view of the interface structure between the integrated chamber housing and the dust collection member shown in fig. 16.

Description of the reference numerals

10 Rotating spindle

100 Hollow shaft cavity

11 First half cylindrical shell

110 Half shell body

111 Cambered surface part

112 Round notch

113 Assembling locating pin

115 Cambered surface splice

12 Second semi-cylindrical shell

13 Follow-up collar

130 Static end cap

14 Drive end cap

15 Mounting slots

151 Sidewall groove

152 Sidewall blind hole

153 Side wall rib

17 Leading comb teeth

18 Sliding key groove

20 Guiding mechanism

21 Inner sleeve

210 Ball constraint through hole

22 Guide ball

23 Outer sleeve

30-Axis moving mechanism

31 Driving slide block

311 Radial convex key

315 Clamping groove

32 Guide rotating shaft

320 Inclined ring groove

40 Cleaning brush

45 Adhesive tape

50 Cutting mechanism

51 Fixed tooth row component

510 Fixed tooth teeth

511 Fixed tooth installation strip

512 Fixed tooth mounting lug

52 Moving gear row component

520 Moving teeth

521 Movable tooth mounting strip

522 Movable tooth hanging lug

523 Movable tooth driving arm

53 Stacking locating pin

60 Integration cavity shell

600 Round brush chamber

61 Windlass window

62 Suction window

63 Support axle seat

64 Power shaft seat

65 Anti-rotation notch

66 Channel assembly

70 Moving chassis

700 Chassis opening

71 Power motor

72 Speed reducing mechanism

80 Pretension mechanism

81 First pretensioning mechanism

82 Second pretensioning mechanism

821 Pre-tightening spring

822 Floating ball

90 Clutch mechanism

91 Fixed ring gear

910 Clutch tooth slot

910A rotation stopping limit groove wall

910B first cambered surface groove wall

92 Drive toothed ring

920 Drive tooth slot

920A second cambered surface groove wall

920B synchronous engagement groove wall

93. Clutch sliding sleeve

931 Clutch convex teeth

931A rotation-stopping limiting tooth wall

931B first cambered surface tooth wall

932 Driving convex tooth

932A second cambered surface groove wall

932B synchronous biting tooth wall

935 Inclined guide groove

935A first groove end

935B second groove end

95 Switching mechanism

951 Fixing outer cylinder

952 Reversing ball

97 Fixed shaft seat

971 Axial screw

972 Axle seat bearing

973 Anti-rotation key groove

98 Drive shaft lever

981 Synchronous key slot

982 Positioning ring groove

983 Synchronous clasp

984 End bearing

985 Embedded shaft end

986 Embedded bearing

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below by referring to the accompanying drawings and examples.

Fig. 1 is a schematic structural view of a rolling brush assembly for a sweeping robot in an assembled state according to an embodiment of the present application. Fig. 2 is a schematic view showing a structure of a rolling brush assembly for a sweeping robot in an exploded state according to an embodiment of the present application. Fig. 3 is a schematic diagram of the working principle of the cutting mechanism of the rolling brush assembly for the sweeping robot in the embodiment of the application. Referring to fig. 1 to 3, in an embodiment of the present application, a roll brush assembly for a sweeping robot may include a rotating main shaft 10, a cutting mechanism 50, a shaft moving mechanism 30, a guide mechanism 20, and a clutch mechanism.

The rotating spindle 10 may be provided with cleaning brushes 40 radiating from the outer shaft wall.

In the illustrated representation of the embodiment of the present application, taking the rotary spindle 10 as an example, the rotary spindle includes a first half cylindrical shell 11 and a second half cylindrical shell 12, the cylindrical surfaces of the first half cylindrical shell 11 and the second half cylindrical shell 12 are complementary, and the first half cylindrical shell 11 and the second half cylindrical shell 12 are buckled and spliced. For example, the snap fit engagement of the first half cylinder housing 11 and the second half cylinder housing 12 may be secured by snap fit engagement at the cylinder edges, and/or screw locking as shown in the illustrated representation. In this case, a pair of the split joint between the first half cylindrical casing 11 and the second half cylindrical casing 12 may fixedly hold a pair of the cleaning brushes 40, respectively, and as can be seen from the illustrated expression of the embodiment of the present application, the split joint between the first half cylindrical casing 11 and the second half cylindrical casing 12 may not be limited to a straight line shape but may be provided in a broken line shape so that the cleaning brushes 40 in a long line shape are restrained in a bent shape by the split joint in a broken line shape between the first half cylindrical body 11 and the second half cylindrical body 12, and such a bent shape may promote the discrete dirt curled by the cleaning brushes 40 to be gathered toward the middle region of the long line shape during the rotation of the rotating main shaft 10.

The cutting mechanism 50 may be mounted on the outer shaft wall of the spin spindle 10, and the cutting mechanism 50 and the cleaning brush 40 are retracted from each other at the mounting position of the outer shaft wall of the spin spindle 10, for example, the cutting mechanism 50 may be mounted on the first semi-cylindrical cartridge 11, and the second semi-cylindrical cartridge 12 may be provided with an adhesive tape 45 for retracting the cleaning brush 40 and the cutting mechanism 50, and the adhesive tape 45 may adhere to dirt to be cleaned. It will be appreciated that the adhesive tape 45 is not an integral part of the rotary roller brush and that the cutting mechanism 50 may be arranged in pairs like the cleaning brush 40 and mounted to the first half-cylinder housing 11 and the second half-cylinder housing 12, respectively.

The cutting mechanism 50 may specifically include a fixed tooth row member 51 and a movable tooth row member 52 that are stacked and inserted in an outer shaft wall of the rotary main shaft 10, i.e., the fixed tooth row member 51 may be fixedly inserted in the outer shaft wall of the rotary main shaft 10, the movable tooth row member 52 may be movably inserted in the outer shaft wall of the rotary main shaft 10 in an axial direction of the rotary main shaft 10, and the movable tooth row member 52 may perform a reciprocating cutting motion with respect to the fixed tooth row member 51 in response to rotation of the rotary main shaft 10.

In an embodiment of the present application, in order to facilitate the insertion of the cutting mechanism 50 in the outer shaft wall of the rotary spindle 10, the outer shaft wall of the rotary spindle 10 may have a mounting slit 15 extending in the axial direction of the rotary spindle 10, the fixed row of teeth members 51 of the cutting mechanism 50 are fixedly inserted in the mounting slit 15, and the movable row of teeth members 52 of the cutting mechanism 50 are movably inserted in the mounting slit 15 in the axial direction. In this case, the fixed teeth row member 51 may include a fixed teeth mounting bar 511 fixed in the mounting slit 15 and a plurality of fixed teeth 510 protruding from the fixed teeth mounting bar 511 to the outside of the outer shaft wall of the rotary main shaft 10, the movable teeth row member 52 may include a movable teeth mounting bar 521 movably installed in the mounting slit 15 and a plurality of movable teeth 520 protruding from the driven teeth mounting bar 521 to the outside of the outer shaft wall of the rotary main shaft 10, and the reciprocating cutting movement of the movable teeth row member 52 with respect to the fixed teeth row member 51 may cause the movable teeth 520 to be reciprocally dislocated with respect to the fixed teeth 510 in the axial direction

In an embodiment of the present application, taking the example that the mounting slit 15 is located in the first half cylindrical shell 11, the first half cylindrical shell 11 may include a half shell body 110 having a cambered surface portion 111 smoothly spliced with the outer axial wall of the second half cylindrical shell 12 and a circular-arc portion 112 adjacent to the cambered surface portion 111, the first half cylindrical shell 11 may further include a cambered surface splice 115, the cambered surface splice 115 being detachably mounted (e.g., mounted with a screw) to the circular-arc portion 112, that is, the half of the outer axial wall of the first half cylindrical shell 11 provided for the rotary spindle 10 includes the cambered surface portion 111 and the outer cambered surface of the cambered surface splice 115, and the mounting slit 15 is located between the cambered surface portion 111 and the cambered surface splice 115.

Based on the split structure of the first half cylindrical shell 11 including the half shell main body 110 and the cambered surface splicing piece 115, the stacked installation of the fixed tooth row members 51 and the movable tooth row members 52 is facilitated, that is, during the assembly:

First, the stacked fixed tooth row members 51 and moving tooth row members 52 may be stacked on the surface of the cambered surface splice 115 facing the cambered surface portion 111 of the half-shell main body 110 of the first half-cylindrical shell 11, for example, the fixed tooth row members 51 may further include fixed tooth mounting lugs 512 protruding from the fixed tooth mounting bars 511, the moving tooth row members 52 may further include moving tooth mounting lugs 522 protruding from the driven tooth mounting bars 521, and the fixed tooth row members 51 and the moving tooth row members 52 may be stacked on the surface of the cambered surface splice 115 using stacking positioning pins 53 penetrating through the fixed tooth mounting lugs 512 and the moving tooth mounting lugs 522 and being inserted into the cambered surface splice 115;

Then, the cambered surface splice 115 and the stacked fixed tooth row member 51 and movable tooth row member 52 are fitted together into the circular-segment portion 112 of the half-shell main body 110 of the first half-cylindrical shell 11 in a posture in which the fixed tooth row member 51 and the movable tooth row member 52 face the cambered surface portion 111 of the half-shell main body 110 of the first half-cylindrical shell 11;

Finally, the cambered surface splice 115 is locked in the cutout 112 of the half shell main body 110 of the first half cylindrical shell 11 by means of the splice positioning pin 113 in the axial direction of the rotary spindle 10.

It will be appreciated that if the cutting mechanism 50 is also arranged in pairs like the cleaning brush 40 and is provided in the first half cylindrical housing 11 and the second half cylindrical housing 12, respectively, the second half cylindrical housing 12 may take substantially the same structure as the first half cylindrical housing 11, i.e., the second half cylindrical housing 12 may also have the mounting slit 15.

In an embodiment of the present application, the rotary spindle 10 may further include a plurality of guide comb teeth 17 spaced apart in the axial direction at the outer shaft wall to form a dredging passage between every two adjacent guide comb teeth 17 across the mounting slit 15. For example, the guide comb teeth 17 may be spaced apart at slit edges of opposite sides of the mounting slit 15 in the slit width direction, that is, edges of the arc surface portion 111 and the arc surface splice 115 opposite to each other may be provided with the guide comb teeth 17.

In this case, the positions of the fixed teeth 510 and the guide comb teeth 17 in the axial direction are aligned with each other so as to avoid the fixed teeth 510 blocking the dredging passage. For example, the guide comb 17 may have comb side walls flush with the slit edges, the fixed teeth 510 may be aligned against the comb side walls of the guide comb 17 at one of the slit edges, and the movable teeth 520 slidably engage with the comb side walls of the guide comb 17 at the other slit edge.

The movement stroke of the reciprocating offset of the moving teeth 520 with respect to the fixed teeth 510 may be greater than the channel width of the dredging channel in the axial direction of the rotary main shaft 10, preferably, the movement stroke may be greater than the sum of the comb tooth widths of the guide comb teeth 17 in the axial direction of the rotary main shaft 10 and the channel widths of the two dredging channels.

Based on the dredging channel formed by the guiding comb teeth 17, the filiform feculence can cross the mounting slit 15 in a posture perpendicular to or similar to the perpendicular mounting slit 15, so that the filiform feculence is more easily cut by the movable tooth teeth 520 which perform cutting movement along the mounting slit 15, and the cutting efficiency of the rolling brush assembly for automatically and actively cutting the filiform feculence wound around the outer shaft wall of the rotary main shaft 10 is further improved.

In an embodiment of the present application, the reciprocating cutting motion of the movable tooth row member 52 with respect to the fixed tooth row member 51 may be cooperatively driven by the shaft moving mechanism 30 and the guide mechanism 20, for example, based on the shaft moving mechanism 30 and the guide mechanism 20 being cooperatively driven, the movable tooth row member 52 may perform one reciprocating cutting motion with respect to the fixed tooth row member 51 in response to one rotation of the rotary spindle 10.

The shaft moving mechanism 30 may be movably installed in the hollow shaft cavity 100 of the rotary main shaft 10 surrounded by the outer shaft wall in the axial direction of the rotary main shaft 10, the shaft moving mechanism 30 may form bidirectional synchronous constraint with the rotary main shaft 10 in a first rotational direction and a second rotational direction opposite to each other, and the shaft moving mechanism 30 may also be in driving engagement with the movable gear row member 52.

For example, the shaft moving mechanism 30 may include a driving slider 31, the driving slider 31 may reciprocate in the axial direction of the rotary main shaft 10, and the driving slider 31 may form bidirectional synchronous constraint with the rotary main shaft 10 in a first rotational direction and a second rotational direction opposite to each other.

Specifically, the driving slider 31 of the spindle moving mechanism 30 may include a radial protrusion 311, the rotating spindle 10 may include a sliding key groove 18 located in the hollow shaft cavity 180, and the radial protrusion 311 may be inserted into the sliding key groove 18 so that the driving slider 31 may be constrained in bidirectional synchronization with the rotating spindle 10 in a first rotational direction and a second rotational direction opposite to each other by a limit fit of the radial protrusion 311 and the sliding key groove 18 in the first rotational direction and the second rotational direction, and also the spindle moving mechanism 30 may be allowed to reciprocate in the axial direction of the rotating spindle 10 by a clearance fit of the radial protrusion 311 and the sliding key groove 18 in the axial direction of the rotating spindle 10.

Further, the driving slider 31 of the shaft moving mechanism 30 may further include a catching groove 315, the moving tooth row member 52 may further include a moving tooth driving arm 523 extending from the tooth mounting bar 521 into the hollow shaft cavity 100, and the moving tooth driving arm 523 may be inserted into the catching groove 315 to allow the moving tooth row member 52 to follow the reciprocating movement of the shaft moving mechanism 30 in the axial direction of the rotary main shaft 10 by a limit fit of the moving tooth driving arm 523 and the catching groove 315 in the axial direction of the rotary main shaft 10, performing the reciprocating cutting movement with respect to the fixed tooth row member 51. In this case, the mounting slit 15 may penetrate from the outer shaft wall of the rotary main shaft 10 to the hollow shaft cavity 100 (i.e., the arcuate surface portion 111 and the circular-lacking portion 112 have a communication slit that penetrates the mounting slit 15 to the hollow shaft cavity 100) so that the movable-teeth transmission arm 523 of the movable-teeth row member 52 may penetrate from the mounting slit 15 into the hollow shaft cavity 100.

The guide mechanism 20 is in driving engagement with the displacement mechanism 30 within the hollow shaft cavity 100 of the rotary spindle 10. In the rotation-restrained state of the guide mechanism 20, the driving engagement can cause the axial movement mechanism 30 to reciprocate axially during rotation following the rotation of the rotary spindle 10. In an embodiment of the application, the first shaft end of the rotary spindle 10 may be provided with a drive end cap 14, the second shaft end of the rotary spindle 10 may be provided with a follower collar 13, wherein the drive end cap 14 and the follower collar 13 form a bi-directional synchronous constraint with the rotary spindle 10 in both the first and second rotational directions, the drive end cap 14 is adapted to be in driving engagement with a power motor, and the second shaft end of the rotary spindle 10 further has a static end cap 130 in driving engagement with the follower collar 13, e.g. the static end cap 130 may be rotatably arranged in the follower collar 13, so that the follower collar 13 may also be positively rotated with the rotary spindle 10 when the rotary spindle 10 is driven in rotation by the power motor via the drive end cap 14, and the static segment modification 130 may still be in a stationary state not following rotation of the rotary spindle, and the anti-rotation constraint imposed by the guiding mechanism 20 may come from the second shaft end of the rotary spindle 10 (i.e. the static end cap 130). In addition, the static end cap 130 may be axially retained at the second axial end of the rotating spindle 10 by a spin-on end cap 130 fixedly coupled to the rotating spindle 10.

Specifically, the driving engagement of the guide mechanism 20 with the shaft shifting mechanism 30 in the hollow shaft cavity 100 of the rotary spindle 10 may employ a screw engagement whose screw axis is inclined with respect to the axial direction of the rotary spindle 10, that is, the driving engagement between the guide mechanism 20 and the shaft shifting mechanism 30 may be achieved by the screw engagement. In this case, the shaft moving mechanism 30 may further include a guide rotating shaft 32 coaxially connected with the shaft moving slider 31, and the guide rotating shaft 32 may have an inclined ring groove 320; the guide mechanism 20 may include an inner sleeve 21, guide balls 22, and an outer sleeve 23, and the rotation-stopped state in which the guide mechanism 20 is restrained by rotation-stopping means that the inner sleeve 21 and the outer sleeve 22 do not rotate following the rotary main shaft 10.

Wherein the inner sleeve 21 is sleeved on the outer periphery of the guide rotating shaft 32 and covers the inclined ring groove 320 of the guide rotating shaft 32, the central axis of the inclined ring groove 320 is inclined relative to the axial direction of the rotating main shaft 10, and the screwing axis of the screwing fit is coincident with the central axis of the inclined ring groove 320; the inner sleeve 21 is provided with a ball receiving through hole 210 penetrating through the wall of the cylinder, the guide ball 22 is rollably received in the ball restraining through hole 210 and is spherically engaged with the inclined ring groove 320 covered by the inner sleeve 21, the outer sleeve 23 is sleeved on the outer side of the inner sleeve 21 and covers the guide ball 22 to prevent the guide ball 22 from falling off from the inclined ring groove 320 and the ball receiving through hole 210, so that when the axial moving mechanism 30 rotates following the rotating spindle 10, the guide rotating shaft 32 can drive the guide ball 22 to rotate through the spherical engagement of the inclined ring groove 320 with the guide ball 22, and the phase position of the guide ball 22 in the rotating direction and the axial position of the guide ball 22 in the axial direction are both fixed by the inner sleeve 21, and therefore, the rotation of the guide ball 22 causes the spherical engagement position between the guide ball 22 and the inclined ring groove 320 to change. Since the spherical engagement position of the inclined ring groove 320 with the guide ball 22 is reciprocally changed in the axial direction during rotation, the spherical engagement position change between the guide ball 22 and the inclined ring groove 320 may cause the axial movement mechanism 30 to reciprocally move axially during rotation following the rotation of the rotary spindle 10.

That is, the spherical engagement of the guide ball 22 with the inclined ring groove 320 serves to guide the screwing of the spindle moving mechanism 30 with respect to the guide mechanism 20, and the spindle moving mechanism 30 can generate reciprocal axial movement in response to a change in the spherical engagement position of the guide ball 22 with the inclined ring groove 320.

In an embodiment of the present application, the guiding mechanism 20 may be selectively restrained from rotation from the second axial end of the rotating main shaft 10 (i.e., the stationary end cap 130), i.e., the guiding mechanism 20 is switchably in the rotation-stopped state and follows the rotation and rotation-following states of the shaft shifting mechanism 30, and the switching of the guiding mechanism 20 between the rotation-stopped state and the rotation-following state is controlled by the clutch mechanism 90.

The clutch mechanism 90 is in driving engagement with the guide mechanism 20 within the hollow shaft cavity 100 of the rotary spindle 10, and the clutch mechanism 90 is switchable between a first clutch state and a second clutch state in response to the rotational direction states of the rotary spindle 10 and the shift mechanism 30, wherein:

When the shaft moving mechanism 30 rotates in the first rotation direction following the rotation main shaft 10, for example, when the power motor drives the rotation main shaft 10 to rotate in the first rotation direction in the self-cleaning mode in which the sweeping robot is in the stationary state, the clutch mechanism 90 is in the first clutch state in which the guide mechanism 20 is kept in the above-described rotation-stopping state, and, as described above, the shaft moving mechanism 30 that rotates in the first rotation direction following the rotation main shaft 10 may be guided by the guide mechanism 20 in the rotation-stopping state to reciprocate axially in the axial direction, the reciprocating axial movement of the shaft moving mechanism 30 may cause the reciprocating cutting movement of the movable rack member 52 with respect to the fixed rack member 51;

When the pivoting mechanism 30 rotates in the second rotation direction following the rotation of the rotation main shaft 10, for example, when the power motor drives the rotation main shaft 10 to rotate in the second rotation direction in the operation mode in which the sweeping robot is in the moving state, the clutch mechanism 90 is in the second clutch state in which the guide mechanism 20 is kept in the rotation-following state described above, and the guide mechanism 20 in the rotation-following state can cancel the guide of the pivoting mechanism 30 by following the rotation of the pivoting mechanism 30 in the second rotation direction.

Based on the above-described embodiment, the rolling brush assembly includes the rotary main shaft 10 and the cutting mechanism 50, and the clutch mechanism 90, the cutting mechanism 50 including the fixed-row gear member 51 and the movable-row gear member 52 mounted in a stacked manner, the clutch mechanism 90 being capable of changing the clutch state in response to a change in the rotational direction of the rotary main shaft 10, such that the movable-row gear member 52 performs the reciprocating cutting motion with respect to the fixed-row gear member 51 only in response to the rotation of the rotary main shaft 10 in the first rotational direction, and stops the reciprocating cutting motion when the rotary main shaft 10 rotates in the second rotational direction, and therefore, the start or stop of the reciprocating cutting motion of the movable-row gear member 52 with respect to the fixed-row gear member 51 can be controlled by switching the rotational direction of the rotary main shaft 10, so that the frictional noise and the ineffective power consumption generated by the cutting mechanism can be reduced by selectively controlling the stop of the reciprocating cutting motion.

Fig. 4 is a cross-sectional view of a clutch mechanism of a roll brush assembly for a sweeping robot in an embodiment of the present application. Referring to fig. 4, as described above, the first shaft end of the rotary main shaft 10 is provided with the driving end cover 14, the second shaft end of the rotary main shaft 10 is provided with the static end cover 130, wherein the driving end cover 14 and the rotary main shaft 10 form bidirectional synchronous constraint in the first rotation direction and the second rotation direction, the driving end cover 14 is used for driving and matching with the power motor 71, and the rotary main shaft 10 is rotationally matched with the static end cover 130, in this case, the clutch mechanism 90 is located between the guide mechanism 20 and the static end cover 130, wherein the clutch mechanism 90 may axially limit the guide mechanism 20, so that the relative axial position between the guide mechanism 20 and the static end cover 130 is fixed, and:

when the clutch mechanism 90 is in the first clutch state, the clutch mechanism 90 forms a rotation-stopping constraint between the guide mechanism 20 and the stationary end cap 130 that prevents rotation of the guide mechanism 20 relative to the stationary end cap 130 in the first rotational direction to constrain the guide mechanism 20 in the rotation-stopping state;

When the clutch mechanism 90 is in the second clutch state, the guiding mechanism 20 is in a rotation-following state capable of freely rotating relative to the static end cover 130 under the driving of the shaft moving mechanism 30.

Fig. 5 is a schematic partial structural view of a clutch mechanism of a rolling brush assembly for a sweeping robot according to an embodiment of the present application. And 6, a schematic diagram of the working principle of a clutch mechanism of a rolling brush assembly for a sweeping robot in the embodiment of the application. Referring to fig. 5 and 6, and referring back to fig. 2 and 4, in an embodiment of the present application, the clutch mechanism 90 may include a clutch slip 93 movable in the axial direction of the rotating spindle 10, wherein:

when the clutch slide sleeve 93 is located at the first axial position, the clutch mechanism 90 is in the first clutch state described above;

When the clutch slide sleeve 93 is positioned at the second axial position, the clutch mechanism 90 is in the second clutch state described above;

The clutch sleeve 93 is switched between the first axial position and the second axial position in response to a switching change between the first rotational direction and the second rotational direction to effect a state switching of the clutch mechanism 90 between the first clutch state and the second clutch state described previously.

Furthermore, the clutch mechanism 90 may also include a stationary ring gear 91 and a drive ring gear 92.

The fixed ring gear 91 is fixedly connected with the static end cap 130. For example, the clutch mechanism 90 may further include a fixed shaft seat 97 coaxially and fixedly connected to the static end cover 130, and the fixed gear ring 91 is integrated with an end surface of the fixed shaft seat 97 facing the clutch sliding sleeve 93. In the illustrated representation of an embodiment of the present application, the fixed axle seat 97 may be fixedly connected coaxially with the static end cap 130 by an axial screw 971; the fixed shaft seat 97 may also be sleeved with a shaft seat bearing 972, so that coaxiality between the fixed shaft seat 97 and the static end cover 130 is maintained by utilizing the shaft seat bearing 972; the fixed shaft seat 97 may also have a plug-in fit with the static end cap 130, and a rotation stopping key slot 972 is provided at a portion inserted into the static end cap 130, so as to keep rotation stopping limits in the first rotation direction and the second rotation direction with the static end cap 130 by using the rotation stopping key slot 972.

The drive ring 92 is fixedly connected to the guide mechanism 20. For example, the clutch mechanism 90 may further include a drive shaft 98 fixedly coupled coaxially with the guide mechanism 20 (e.g., the inner sleeve 21), and the drive ring 92 may be fixedly sleeved on the drive shaft 98. The fixed sleeving of the transmission gear ring 92 on the transmission shaft 98 may mean that the transmission gear ring 92 is fixed on the transmission shaft 98 in the axial direction of the rotating main shaft 10 and in the first rotating direction and the second rotating direction, for example, the transmission shaft 98 may have a synchronous key slot 981, the transmission gear ring 92 may utilize the synchronous key slot 981 to realize a limit fit with the transmission shaft 98 in the first rotating direction and the second rotating direction, for example, the transmission shaft 98 may also have a positioning ring slot 982, and the transmission gear ring 92 may be axially limited by a synchronous snap ring 983 clamped on the positioning ring slot 982 so as to be fixed relative to the transmission shaft 98 in the axial direction of the rotating main shaft 10.

In addition, the end of the transmission shaft 98 facing the transmission mechanism 20 may be fixedly connected coaxially with the guide mechanism 20 (e.g., the inner sleeve 21) by a screw, and the end of the transmission shaft 98 fixedly connected with the transmission mechanism 20 may be sleeved with an end bearing 984; the end of the drive shaft 98 facing the fixed shaft seat 97 has an embedded shaft end 985, the embedded shaft end 985 can be inserted into the fixed shaft seat 97, and the embedded shaft end 985 can realize coaxial rotation fit with the fixed shaft seat 97 through an embedded bearing 986 embedded in the fixed shaft seat 987. Thus, the drive shaft 98 and the drive shaft 98 form an axial support between the guide mechanism 20 and the static end cap 130, i.e. an axial limit that fixes the relative axial position between the guide mechanism 20 and the static end cap 130.

The clutch sliding sleeve 93 is movably installed between the fixed gear ring 91 and the driving gear ring 92, for example, the clutch sliding sleeve 93 may be movably sleeved on the driving shaft 98 in the axial direction.

In the case where the clutch mechanism 90 includes both the fixed ring gear 91 and the transmission ring gear 92, and the clutch slip 93:

The end of the fixed toothed ring 91 facing the clutch sliding sleeve 93 may have clutch tooth slots 910, and the end of the driving toothed ring 92 facing the clutch sliding sleeve 93 has driving tooth slots 920;

the first annular open end of the clutch sleeve 93 facing the stationary toothed ring 91 has clutch teeth 931 and the second annular open end of the clutch sleeve 93 facing the drive toothed ring 92 has drive teeth 932.

Based on the above structure:

When the clutch sleeve 93 is in the first axial position that urges the clutch mechanism 90 in the first clutch state, the clutch teeth 931 form a first positive engagement with the clutch teeth slots 910 that prevents the clutch sleeve 93 from rotating relative to the stationary end cap 130 in the first rotational direction, the drive teeth 932 form a second positive engagement with the drive teeth slots 920 that prevents the guide mechanism 20 from rotating relative to the clutch sleeve 93 in the first rotational direction, and the anti-rotation constraint described above is applied to the guide mechanism 20 by a cascading fit of the first positive engagement and the second positive engagement;

When the clutch slide 93 is in the second axial position, which urges the clutch mechanism 90 in the second clutch state, the clutch teeth 931 are disengaged from the clutch teeth slots 910, and the first and second limit engagements formed when the clutch slide 93 is in the first axial position are released in response to the disengagement of the clutch teeth 931 from the clutch teeth slots 910.

Specifically, please pay special attention to fig. 5:

The clutch spline 910 has a rotation stop limit groove wall 910a parallel to the longitudinal section of the rotary spindle 10 on a first phase side opposite to the first rotation direction, and the clutch spline 910 has a first cambered surface groove wall 910b on a second phase side in the same direction as the first rotation direction;

The clutch teeth 931 have a rotation stopping limit tooth wall 931a parallel to the longitudinal section of the rotation main shaft 10 on a second phase side in the same direction as the first rotation direction, and the clutch teeth 931 have a first arc tooth wall 931b fitted with the first arc tooth wall 910b on a first phase side opposite to the first rotation direction;

The driving tooth groove 920 has a second cambered surface groove wall 920a at a second phase side in the same direction as the first rotation direction, and the driving tooth groove 920 has a synchronous engagement groove wall 920b parallel to the longitudinal section of the rotating main shaft 10 at the first phase side;

The driving teeth 932 have a second cambered tooth wall 932a that is adapted to the second cambered tooth wall 920a on a first phase side opposite to the first rotation direction, and the driving teeth 932 have a synchronous engagement tooth wall 932b parallel to a longitudinal section of the rotary main shaft 10 on a second phase side in the same direction as the first rotation direction.

Thus, please see fig. 6:

when the clutch slide sleeve 93 is in the first axial position that urges the clutch mechanism 90 to be in the first clutch state, the rotation stop limit tooth wall 931a and the rotation stop limit groove wall 910a, which are opposite to each other, form the first limit engagement described above by planar contact, and the second cambered tooth wall 932a, which is opposite to each other, and the second cambered groove wall 920a form the second limit engagement described above by cambered contact;

When the clutch sleeve 93 is in the second axial position which urges the clutch mechanism 90 in the second clutch state, the synchronization engagement slot wall 920b and the synchronization engagement tooth wall 932b opposite each other form the synchronization driving engagement described earlier by planar contact.

When the clutch sliding sleeve 93 is located at the second axial position, the first limit engagement and the second limit engagement formed when the clutch sliding sleeve 93 is located at the first axial position also generate a first axial holding force that prevents the clutch sliding sleeve 93 from moving away from the first axial position, for example, the first axial holding force may include a surface contact friction force between the rotation stop limit tooth wall 931a and the rotation stop limit groove wall 910a, and a sum of axial component forces of the cambered surface contact pressure of the second cambered surface tooth wall 932a and the second cambered surface groove wall 920 a;

When the clutch sleeve 93 is in the second axial position, the drive teeth 932 and the drive teeth slots 920 also form a synchronous drive engagement that causes the clutch sleeve 93 to rotate with the guide mechanism 20 in the second rotational direction under the drive of the shift mechanism 30, and the synchronous drive engagement generates a second axial retention force that causes the clutch sleeve 93 to prevent the clutch sleeve 93 from moving away from the second axial position, which may include, for example, a face contact friction between the synchronous engagement slot walls 920b and the synchronous engagement tooth walls 932 b.

In addition, during the position switching between the first axial position and the second axial position, the clutch sleeve 93 generates a sliding fit for guiding the position switching between the first cambered surface groove wall 910b and the first cambered surface tooth wall 931b which are opposite to each other, and between the second cambered surface tooth wall 932a and the second cambered surface groove wall 920a which are opposite to each other.

Fig. 7 is a schematic view of a state switching process of a clutch mechanism of a rolling brush assembly for a sweeping robot according to an embodiment of the present application. Referring to fig. 7, in an embodiment of the present application, the clutch mechanism 90 of the rolling brush assembly may further include a switching mechanism 95, wherein:

When the shift mechanism 30 is rotated following the rotation direction of the rotary main shaft 10 from the second rotation direction to the first rotation direction, the switching mechanism 95 generates a first axial driving force that drives the clutch slide sleeve 93 to move from the second axial position to the first axial position in response to the first phase shift of the guide mechanism 20 following the shift mechanism 30 in the first rotation direction;

when the shaft moving mechanism 30 is rotated following the rotation direction of the rotary main shaft 10 from the first rotation direction to the second rotation direction, the switching mechanism 95 generates a second axial driving force that drives the clutch slide sleeve 93 to move from the first axial position to the second axial position in response to the guide mechanism 20 following the second phase shift of the shaft moving mechanism 30 in the second rotation direction.

Specifically, the clutch slide 93 has an inclined guide groove 935 inclined at a predetermined angle (e.g., 45 °) with respect to the axial direction of the rotary main shaft 10, wherein a first groove end 935a of the inclined guide groove 935 is inclined toward a first axial position, and a second groove end 935b of the inclined guide groove 935 is inclined toward a second axial position.

Further, the switching mechanism 95 includes a fixed outer cylinder 951 and a reversing ball 952. Wherein, the fixed outer cylinder 951 is sleeved on the periphery of the clutch sliding sleeve 93, the fixed outer cylinder 951 covers the inclined guide groove 935, and the fixed outer cylinder 951 is restrained to be static relative to the static end cover 130, for example, the fixed outer cylinder 951 may be integrated with the fixed tooth ring 931 on the end face of the fixed shaft seat 97 facing the clutch sliding sleeve 93, or the fixed outer cylinder 951 may be a component independent of the fixed shaft seat 97 and fixedly connected coaxially with the fixed shaft seat 97; the reversing ball 952 is movably received in the inclined guide groove 935.

As described above, the clutch mechanism 90 may further include a transmission shaft 98 fixedly connected coaxially with the guide mechanism 20, and the transmission gear ring 92 is fixedly sleeved on the transmission shaft 98, and the clutch sliding sleeve 93 is movably sleeved on the transmission shaft 98, in which case the reversing ball 952 accommodated in the inclined guide groove 935 may be restrained between the transmission shaft 98 and the fixed outer cylinder 951 and be in rolling engagement with the transmission shaft 98 and the fixed outer cylinder 951.

Based on the above structure:

when the axial movement mechanism 30 is rotated following the rotation direction of the rotation spindle 10 from the second rotation direction to the first rotation direction, the guide mechanism 20 can drive the reversing ball 952 to generate the first planetary motion in the first rotation direction on the inner surface of the fixed outer cylinder 951 through the transmission shaft 98 in the course of the first phase shift described above, the first planetary motion of the reversing ball 952 causes the relative position of the reversing ball 952 in the inclined guide groove 935 from the second groove end 935b to the first groove end 935a, and the first planetary motion of the reversing ball 952 has an offset component toward the first axial position, so that the reversing ball 952 can be caused to generate the first axial driving force described above for the inclined guide groove 935;

When the shaft moving mechanism 30 rotates following the rotation direction of the rotation main shaft 10 from the first rotation direction to the second rotation direction, the guide mechanism 20 can drive the reversing ball 952 to generate the second planetary motion in the second rotation direction through the transmission shaft 98 on the inner surface of the fixed outer cylinder 951 in the course of the second phase shift described above, the second planetary motion of the reversing ball 952 causes the relative position of the reversing ball 952 in the inclined guide groove 935 from the first groove end 935a to the second groove end 935b, and the second planetary motion of the reversing ball 952 has an offset component toward the second axial position, thereby causing the reversing ball 952 to generate the second axial driving force described above for the inclined guide groove 935.

In the embodiment of the present application, in order to avoid the movable tooth row members 52 from rigidly interfering with the side walls of the mounting slits 15 when performing the reciprocating cutting movement with respect to the fixed tooth row members 51, the slit width of the mounting slits 15 may be set to be larger than the stacking thickness of the fixed tooth row members 51 and the movable tooth row members 52 of the cutting mechanism 50, in which case there may be a gap between the fixed tooth row members 51 and the movable tooth row members 52 in the stacking direction.

Fig. 8 is a schematic view showing an exploded structure of the rolling brush assembly for the sweeping robot according to the embodiment of the present application when the rolling brush assembly further includes a pre-tightening mechanism. Referring to fig. 8, in order to suppress the above-described gap, in an embodiment of the present application, the roll brush assembly may further include a pre-tightening mechanism 80.

The pretensioning mechanism 80 may apply an elastic pretensioning force to the cutting mechanism 50 in the stacking direction of the fixed tooth row member 51 and the movable tooth row member 52, and the pretensioning mechanism 80 may suppress a gap between the fixed tooth row member 51 and the movable tooth row member 52 in the stacking direction during the reciprocating cutting movement of the movable tooth row member 52 in the axial direction with respect to the fixed tooth row member 51.

For example, the pretensioning mechanism 80 may be installed in the mounting slit 15, and the pretensioning mechanism 80 may generate the above-described elastic pretensioning force on the cutting mechanism 50 in the stacking region of the fixed tooth mounting bar 511 and the movable tooth mounting bar 521.

Thus, during the reciprocating cutting movement of the movable tooth row member 52 relative to the fixed tooth row member 51, the gap between the fixed tooth row member 51 and the movable tooth row member 52 in the stacking direction can be suppressed, or even completely eliminated, to help reduce the failure probability of cutting by the reciprocating cutting movement, and to help improve the cutting efficiency of the cutting mechanism on the filigree.

In the embodiment of the present application, the tooth-fixing mounting bar 511 is adjacent to the first side wall in the slit width direction of the mounting slit 15 (for example, the surface of the arcuate surface portion 110 facing the arcuate surface splice 115), and the tooth-moving mounting bar 521 is adjacent to the second side wall in the slit width direction of the mounting slit 15 (for example, the surface of the arcuate surface splice 115 facing the arcuate surface portion 110), in which case the pretensioning mechanism 80 may include the first pretensioning mechanism 81 and/or the second pretensioning mechanism 82, wherein:

The first pre-tightening mechanism 81 is mounted on the first side wall of the mounting slot 15, the first pre-tightening mechanism 81 is in surface contact with the fixed tooth mounting strip 511, and the elastic pre-tightening force generated by the pre-tightening mechanism 80 on the cutting mechanism 50 may include a first elastic pre-tightening force generated by the first pre-tightening mechanism 81 through surface contact with the fixed tooth mounting strip 511;

The second pre-tightening mechanism 82 is mounted on the second side wall of the mounting slot 15, the second pre-tightening mechanism 82 is in point contact with the movable tooth mounting bar 521, preferably, the second pre-tightening mechanism 82 can be in sliding and rolling fit with the movable tooth mounting bar 521 at the point contact position so as to reduce friction force between the second pre-tightening mechanism and the movable tooth mounting bar 521, and the pre-tightening mechanism 80 elastically pre-tightening force of the cutting mechanism 50 comprises a second elastic pre-tightening force generated by the second pre-tightening mechanism 82 through the point contact with the movable tooth mounting bar 521.

Fig. 9 is a partially hierarchical schematic view of a first example of a pretensioning mechanism for a rolling brush assembly of a sweeping robot in an embodiment of the application. Fig. 10 is a cross-sectional view of a first example of the pretensioning mechanism shown in fig. 9. In the first example shown in fig. 9 and 10, the pretensioning mechanism 80 may include the first pretensioning mechanism 81 and does not include the second pretensioning mechanism 82, in which case, in order to reduce friction between the movable tooth row member 52 (i.e., the movable tooth mounting bar 521) and the second side wall of the mounting slit 15, the second side wall of the mounting slit 15 may have the side wall rib 153, and the side wall rib 153 may be in line contact with the movable tooth mounting bar 521. The line contact friction of the side wall convex rib 153 with the movable tooth bar 521 is smaller than the surface contact friction between the movable tooth row member 52 (i.e., the movable tooth bar 521) and the second side wall of the mounting slit 15.

Fig. 11 is a partially hierarchical structure diagram of a second example of a pretensioning mechanism for a rolling brush assembly of a sweeping robot in an embodiment of the application. Fig. 12 is a cross-sectional view of a second example of the pretensioning mechanism shown in fig. 11. In the second example shown in fig. 11 and 12, the pretensioning mechanism 80 may include the second pretensioning mechanism 82 and does not include the first pretensioning mechanism 81, and since the fixed tooth row member 51 does not undergo axial movement, the manner in which the fixed tooth row member 51 contacts the first side wall of the mounting slit 15 is not limited, and the fixed tooth row member 51 preferably contacts the first side wall of the mounting slit 15.

Fig. 13 is a partially hierarchical structure diagram of a third example of a pretensioning mechanism for a rolling brush assembly of a sweeping robot in an embodiment of the present application. Fig. 14 is a cross-sectional view of a third example of the pretensioning mechanism shown in fig. 13. In a third example as shown in fig. 13 and 14, the pretensioning mechanism 80 may include both the first pretensioning mechanism 81 and the second pretensioning mechanism 82.

As can be seen from fig. 9 and 10 and fig. 13 and 14, the first pretensioning mechanism 81 includes a bar-shaped elastic body, for example, the first pretensioning mechanism 81 may include a plurality of pieces of bar-shaped elastic body provided in segments for avoiding the stacking position pin 53, the first pretensioning mechanism 81 (i.e., the bar-shaped elastic body) may be fixedly mounted to the sidewall groove 151 of the first sidewall 511, and the first pretensioning mechanism 81 (i.e., the bar-shaped elastic body) is deformed by the tooth fixing mounting bar 511 in the stacking direction of the tooth fixing member 51 and the movable tooth row member 52. For example, the normal thickness of the strip-shaped elastic body in the stacking direction of the fixed tooth row members 51 and the movable tooth row members 52 is larger than the depth of the side wall grooves 151 in the stacking direction, and a part of the strip-shaped elastic body is accommodated in the side wall grooves 151 and another part protrudes from the side wall grooves 151 into the mounting slits 15 to be in surface contact with the fixed tooth mounting bars 511. Thus, the first elastic pre-tightening force generated by the first pre-tightening mechanism 81 may include an area elastic force of the first pre-tightening mechanism 81 (i.e., the strip-shaped elastic body) generated in an area in surface contact with the tooth row fixing member 51 due to the pressing deformation.

As can be seen from fig. 11 to 14, the second pretensioning mechanism 82 may include a pretensioning spring 821 and a floating ball 822, wherein the pretensioning spring 821 is inserted inside the side wall blind hole 152 of the second side wall of the mounting slit 15, the floating ball 822 achieves point contact with the movable tooth mounting bar 521 at the opening of the side wall blind hole 152 by a sliding fit with the movable tooth mounting bar 521, the pretensioning spring 821 is deformed by the movable tooth mounting bar 521 by pressing of the floating ball 822, and the second elastic pretensioning force generated by the second pretensioning mechanism 82 includes a discrete elastic force of the pretensioning spring 821 generated in a sliding manner by the suspending ball 822 at the point contact position due to the pressing deformation.

The above is a detailed description of the roller brush assembly in an embodiment of the present application. In another embodiment of the application, a sweeping robot using the rolling brush assembly is also provided.

Fig. 15 is a schematic view of a partial structure of a sweeping robot in an embodiment of the present application. Fig. 16 is a schematic structural view of an integrated cavity case of the sweeping robot in the embodiment of the application. Referring to fig. 15 and 16, the sweeping robot in the embodiment of the present application may include a moving chassis 70 (shown by way of example only as a chassis panel of the moving chassis 70), an integrated cavity case 60 carried on the moving chassis 70, and the rolling brush assembly described in the previous embodiment.

The moving chassis 70 has a chassis opening 700, the integrated cavity case 60 has a winding window 61 exposed at the chassis opening 700, the rolling brush assembly is installed in the integrated cavity case 60, and the installation position of the rolling brush assembly in the integrated cavity case 60 allows the cleaning brush 40 to protrude out of the winding window 61 during rotation of the rotating main shaft 10 with respect to the guide mechanism 20 to perform a winding operation.

The integrated housing 60 is also fixedly provided with a power motor 81, and a first shaft end of the rotary spindle 10 (e.g., the drive end cap 14 provided at the first shaft end) may be in driving engagement with the power motor 81 (e.g., through a reduction mechanism 82). Wherein the power motor 71 may drive the rotation main shaft 10 to rotate in a first rotation direction in a self-cleaning mode in which the robot is in a state in which the moving chassis 70 stops moving, and the power motor 71 may drive the rotation main shaft 10 to rotate in a second rotation direction in a working mode in which the robot is in a state in which the moving chassis 70 moves.

The integrated housing cavity 60 may have a roller brush cavity 600 for receiving a roller brush assembly, a winding window 62 communicating with the roller brush cavity 600, opposite side cavity walls of the roller brush cavity 600 having a support shaft seat 63 and a power shaft seat 64, respectively, wherein:

A first shaft end (e.g., the driving end cover 14) of the rotary main shaft 10 may be installed on the power shaft seat 64, an input shaft of the speed reduction mechanism 82 is connected with the power motor 81, an output shaft of the speed reduction mechanism 82 is located on the power shaft seat 64, and the first shaft end (e.g., the driving end cover 14) of the rotary main shaft 10 may be coaxially connected with an output shaft of the speed reduction mechanism 82 on the power shaft seat 64;

The second axial end (e.g., the follower end cap 13) of the rotary spindle 10 may be mounted on a support shaft seat 63, the support shaft seat 63 has a rotation stopping notch 65 in a limit fit with the static end cap 130, and the static end cap 130 may be locked at the support shaft seat 63 by the rotation stopping notch 65. Thus, the clutch mechanism 90, when in the first clutch state, can maintain the guide mechanism 20 in the anti-rotation state using the anti-rotation constraint imposed by the integration housing 60 at the second axial end of the rotating main shaft 10 opposite the first axial end.

Fig. 17 is a schematic view of the interface structure between the integrated chamber housing and the dust collection member shown in fig. 16. Referring to fig. 17 and also referring back to fig. 16, in an embodiment of the application, the integrated chamber housing 60 may also have a suction window 62 for communicating with the dust collection mechanism, for example, the suction window 62 may be in communication with the roller brush chamber 600, and the suction window 62 may be provided with a channel assembly 66 for interfacing with the dust collection member.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.

Claims (10)

1. A roll brush assembly for a sweeping robot, comprising:

a rotating spindle (10), the rotating spindle (10) being equipped with cleaning brushes (40) radially extending from the outer shaft wall;

A cutting mechanism (50), the cutting mechanism (50) comprising a fixed tooth row member (51) and a movable tooth row member (52) mounted to the outer shaft wall in an axial direction of the rotating spindle (10);

A shaft moving mechanism (30), the shaft moving mechanism (30) being movably mounted in the axial direction within a hollow shaft cavity (100) of the rotating main shaft (10) surrounded by the outer shaft wall, the shaft moving mechanism (30) and the rotating main shaft (10) forming bidirectional synchronous constraints in a first rotation direction and a second rotation direction opposite to each other;

The guide mechanism (20) is in transmission fit with the shaft moving mechanism (30) in the hollow shaft cavity (100), the axial position of the guide mechanism (20) in the hollow shaft cavity (100) is fixed, and the guide mechanism (20) is in a rotation stopping state and a rotation following state in a switchable manner;

A clutch mechanism (90), wherein the clutch mechanism (90) is in transmission fit with the guide mechanism (20) in the hollow shaft cavity (100), and the clutch mechanism comprises:

When the shaft moving mechanism (30) rotates along the first rotation direction along with the rotation main shaft (10), the clutch mechanism (90) is in a first clutch state for keeping the guide mechanism (20) in the rotation stopping state, the shaft moving mechanism (30) is guided by the guide mechanism (20) in the rotation stopping state to reciprocate axially along the axial direction, and the reciprocating axially moves to cause the reciprocating cutting motion of the movable tooth row component (52) relative to the fixed tooth row component (51);

When the shaft moving mechanism (30) rotates along the second rotation direction along with the rotation main shaft (10), the clutch mechanism (90) is in a second clutch state for keeping the guide mechanism (20) in the rotation following state, and the guide mechanism (20) in the rotation following state withdraws the guide of the shaft moving mechanism (30) by rotating along with the shaft moving mechanism (30) along the second rotation direction.

2. The roll brush assembly of claim 1, wherein the roll brush assembly comprises a plurality of rollers,

A first shaft end of the rotary main shaft (10) is provided with a driving end cover (14), a second shaft end of the rotary main shaft (10) is provided with a static end cover (130), wherein the driving end cover (14) and the rotary main shaft (10) form bidirectional synchronous constraint in the first rotary direction and the second rotary direction, the driving end cover (14) is used for being in transmission fit with a power motor (71), and the rotary main shaft (10) is in running fit with the static end cover (130);

The clutch mechanism (90) is located between the guide mechanism (20) and the static end cap (130), wherein the clutch mechanism (90) axially limits the guide mechanism (20) such that the relative axial position between the guide mechanism (20) and the static end cap (130) is fixed, and:

when the clutch mechanism (90) is in the first clutch state, the clutch mechanism (90) forms a rotation-stopping constraint between the guide mechanism (20) and the stationary end cap (130) that prevents rotation of the guide mechanism (20) relative to the stationary end cap (130) in the first rotational direction to constrain the guide mechanism (20) in the rotation-stopping state;

When the clutch mechanism (90) is in the second clutch state, the guide mechanism (20) is in the rotation following state which can be driven by the shaft moving mechanism (30) to rotate freely relative to the static end cover (130).

3. The roll brush assembly of claim 2, wherein the roll brush assembly comprises a plurality of rollers,

The clutch mechanism (90) comprises a clutch slide (93) movable in the axial direction, wherein:

When the clutch mechanism (90) is positioned at a first axial position, the clutch sliding sleeve (93) is in the first clutch state;

when the clutch sliding sleeve (93) is positioned at a second axial position, the clutch mechanism (90) is in the second clutch state;

The clutch slide (93) switches between the first axial position and the second axial position in response to a switching change between the first rotational direction and the second rotational direction.

4. The roll brush assembly of claim 3, wherein the roll brush assembly comprises a plurality of rollers,

The clutch mechanism (90) further comprises a fixed toothed ring (91) and a transmission toothed ring (92), the fixed toothed ring (91) is fixedly connected with the static end cover (130), the transmission toothed ring (92) is fixedly connected with the guide mechanism (20), one end of the fixed toothed ring (91) facing the clutch sliding sleeve (93) is provided with a clutch convex tooth groove (910), and one end of the transmission toothed ring (92) facing the clutch sliding sleeve (93) is provided with a transmission tooth groove (920);

The clutch sliding sleeve (93) is movably arranged between the fixed toothed ring (91) and the transmission toothed ring (92), the clutch sliding sleeve (93) is provided with clutch convex teeth (931) towards a first annular opening end of the fixed toothed ring (91), and the clutch sliding sleeve (93) is provided with transmission convex teeth (932) towards a second annular opening end of the transmission toothed ring (92), wherein:

When the clutch slide sleeve (93) is located at the first axial position, the clutch convex teeth (931) and the clutch convex tooth grooves (910) form a first limit engagement preventing the clutch slide sleeve (93) from rotating relative to the static end cover (130) along the first rotation direction, the transmission convex teeth (932) and the transmission tooth grooves (920) form a second limit engagement preventing the guide mechanism (20) from rotating relative to the clutch slide sleeve (93) along the first rotation direction, and the rotation stopping constraint is applied to the guide mechanism (20) through cascading cooperation of the first limit engagement and the second limit engagement;

when the clutch slide sleeve (93) is in the second axial position, the clutch teeth (931) are disengaged from the clutch teeth slots (910), and the first and second limit bites are released in response to disengagement of the clutch teeth (931) from the clutch teeth slots (910).

5. The roll brush assembly of claim 4, wherein the roll brush assembly comprises a plurality of rollers,

The clutch mechanism (90) further comprises a fixed shaft seat (97) coaxially and fixedly connected with the static end cover (130), and a transmission shaft lever (98) coaxially and fixedly connected with the guide mechanism (20);

The fixed shaft seat (97) and the transmission shaft lever (98) form an axial limit for fixing the relative axial position between the guide mechanism (20) and the static end cover (130);

The fixed gear ring (91) is integrated on the end face of the fixed shaft seat (97) facing the clutch sliding sleeve (93), the transmission shaft rod (98) is arranged on the fixed sleeve of the transmission gear ring (92), and the clutch sliding sleeve (93) is movably sleeved on the transmission shaft rod (98).

6. The roll brush assembly of claim 5, wherein the roll brush assembly comprises a plurality of rollers,

The first limit bite and the second limit bite also produce a first axial retention force that resists the clutch slide (93) from moving away from the first axial position when the clutch slide (93) is in the second axial position;

when the clutch slide sleeve (93) is positioned at the second axial position, the transmission convex teeth (932) and the transmission tooth grooves (920) also form synchronous driving engagement which causes the clutch slide sleeve (93) to rotate along the second rotation direction together with the guide mechanism (20) under the drive of the shaft moving mechanism (30), and the synchronous driving engagement generates a second axial retaining force which causes the clutch slide sleeve (93) to prevent the clutch slide sleeve (93) from leaving the second axial position.

7. The roll brush assembly of claim 6, wherein the roll brush assembly comprises a plurality of rollers,

The clutch tooth groove (910) has a rotation stopping limit groove wall (910 a) parallel to the longitudinal section of the rotary main shaft (10) at a first phase side opposite to the first rotary direction, and the clutch tooth groove (910) has a first cambered groove wall (910 b) at a second phase side in the same direction as the first rotary direction;

The clutch tooth (931) has a rotation-stopping limit tooth wall (931 a) parallel to a longitudinal section of the rotation main shaft (10) on the second phase side, and the clutch tooth (931) has a first cambered tooth wall (931 b) adapted to the first cambered groove wall (910 b) on the first phase side;

The drive tooth gap (920) has a second cambered surface groove wall (920 a) on the second phase side, and the drive tooth gap (920) has a synchronous engagement groove wall (920 b) parallel to the longitudinal section of the rotary spindle (10) on the first phase side;

The drive tooth (932) has a second tooth-cambered wall (932 a) on the first phase side, which is adapted to the second tooth-cambered wall (920 a), and the drive tooth (932) has a synchronous engagement tooth wall (932 b) on the second phase side, which is parallel to the longitudinal section of the rotary spindle (10);

When the clutch sliding sleeve (93) is in the first axial position, the rotation stopping limit tooth wall (931 a) and the rotation stopping limit groove wall (910 a) which are opposite to each other form the first limit engagement through plane contact, and the second cambered surface tooth wall (932 a) and the second cambered surface groove wall (920 a) which are opposite to each other form the second limit engagement through cambered surface contact;

When the clutch sliding sleeve (93) is in the second axial position, the synchronous meshing groove wall (920 b) and the synchronous meshing tooth wall (932 b) which are opposite to each other form the synchronous driving meshing through plane contact;

During a position switching between the first axial position and the second axial position, a sliding fit for guiding the position switching is produced between the first cambered surface groove wall (910 b) and the first cambered surface tooth wall (931 b) which are opposite to each other, and between the second cambered surface tooth wall (932 a) and the second cambered surface groove wall (920 a) which are opposite to each other.

8. The roll brush assembly of claim 4, wherein the roll brush assembly comprises a plurality of rollers,

The clutch mechanism (90) further comprises a switching mechanism (95), wherein:

When the shaft moving mechanism (30) is switched from the second rotation direction to the first rotation direction along the rotation direction of the rotation main shaft (10), the switching mechanism (95) generates a first axial driving force driving the clutch sliding sleeve (93) to move from the second axial position to the first axial position in response to a first phase shift of the guide mechanism (20) along the shaft moving mechanism (30) along the first rotation direction;

When the shaft moving mechanism (30) is switched from the first rotation direction to the second rotation direction along the rotation direction of the rotation main shaft (10), the switching mechanism (95) generates a second axial driving force for driving the clutch sliding sleeve (93) to move from the first axial position to the second axial position in response to the second phase shift of the guide mechanism (20) along the shaft moving mechanism (30) in the second rotation direction.

9. The roll brush assembly of claim 8, wherein the roll brush assembly comprises a plurality of rollers,

The clutch mechanism (90) further comprises a transmission shaft lever (98) which is coaxially and fixedly connected with the guide mechanism (20), the transmission gear ring (92) is fixedly sleeved on the transmission shaft lever (98), and the clutch sliding sleeve (93) is movably sleeved on the transmission shaft lever (98);

The clutch sliding sleeve (93) is provided with an inclined guide groove (935) inclined at a preset angle relative to the axial direction;

The switching mechanism (95) comprises a fixed outer cylinder (951) and a reversing ball (952), wherein:

The fixed outer cylinder (951) is sleeved on the periphery of the clutch sliding sleeve (93), the fixed outer cylinder (951) covers the inclined guide groove (935), and the fixed outer cylinder (951) is restrained to be static relative to the static end cover (130);

The reversing ball (952) is movably received in the inclined guide groove (935), and the reversing ball (952) is in rolling engagement with the transmission shaft (98) and the fixed outer barrel (951);

-a first groove end (935 a) of the inclined guide groove (935) is inclined to the first axial position and a second groove end (935 b) of the inclined guide groove (935) is inclined to the second axial position;

When the axial movement mechanism (30) is switched from the second rotation direction to the first rotation direction along the rotation direction of the rotation main shaft (10), the guide mechanism (20) drives the reversing ball (952) to generate a first planetary movement in the first rotation direction on the inner surface of the fixed outer cylinder (951) through the transmission shaft (98) in the process of generating the first phase shift, and the first planetary movement causes the relative position of the reversing ball (952) in the inclined guide groove (935) from the second groove end (935 b) to the first groove end (935 a) to change, so that the reversing ball (952) generates the first axial driving force on the inclined guide groove (935);

When the shaft moving mechanism (30) is switched from the first rotation direction to the second rotation direction following the rotation direction of the rotation main shaft (10), the guide mechanism (20) drives the reversing ball (952) to generate a second planetary motion in the second rotation direction on the inner surface of the fixed outer cylinder (951) through the transmission shaft (98) in the process of generating the second phase shift, and the second planetary motion induces the relative position of the reversing ball (952) in the inclined guide groove (935) from the first groove end (935 a) to the second groove end (935 b), so that the reversing ball (952) generates the second axial driving force on the inclined guide groove (935).

10. A robot for sweeping floor comprising a mobile chassis (70), an integrated cavity housing (60) carried by the mobile chassis (70), and a roller brush assembly according to any one of claims 1 to 9, the roller brush assembly being mounted in the integrated cavity housing (60), wherein:

The mobile chassis (70) has a chassis opening (700), the integrated cavity housing (60) has a winding window (61) exposed at the chassis opening (700) and a suction window (62) for communicating with a dust collection mechanism, the installation position of the rolling brush assembly in the integrated cavity housing (60) enables the cleaning brush (40) to protrude out of the winding window (61) during the rotation to perform winding operation;

The integrated cavity shell (60) is fixedly provided with a power motor (71), a first shaft end of the rotary main shaft (10) is in transmission fit with the power motor (71), the power motor (71) drives the rotary main shaft (10) to rotate along the first rotation direction when the sweeping robot is in a self-cleaning mode in which the moving chassis (70) stops moving, and the power motor (71) drives the rotary main shaft (10) to rotate along the second rotation direction when the sweeping robot is in a working mode in which the moving chassis (70) moves;

The clutch mechanism (90) maintains the guide mechanism (20) in the anti-rotation state with an anti-rotation constraint imposed by the integrated cavity housing (60) at a second axial end of the rotating main shaft (10) opposite the first axial end when in the first clutch state.