EP4643746A1

EP4643746A1 - Automatic cleaning device

Info

Publication number: EP4643746A1
Application number: EP23910409.4A
Authority: EP
Inventors: Xing Li; Pan CHENG; Xiang Lin
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2023-12-22
Publication date: 2025-11-05
Also published as: AU2023420498A1; JP2026501396A; WO2024140483A1; CN220327407U; TWM662281U; KR20250125396A

Abstract

An automatic cleaning device, comprising: a mobile platform (1000), which automatically moves on an operation surface; and a cleaning module (5000), which is assembled on the mobile platform and cleans the operation surface, and comprises: a roller brush frame (200); a roller brush (300) which is mounted in the roller brush frame and interferes with the operation surface; and a supporting assembly (400) which is assembled on the roller brush frame and is in contact with the operation surface in a working state so as to control the roller brush and the operation surface to have a predetermined interference amount therebetween. Thus, operation noise caused by the interference amount of the operation surface being not in a specified range is controlled.

Description

CROSS-REFERENCE TO RELATED APPLICATION

The present disclosure claims priority to Chinese Patent Application No. 202223604720.8 filed on December 30, 2022 , which is incorporated herein by reference in its entirety as a part of the present disclosure.

TECHNICAL FIELD

The present disclosure relates to the field of self-propelled device technologies, and in particular to an automatic cleaning device.

BACKGROUND

With the continuous development of science and technology, automatic cleaning devices, such as sweeping robots and sweeping and mopping integrated machines, have been widely used in homes. For a cleaning robot with a sweeping function, in order to implement the sweeping function, a cleaning brush is provided to roll up the garbage of different sizes on the ground and suck the garbage into a garbage collection box.
The structure, arrangement, and interference amount with the operating surface of the cleaning brush and the frame thereof have become one of the important factors that affect the cleaning effect of the automatic cleaning device. In addition, there is still much room for improvement in various aspects such as structural optimization, mounting direction, and easy mounting of components of the cleaning brush.
Therefore, it is necessary to provide an automatic cleaning device with an improved structure to solve the above problems.

SUMMARY

Some embodiments of the present disclosure provide an automatic cleaning device. The automatic cleaning device includes:

a mobile platform, configured to automatically move on an operating surface; and
a cleaning module, assembled to the mobile platform and configured to clean the operating surface, the cleaning module including:
a roller brush frame;
a roller brush, mounted in the roller brush frame and configured to interfere with the operating surface; and
support assemblies, assembled on the roller brush frame and configured to be in contact with the operating surface in an operating state to control the roller brush to have a predetermined interference amount with the operating surface.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and are used in conjunction with the specification to explain the principles of the present disclosure. Apparently, the drawings in the following description illustrate merely some embodiments of the present disclosure, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. In the drawings:

FIG. 1 is a schematic structural diagram of an automatic cleaning device according to the present disclosure;
FIG. 2 is a schematic structural diagram of the automatic cleaning device in FIG. 1 in a bottom view;
FIG. 3 is a partial schematic structural diagram of a cleaning module of an automatic cleaning device according to the present disclosure;
FIG. 4 is a schematic structural diagram of a brush member of the cleaning module in FIG. 3;
FIG. 5 is a partial schematic structural diagram of the cleaning module in FIG. 3 from another angle;
FIG. 6 is a schematic structural diagram of an example of a cleaning module of an automatic cleaning device according to the present disclosure;
FIG. 7 is a partial schematic structural diagram of the cleaning module in FIG. 6 from another angle;
FIG. 8 is a schematic structural diagram of another example of a cleaning module of an automatic cleaning device according to the present disclosure; and
FIG. 9 is an enlarged schematic structural diagram of an area M in FIG. 8.

DETAILED DESCRIPTION

In order to make the technical solutions and technical effects of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the drawings. Apparently, described embodiments are merely some embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.
The terms used in the embodiments of the present disclosure are for the purpose of describing particular embodiments only and are not intended to be limiting to the present disclosure. As used in the embodiments and the appended claims of the present disclosure, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality of" generally includes at least two.
It should be understood that the term "and/or" as used herein is merely a way to describe an association relationship between associated objects, indicating that three possible relationships may exist. For example, "A and/or B" can represent: the existence of A alone, the simultaneous existence of A and B, and the existence of B alone. In addition, the character "/" herein generally indicates an "or" relationship between the associated objects before and after the "/".
It should be further noted that the terms "comprise", "comprising", "include", "including", or any other variation thereof, are intended to encompass a non-exclusive inclusion, such that a commodity or an apparatus including a list of elements includes not only those elements, but also other elements not explicitly listed or inherent to such commodity or apparatus. Without further limitation, an element defined by the phrase "comprising a/an..." or "including a/an..." does not exclude the presence of other identical elements in the commodity or apparatus including the element.
In the related art, an automatic cleaning device, such as a sweeping robot, comes in a single-roller-brush model or a dual-roller-brush model. However, both models have problems such as severe wear or even damage of the roller brush caused by the excessive interference amount between the roller brush and the operating surface, or noise problems caused by the inability to control the interference amount between the roller brush and the operating surface, as well as problems such as a poor cleaning effect caused by severe wear of the roller brush.
In view of the above problems, the present disclosure provides an automatic cleaning device. Wear-resistant assemblies are arranged on a roller brush frame, and the wear-resistant assemblies are configured to be in contact with the operating surface to support the roller brush frame, such that the roller brush frame is spaced apart from the operating surface by a predetermined distance to control the interference amount between the roller brush and the operating surface. In this way, the interference amount between the roller brush and the operating surface can be effectively controlled while the structure of the related assembly of the roller brush frame is further optimized, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range, and effectively avoiding problems such as a poor cleaning effect due to severe wear of the roller brush caused by the inability to control the interference amount between the roller brush and the operating surface.
The solutions in the present disclosure are particularly applicable to controlling the interference amount between a roller brush with poor compressibility (i.e., a hard-core roller brush) and the ground, because such a roller brush has a strong ability to maintain the shape; although the sweeping strength is relatively large, the noise is often larger, for example, in the case that the roller brush is a dual-brush model and the roller brush with weak compression performance touches the ground, or in the case that the roller brush is a single-brush model and the roller brush with weak compression performance is required to sweep the ground.
It should be noted that in the present disclosure, the left side of the drawing page is taken as the first side, and the right side of the drawing page is taken as the second side. The upper side of the drawing page is taken as the upper side, and the lower side of the drawing page is taken as the lower side. The rear side of the drawing page is taken as the rear side, and the front side of the drawing page is taken as the front side.
The following description in the present disclosure is illustrated by taking a sweeping robot as an example.
Optional embodiments of the present disclosure will be described in detail hereinafter with reference to the drawings.
FIG. 1 is a schematic structural diagram of an automatic cleaning device according to some embodiments of the present disclosure, and FIG. 2 is a schematic structural diagram of the automatic cleaning device in FIG. 1 in a bottom view. As shown in FIG. 1, the automatic cleaning device may be a robot vacuum cleaner, a mopping/scrubbing robot, a window cleaning robot, or the like.
In order to describe the behavior of the automatic cleaning device more clearly, directions are defined as follows: The automatic cleaning device may travel on the ground through the combination of the following three mutually perpendicular axes: a transverse axis Y, a front-rear axis X, and a central perpendicular axis Z. The front-rear axis X represents the forward or rearward driving direction of the automatic cleaning device (or the width direction of the roller brush frame); XY represents a horizontal plane where the automatic cleaning device is located; the central perpendicular axis Z is a direction perpendicular to the XY horizontal plane, and the automatic cleaning device may rotate around the axis Z.
Referring to FIGs. 1 and 2, the present disclosure provides an automatic cleaning device. The automatic cleaning device is, for example, a sweeping robot, and includes a mobile platform 1000. The mobile platform 1000 is configured to automatically move on an operating surface, and the operating surface is, for example, a floor, a table top, a roof, a platform, or the like, and may also be any operating surface.
In addition, the automatic cleaning device may be a robot vacuum cleaner, a mopping/scrubbing robot, a window cleaning robot, or the like. The automatic cleaning device may include a sensing system 2000, a control system (not shown), a driving system 3000, a power system (not shown), a human-machine interaction system 4000, and a cleaning module 5000.
In some embodiments, the mobile platform 1000 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 1000 itself can automatically and adaptively make an operational decision based on an unexpected environmental input; the non-autonomous mobile platform itself cannot adaptively make an operational decision based on an unexpected environmental input, but can execute a given procedure or operate according to a certain logic. Correspondingly, when the mobile platform 1000 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning device; when the mobile platform 1000 is a non-autonomous mobile platform, the target direction may be set systematically or manually.
The sensing system 2000 includes sensing apparatuses such as a position determining apparatus (not shown) located above the mobile platform 1000, a buffer located at a forward part of the mobile platform 1000, and a cliff sensor and an ultrasonic sensor located at the bottom of the mobile platform, to provide various position information and motion state information of the machine to the control system.
The control system (not shown) is arranged on a main circuit board in the mobile platform 1000, and includes a computing processor, such as a central processing unit or an application processor, that communicates with a non-transitory memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive environmental information sensed by a plurality of sensors and transmitted from the sensing system, draw a real-time map of an environment in which the automatic cleaning device is located by using a positioning algorithm, such as SLAM based on obstacle information fed back by the position determining apparatus, etc., autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 3000 to perform operations such as traveling forward, traveling rearward, and/or steering according to the autonomously determined travel path. Further, the control system may also determine whether to activate the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.
The driving system 3000 may be based on specific distance and angle information. The driving system 3000 includes a driving wheel assembly, and the driving system 3000 may simultaneously control a left wheel and a right wheel. The power system includes a rechargeable battery, for example, a nickel-hydrogen battery and a lithium battery.
The human-machine interaction system 4000 includes a button on a host panel for a user to select a function, and may further include a display screen and/or an indicator light and/or a speaker, where the display screen, the indicator light, and the speaker show a current state of the machine or function options to the user, and may further include a mobile phone client program. For a path navigation type cleaning device, a mobile phone client may show a map of an environment in which the device is located and a location of the machine to the user, providing the user with richer and more user-friendly function options.
FIG. 2 is a schematic structural diagram of the automatic cleaning device in FIG. 1 in a bottom view. As shown in FIG. 2, the automatic cleaning device includes a mobile platform 1000. The mobile platform 1000 is configured to move freely on an operating surface, a cleaning module 5000 is provided at the bottom of the mobile platform 1000, and the cleaning module 5000 is configured to clean the operating surface.
As shown in FIG. 2, the cleaning module 5000 includes a dust box, a fan, and a main brush module.
Specifically, the cleaning module 5000 includes a drive unit, a roller brush frame 200, and a roller brush 300 assembled in the roller brush frame 200. The drive unit provides a driving force for forward rotation or reverse rotation, and the driving force is applied to the roller brush 300 through a multi-stage gear set. The roller brush 300 rotates under the action of the driving force to clean the operating surface, or the roller brush 300 rotates under the action of the driving force to collect dust.
FIG. 3 is a partial schematic structural diagram of a cleaning module of an automatic cleaning device according to the present disclosure. FIG. 4 is a schematic structural diagram of a brush member of the cleaning module in FIG. 3.
As shown in FIGs. 1 to 4, the present disclosure provides a cleaning device. The cleaning device includes: a mobile platform 1000, configured to automatically move on an operating surface; and a cleaning module, assembled to the mobile platform 1000 and configured to clean the operating surface.
It should be noted that since the structure of the mobile platform in the example of FIG. 3 is substantially the same as that of the mobile platform in the example of FIG. 1, the description of the same parts is omitted.
Specifically, the cleaning module 5000 includes a roller brush frame 200, a roller brush 300 mounted on the roller brush frame 200, and support assemblies 400.
More specifically, the roller brush 300 is detachably mounted in the roller brush frame 200 and is arranged in a first direction perpendicular to the front-rear axis of the mobile platform, and the roller brush 300 is configured to interfere with the operating surface. The support assemblies 400 are assembled in the roller brush frame 200 and configured to be in contact with the operating surface to support the roller brush frame 200, such that the roller brush frame 200 is spaced apart from the operating surface by a predetermined distance to control the interference amount between the roller brush 300 and the operating surface, which can effectively control the operation noise caused by the interference amount of the operating surface not being controlled within a specified range.
In some embodiments, when the automatic cleaning device is in an operating state, the lowest point of the support assembly 400 is in contact with the operating surface. The lowest point in the present disclosure refers to a point farthest from the mobile platform in a direction perpendicular to the mobile platform 1000, that is, a point farthest from the mobile platform in a direction parallel to the central perpendicular axis Z of the automatic cleaning device. For example, when the automatic cleaning device is in a horizontal state, the lowest point is a point farthest from the mobile platform in a vertical direction. With such a design, the support assembly may support the roller brush frame 200 on the operating surface to control the roller brush 300 to have a predetermined interference amount with the operating surface, thereby ensuring the cleaning effect of the automatic cleaning device.
In some embodiments, as shown in FIGs. 1 to 3, a driving wheel assembly 3000 of the automatic cleaning device includes traveling wheels 3001, and the traveling wheels 3001 are assembled on the mobile platform 1000. When the automatic cleaning device is in the operating state, the lowest point of the support assembly 400 is flush with the lowest point of the traveling wheel 3001. The traveling wheel 3001 is configured to support the weight of the entire mobile platform 1000, and the support assembly 400 supports at least a part of the weight of the roller brush frame 200 and the roller brush 300.
Herein, the lowest point of the support assembly 400 being flush with the lowest point of the traveling wheel 3001 refers to that a distance between the lowest point of the support assembly 400 and the mobile platform is equal to a distance between the lowest point of the traveling wheel 3001 and the mobile platform.
Some embodiments of the present disclosure also carry out targeted research and design for situations where the traveling wheel and/or the roller brush can be displaced up and down, and also solve the specific problem of controlling the interference amount between the roller brush and the ground. Specifically, in some embodiments, the traveling wheel 3001 is configured to passively float between a first position and a second position relative to the mobile platform 1000 in a direction perpendicular to the mobile platform, and the second position is more distal to the mobile platform relative to the first position. The traveling wheel is mounted to the bottom of the mobile platform 1000, for example, through a first elastic apparatus. When the automatic cleaning device is separated from the operating surface, under the action of the first elastic apparatus, the traveling wheel 3001 moves, distal to the mobile platform 1000, to the second position. When the automatic cleaning device is placed on the operating surface, under the action of the weight of the mobile platform 1000, the first elastic apparatus is compressed, and the traveling wheel 3001 moves, proximal to the mobile platform 1000, to the first position. When the automatic cleaning device is in the operating state, the traveling wheel 3001 is configured to support the weight of the entire mobile platform 1000, and the support assembly 400 supports at least a part of the weight of the roller brush frame 200 and the roller brush 300. The traveling wheel 3001 is at the first position, and the lowest point of the support assembly is flush with the lowest point of the traveling wheel.
In some embodiments, the roller brush frame 200 is configured to passively float between a third position and a fourth position relative to the mobile platform 1000 in a direction perpendicular to the mobile platform 1000, and the fourth position is more distal to the mobile platform 1000 relative to the third position. The roller brush frame 200 is mounted to the bottom of the mobile platform 1000, for example, through a second elastic apparatus. When the automatic cleaning device is separated from the operating surface, under the action of the second elastic apparatus, the roller brush frame 200 moves, distal to the mobile platform 1000, to the fourth position. When the automatic cleaning device is placed on the operating surface, under the action of the weight of the mobile platform 1000, the second elastic apparatus is compressed, and the roller brush frame 200 moves, proximal to the mobile platform 1000, to the third position. When the roller brush frame 200 is located at the fourth position, the lowest point of the support assembly 400 is flush with the lowest point of the traveling wheel 3001, or the lowest point of the support assembly is more distal to the mobile platform 1000 relative to the lowest point of the traveling wheel. The traveling wheel 3001 is configured to support the weight of the entire mobile platform 1000, and the support assembly 400 supports at least a part of the weight of the roller brush frame 200 and the roller brush 300.
In some embodiments, the traveling wheel 3001 is configured to passively float between a first position and a second position relative to the mobile platform in a direction perpendicular to the mobile platform 1000, and the second position is more distal to the mobile platform relative to the first position; the roller brush frame 200 is configured to passively float between a third position and a fourth position relative to the mobile platform 1000 in the direction perpendicular to the mobile platform 1000, and the fourth position is more distal to the mobile platform 1000 relative to the third position. When the traveling wheel 3001 is located at the first position and the roller brush frame 200 is located at the fourth position, the lowest point of the support assembly 400 is flush with the lowest point of the traveling wheel 3001, or the lowest point of the support assembly is more distal to the mobile platform relative to the lowest point of the traveling wheel.
In some embodiments, when the automatic cleaning device is in a suspended state, the lowest point of the roller brush 300 is more distal to the mobile platform 1000 relative to the lowest point of the support assembly 400. In this way, it can be ensured that the roller brush 300 has a predetermined interference amount with the operating surface when the automatic cleaning device is in the operating state.
It should be noted that in this example, the operating surface refers to the ground, but is not limited thereto. In other examples, the operating surface may also be other planes, platforms, or the like that need to be cleaned. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
In the example of FIG. 3, the drum frame 200 includes two second side frames 210 extending in the first direction (the Y-axis direction) and two first side frames 220 extending in the second direction (the X-axis direction) parallel to the axis of the mobile platform, and the bottom of the first side frame 220 is configured as an inclined portion gradually proximal to the ground from front to rear.
Specifically, the roller brush 300 includes a first roller brush 310 and a second roller brush 320 arranged in parallel, and the first roller brush 310 and the second roller brush 320 are sequentially proximal to wear-resistant assemblies 400 in the second direction parallel to the axis of the mobile platform.
Optionally, a first interference amount between the first roller brush 310 and the operating surface is less than or equal to a second interference amount between the second roller brush 320 and the operating surface, or the end surface of the second roller brush 320 proximal to the operating surface is more proximal to the operating surface than the end surface of the first roller brush 310 proximal to the operating surface, which is specifically shown in FIG. 1.
It should be noted that in other examples, the end surface of the second roller brush 320 proximal to the operating surface is flush with or located on the same plane as the end surface of the first roller brush 310 proximal to the operating surface. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
In some embodiments, the diameter of the first roller brush 310 is the same as the diameter of the second roller brush 320, and the axis of the first roller brush 310 is more distal to the operating surface relative to the axis of the second roller brush 320.
Optionally, one of the first roller brush 310 and the second roller brush 320 is a hard-core roller brush, and the other is a soft-core roller brush. For example, the first roller brush 310 is a soft-core roller brush, and the second roller brush 320 is a hard-core roller brush.
In some embodiments, the first roller brush 310 and the second roller brush 320 have the same structure and are both hard-core roller brushes.
It should be noted that in other examples, at least one of the first roller brush and the second roller brush is a hard-core roller brush. The above descriptions are only examples for illustration and should not be construed as limiting the present disclosure.
Specifically, the first roller brush 310 and the second roller brush 320 are arranged at a front cleaning brush mounting position 11 and a rear cleaning brush mounting position 12, respectively, and the first roller brush 310 and the second roller brush 320 rotate in opposite directions. It should be noted that the first roller brush 310 is a front brush located on a front side, and the second roller brush 320 is a rear brush located on a rear side. The structures of the first roller brush 310 and the second roller brush 320 are substantially the same; only when mounted to the main body of the device, the first roller brush 310 and the second roller brush 320 have different mounting methods and mounting directions. Since the structure of the first roller brush is substantially the same as the structure of the second roller brush, only the structure of the first roller brush is described below, and the description of the second roller brush is omitted.
In this example, the first roller brush 310 includes a shaft rod 311 and a brush member 313.
Specifically, the brush member 313 includes a cylindrical member 3131 and at least one brush component 3132, where the cylindrical member 3131 is configured to sleeve the shaft rod 311, such that the cylindrical member 3131 is coaxial with the shaft rod 311, and the at least one brush component 3132 extends from the outer surface of the cylindrical member 3131 in a direction distal to the cylindrical member 3131.
Further, the shaft rod 311 is in the shape of a long-strip-shaped cylinder, and the axis thereof may be regarded as the rotation shaft of the brush member 313. After the first roller brush 310 is mounted to the main body of the device, a front brush or rear brush driving system may drive the shaft rod 311 to rotate, thereby driving the brush member 313 on the surface of the shaft rod to sweep. The cylindrical member 3131 is also in the shape of a long-strip-shaped cylinder, and the length thereof is substantially the same as the length of the shaft rod. The cylindrical member 3131 may be a flexible member or a rigid member.
In some embodiments, a plurality of brush components 3132 are provided. Each brush component is, for example, of a V-shaped structure on the outer surface of the cylindrical member 3131 (for example, being four V-shaped spiral blades evenly distributed, where the spiral angle of each V-shaped spiral blade is, for example, 90 degrees, which is specifically shown in FIG. 4), the plurality of brush components are evenly distributed in the circumferential direction of the cylindrical member 3131, and the tips of the V-shaped structures of the plurality of brush components point in the same direction in the circumferential direction of the cylindrical member. By designing the brush component in a V-shaped structure, garbage can be easily rolled up when the front and rear brushes rotate oppositely, avoiding damage to the brush component due to excessive impact force, thereby extending the service life.
In some embodiments, each brush component 3132 is spirally distributed on the outer surface of the cylindrical member 3131. In some embodiments, the brush component 342 may be in the form of blades, bristles, or the like.
FIG. 5 is a partial schematic structural diagram of the cleaning module in FIG. 3 from another angle.
As can be seen from FIG. 5, two wear-resistant assemblies 400 are provided, which are arranged at the bottom on the rear sides of the two first side frames 220, respectively.
It should be noted that in other embodiments, one, three, four, or more wear-resistant assemblies 400 may be provided. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
In some embodiments, the support assemblies 400 include wear-resistant assemblies, for example, include wear-resistant blocks or wear-resistant rolling wheels. In the following, the wear-resistant assembly is also denoted by 400, i.e., the wear-resistant assembly 400. The wear-resistant assembly 400 is detachably assembled at the bottom of the roller brush frame 200, and the wear-resistant assembly 400 includes a plurality of replaceable components of different sizes; the plurality of replaceable components are configured to be assembled at the bottom of the roller brush frame 200 to obtain a plurality of interference amounts between the roller brush 300 and the operating surface (e.g., the ground), for example, to obtain a plurality of interference amounts between the second roller brush 320 and the operating surface.
Specifically, by replacing with the replaceable components of different sizes, the relative distance between the end surface of the replaceable component proximal to the operating surface and the end surface of the roller brush frame 200 proximal to the operating surface can be changed, so as to change (e.g., reduce or increase) the interference amount between the roller brush 300 (specifically, the second roller brush 320) and the operating surface (e.g., the ground).
By improving the structure of the wear-resistant assembly and providing a plurality of replaceable components of different sizes, the predetermined spacing distance between the roller brush frame 200 and the operating surface can be adjusted by replacing the replaceable components to control the interference amount between the second roller brush and the operating surface, which can more effectively ensure the interference amount between the second roller brush and the operating surface, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range.
FIG. 6 is a schematic structural diagram of an example of a cleaning module of an automatic cleaning device according to the present disclosure.
As shown in FIG. 6, the wear-resistant assembly 400 includes a wear-resistant rolling wheel 410. The wear-resistant rolling wheel 410 is a replaceable component, the wear-resistant rolling wheel 410 is detachably mounted at the bottom on the rear side of the first side frame 220, and the wear-resistant rolling wheel 410 is in rolling contact with the operating surface to support the roller brush frame 200.
Specifically, the wear-resistant assembly 400 further includes a rotation shaft 420, and the wear-resistant rolling wheel 410 may rotate around the rotation shaft 420 to be in rolling contact with the operating surface.
As shown in FIG. 7, the rear side of the first side frame 220 is provided with a protruding part 221 protruding toward the operating surface, the protruding part 221 is spaced apart from the operating surface by a predetermined distance, the protruding part 221 is provided with a shaft mounting hole 2211, and the shaft mounting hole 2211 is configured to mount the rotation shaft 420 of the wear-resistant rolling wheel 410.
Specifically, the wear-resistant rolling wheel 410 is, for example, a rolling wheel of a different diameter, such that by replacing the wear-resistant rolling 410 of a different diameter, the predetermined spacing distance between the roller brush frame 200 and the operating surface can be adjusted to control the interference amount between the roller brush 300 (specifically, the second roller brush) and the operating surface, which can more effectively ensure the interference amount between the roller brush 300 (specifically, the second roller brush in the case of a dual-brush model) and the operating surface, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range, and effectively avoiding problems such as a poor cleaning effect due to severe wear of the roller brush caused by the inability to control the interference amount between the roller brush and the operating surface.
In another embodiment, the wear-resistant assembly 400 further includes a lifting assembly, and the lifting assembly includes a sliding groove and a sliding block.
Specifically, for example, the rotation shaft 420 is connected to the sliding block, the first side frame 220 of the rolling wheel frame 200 is provided with the sliding groove slidably connected to the sliding block, and at least one locking point is further provided in the sliding groove. For example, through a manual operation, the sliding block of the rotation shaft 420 slides up and down (lifting movement) relative to the sliding groove of the first side frame 220, and can be locked at the locking point of the sliding groove to adjust the predetermined spacing distance between the roller brush frame 200 and the operating surface to control the interference amount between the roller brush 300 and the operating surface, or to determine the shortest distance between the roller brush 300 and the operating surface.
It should be noted that in other embodiments, a power assembly and a controller used in conjunction with the lifting assembly may also be provided. The power assembly provides power for the sliding block of the rotation shaft to slide up and down relative to the sliding groove of the second side frame (i.e., the lifting movement of the wear-resistant assembly relative to the second side frame), and the controller controls the sliding block of the rotation shaft to slide up and down relative to the sliding groove of the second side frame, so as to adjust the predetermined spacing distance between the roller brush frame 200 and the operating surface to control the interference amount between the roller brush 300 and the operating surface, or to determine the shortest distance between the roller brush 300 and the operating surface. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
By changing the size of the replaceable component of the wear-resistant assembly or through lifting movement, the interference amount between the roller brush and the operating surface is controlled, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range, which is particularly applicable to the case that the roller brush is a dual-brush model and the second roller brush 310 is a hard-core roller brush, and the case that the roller brush is a single-brush model and a hard-core roller brush.
FIG. 8 is a schematic structural diagram of another example of a cleaning module of an automatic cleaning device according to the present disclosure. FIG. 9 is an enlarged schematic structural diagram of an area M in FIG. 8.
The difference between the automatic cleaning device shown in FIG. 8 and the automatic cleaning device shown in FIG. 3 is that the wear-resistant assembly 400 includes a wear-resistant block 410', the wear-resistant block 410' is a replaceable component, the wear-resistant block 410' is detachably mounted on the outer wall on the rear side of the first side frame 220, and the wear-resistant block 410' is in sliding contact with the operating surface to support the roller brush frame 200.
It should be noted that the structure of the automatic cleaning device in FIG. 3 is substantially the same as the structure of the automatic cleaning device in FIG. 8, and thus the description of the same parts is omitted.
Specifically, the wear-resistant assembly 400 includes a fixing component 430, and the fixing component 430 is configured to fix the wear-resistant block 410' to the outer wall on the rear side of the first side frame 220.
More specifically, the outer wall on the rear side of the first side frame 220 includes a mounting groove 223 for mounting the fixing component 430. The mounting groove 223 includes at least two snap-fit points, and the fixing component 430 may be fixed to the snap-fit points of the mounting groove 223. The mounting end part (for example, in a cylindrical shape) of the fixing component 430 forms a snap fit with the snap-fit points of the mounting groove 223 to fix the wear-resistant block 410' to the outer wall on the rear side of the first side frame 220. Specifically, the predetermined spacing distance between the roller brush frame 200 and the operating surface is adjusted by adjusting the fixed snap-fit points to control the interference amount between the roller brush 300 and the operating surface, or to determine the shortest distance between the roller brush 300 and the operating surface.
It should be noted that in other embodiments, the length or structural height of the wear-resistant block 410' from the operating surface to the roller brush frame may also be changed, that is, the wear-resistant block 410' of a different height is replaced with, so as to adjust the predetermined spacing distance between the roller brush frame 200 and the operating surface to control the interference amount between the roller brush 300 and the operating surface. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
Further, the outer wall on the rear side of the second side frame 200 is provided with an accommodating groove configured to accommodate at least a part of the wear-resistant block 410'.
It should be noted that in other optional embodiments, the wear-resistant block 410' may also be arranged at the bottom on the rear side of the second side frame 200. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
As shown in FIG. 9, the end part of the wear-resistant block 410' proximal to the operating surface includes a ground-touch point 413' in contact with the ground, and a first inclined surface 411' and a second inclined surface 412' located on two sides of the ground-touch point 413', such that when the wear-resistant block is in contact with the operating surface at different angles, there can be a ground-touch point in sliding contact with the operating surface to support the roller brush frame 200, thereby controlling the interference amount between the roller brush 300 and the operating surface, or determining the shortest distance between the roller brush 300 and the operating surface.
Specifically, the length of the first inclined surface 411' is greater than the length of the second inclined surface 412'. The length of the second inclined surface 412' is greater than the length of the ground-touch point 413'. Through the arrangement of the ground-touch point and the inclined surfaces on two sides thereof, the passability of the automatic cleaning device when traveling on an inclined surface can be improved.
By improving the structure of the end part of the wear-resistant block in the wear-resistant assembly, the wear-resistant block can be replaceably mounted on the roller brush frame. Through the arrangement of the ground-touch point and the inclined surfaces on two sides thereof, the passability of the automatic cleaning device when traveling on an inclined surface can be improved, the sliding contact with the operating surface at multiple angles can be ensured to support the roller brush frame, and the interference amount between the second side frame and the operating surface can be controlled, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range, and effectively avoiding problems such as a poor cleaning effect due to severe wear of the roller brush caused by the inability to control the interference amount between the roller brush and the operating surface.
It should be noted that the above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.
Compared with the related art, according to the automatic cleaning device of the present disclosure, detachable wear-resistant assemblies are arranged on a roller brush frame, and the wear-resistant assemblies are configured to be in contact with the operating surface to support the roller brush frame, such that the roller brush frame is spaced apart from the operating surface by a predetermined distance to control the interference amount between the roller brush and the operating surface. In this way, the interference amount between the roller brush and the operating surface can be effectively controlled while the structure of the roller brush frame assembly is further optimized, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range, and effectively avoiding problems such as a poor cleaning effect due to severe wear of the roller brush caused by the inability to control the interference amount between the roller brush and the operating surface.
In addition, by replacing with replaceable components of different sizes or adopting a lifting assembly to enable the replaceable component to move up and down, the relative distance between the end surface of the replaceable component proximal to the operating surface and the end surface of the roller brush frame proximal to the operating surface can be changed, such that the interference amount between the roller brush and the operating surface can be effectively changed (e.g., reduced or increased), thereby more effectively controlling the interference amount between the roller brush and the operating surface.
In addition, through the arrangement of a ground-touch point and inclined surfaces on two sides thereof, the passability of the automatic cleaning device when traveling on an inclined surface can be improved, and the sliding contact with the operating surface at multiple angles can be ensured to support the roller brush frame.
The solutions in the present disclosure are particularly applicable to controlling the interference amount between a roller brush with poor compressibility and the ground, because such a roller brush has a strong ability to maintain the shape; although the sweeping strength is relatively large, the noise is often larger, for example, in the case that the roller brush is a dual-brush model and the roller brush with weak compression performance touches the ground, or in the case that the roller brush is a single-brush model and the roller brush with weak compression performance is required to sweep the ground.
The present disclosure further provides the following embodiments.
In some embodiments, when the automatic cleaning device is in an operating state, the lowest point of the support assembly is in contact with the operating surface.
In some embodiments, the automatic cleaning device further includes traveling wheels, and the traveling wheels are assembled to the mobile platform. When the automatic cleaning device is in the operating state, the lowest point of the support assembly is flush with the lowest point of the traveling wheel.
In some embodiments, the traveling wheel is configured to passively float between a first position and a second position relative to the mobile platform in a direction perpendicular to the mobile platform, the second position is more distal to the mobile platform relative to the first position. When the automatic cleaning device is in the operating state, the traveling wheel is at the first position, and the lowest point of the support assembly is flush with the lowest point of the traveling wheel.
In some embodiments, the roller brush frame is configured to passively float between a third position and a fourth position relative to the mobile platform in a direction perpendicular to the mobile platform, and the fourth position is more distal to the mobile platform relative to the third position. When the roller brush frame is located at the fourth position, the lowest point of the support assembly is flush with the lowest point of the traveling wheel, or the lowest point of the support assembly is more distal to the mobile platform relative to the lowest point of the traveling wheel.
In some embodiments, the traveling wheel is configured to passively float between a first position and a second position relative to the mobile platform in a direction perpendicular to the mobile platform, and the second position is more distal to the mobile platform relative to the first position; the roller brush frame is configured to passively float between a third position and a fourth position relative to the mobile platform in the direction perpendicular to the mobile platform, and the fourth position is more distal to the mobile platform relative to the third position. When the traveling wheel is located at the first position and the roller brush frame is located at the fourth position, the lowest point of the support assembly is flush with the lowest point of the traveling wheel, or the lowest point of the support assembly is more distal to the mobile platform relative to the lowest point of the traveling wheel.
In some embodiments, when the automatic cleaning device is in a suspended state, the lowest point of the roller brush is more distal to the mobile platform relative to the lowest point of the support assembly.
In some embodiments, the support assemblies include wear-resistant assemblies detachably assembled at the bottom of the roller brush frame, the wear-resistant assembly includes a plurality of replaceable components of different sizes, and the plurality of replaceable components are configured to be assembled at the bottom of the roller brush frame to obtain a plurality of interference amounts between the roller brush and the operating surface.
In some embodiments, the roller brush extends perpendicular to the front-rear axis of the mobile platform;
the roller brush frame includes two first side frames extending parallel to the front-rear axis of the mobile platform, and the bottom of the first side frame is configured as an inclined portion gradually proximal to the ground from front to rear;
the wear-resistant assembly is arranged at least at the bottom on the rear side of one of the second side frames.
In some embodiments, the wear-resistant assembly includes a wear-resistant rolling wheel detachably mounted at the bottom on the rear side of the first side frame, and the wear-resistant rolling wheel is in rolling contact with the operating surface to support the roller brush frame.
In some embodiments, the rear side of the second side frame is provided with a protruding part protruding toward the operating surface, the protruding part is provided with a shaft mounting hole, and the shaft mounting hole is configured to mount a rotation shaft of the wear-resistant rolling wheel.
In some embodiments, the wear-resistant assembly includes a wear-resistant block detachably mounted on the outer wall on the rear side of the first side frame, and the wear-resistant block is in sliding contact with the operating surface to support the roller brush frame.
In some embodiments, the end part of the wear-resistant block proximal to the operating surface includes a contact point in contact with the operating surface and at least one inclined surface arranged adjacent to the contact point.
In some embodiments, the wear-resistant assembly further includes a fixing component configured to fix the wear-resistant block to the outer wall on the rear side of the second side frame.
In some embodiments, the outer wall on the rear side of the second side frame is provided with an accommodating groove configured to accommodate at least a part of the wear-resistant block.
In some embodiments, the mounting position of the wear-resistant assembly on the roller brush frame is adjustable, so as to adjust the spacing distance between the roller brush frame and the operating surface to adjust the interference amount between the roller brush and the operating surface.
In some embodiments, the roller brush includes a first roller brush and a second roller brush arranged in parallel, and the first roller brush and the second roller brush are sequentially proximal to the support assemblies in a direction parallel to the front-rear axis of the mobile platform.
In some embodiments, a first interference amount between the first roller brush and the operating surface is less than or equal to a second interference amount between the second roller brush and the operating surface.
In some embodiments, the diameter of the first roller brush is the same as the diameter of the second roller brush, and the axis of the first roller brush is more distal to the operating surface relative to the axis of the second roller brush.
In some embodiments, one of the first roller brush and the second roller brush is a hard-core roller brush, and the other is a soft-core roller brush.
In some embodiments, the support assemblies include wear-resistant blocks and/or wear-resistant wheels.
The above solutions of the embodiments of the present disclosure may have the following beneficial effects.
Compared with the prior art, according to the automatic cleaning device of the present disclosure, detachable wear-resistant assemblies are arranged on a roller brush frame, and the wear-resistant assemblies are configured to be in contact with the operating surface to support the roller brush frame, such that the roller brush frame is spaced apart from the operating surface by a predetermined distance to control the interference amount between the roller brush and the operating surface. In this way, the interference amount between the roller brush and the operating surface can be effectively controlled while the structure of the roller brush frame assembly is further optimized, thereby effectively controlling the operation noise caused by the interference amount of the operating surface not being controlled within a specified range, and effectively avoiding problems such as a poor cleaning effect due to severe wear of the roller brush caused by the inability to control the interference amount between the roller brush and the operating surface.
In addition, by replacing with replaceable components of different sizes or adopting a lifting assembly to enable the replaceable component to move up and down, the relative distance between the end surface of the replaceable component proximal to the operating surface and the end surface of the roller brush frame proximal to the operating surface can be changed, such that the interference amount between the roller brush and the operating surface can be effectively changed (e.g., reduced or increased), thereby more effectively controlling the interference amount between the roller brush and the operating surface.
In addition, through the arrangement of a ground-touch point and inclined surfaces on two sides thereof, the passability of the automatic cleaning device when traveling on an inclined surface can be improved, and the sliding contact with the operating surface at multiple angles can be ensured to support the roller brush frame.
In addition, according to the present disclosure, the interference amount between the roller brush and the operating surface is controlled by the wear-resistant assembly, which is particularly applicable to controlling the interference amount between a roller brush with poor compressibility and the ground, because such a roller brush has a strong ability to maintain the shape; although the sweeping strength is relatively large, the noise is often larger, for example, in the case that the roller brush is a dual-brush model and the roller brush with weak compression performance touches the ground, or in the case that the roller brush is a single-brush model and the roller brush with weak compression performance is required to sweep the ground.
In addition, the present disclosure also carries out targeted research and design for situations where the traveling wheel and/or the roller brush can be displaced up and down, and also solves the specific problem of controlling the interference amount between the roller brush and the ground.
Finally, it should be noted that the embodiments in the specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and reference should be made to each other for the same or similar parts. Since the system or apparatus disclosed in the embodiment corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference may be made to the description of the method part.
The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present disclosure.

Claims

An automatic cleaning device, comprising:
a mobile platform, configured to automatically move on an operating surface; and

a cleaning module, assembled to the mobile platform and configured to clean the operating surface, the cleaning module comprising:
a roller brush frame;

a roller brush, mounted in the roller brush frame and configured to interfere with the operating surface; and

support assemblies, assembled on the roller brush frame and configured to be in contact with the operating surface in an operating state to control the roller brush to have a predetermined interference amount with the operating surface.
The automatic cleaning device according to claim 1, wherein when the automatic cleaning device is in an operating state, a lowest point of the support assembly is in contact with the operating surface.
The automatic cleaning device according to claim 2, further comprising traveling wheels, wherein the traveling wheels are assembled to the mobile platform, and when the automatic cleaning device is in the operating state, the lowest point of the support assembly is flush with a lowest point of the traveling wheel.
The automatic cleaning device according to claim 3, wherein the traveling wheel is configured to passively float between a first position and a second position relative to the mobile platform in a direction perpendicular to the mobile platform, and the second position is more distal to the mobile platform relative to the first position; and when the automatic cleaning device is in the operating state, the traveling wheel is at the first position, and the lowest point of the support assembly is flush with the lowest point of the traveling wheel.
The automatic cleaning device according to claim 3, wherein the roller brush frame is configured to passively float between a third position and a fourth position relative to the mobile platform in a direction perpendicular to the mobile platform, and the fourth position is more distal to the mobile platform relative to the third position; and when the roller brush frame is located at the fourth position, the lowest point of the support assembly is flush with the lowest point of the traveling wheel, or the lowest point of the support assembly is more distal to the mobile platform relative to the lowest point of the traveling wheel.
The automatic cleaning device according to claim 3, wherein the traveling wheel is configured to passively float between a first position and a second position relative to the mobile platform in a direction perpendicular to the mobile platform, and the second position is more distal to the mobile platform relative to the first position; the roller brush frame is configured to passively float between a third position and a fourth position relative to the mobile platform in the direction perpendicular to the mobile platform, and the fourth position is more distal to the mobile platform relative to the third position; and when the traveling wheel is located at the first position and the roller brush frame is located at the fourth position, the lowest point of the support assembly is flush with the lowest point of the traveling wheel, or the lowest point of the support assembly is more distal to the mobile platform relative to the lowest point of the traveling wheel.
The automatic cleaning device according to any one of claims 1 to 6, wherein when the automatic cleaning device is in a suspended state, a lowest point of the roller brush is more distal to the mobile platform relative to the lowest point of the support assembly.
The automatic cleaning device according to any one of claims 1 to 7, wherein the support assemblies comprise wear-resistant assemblies detachably assembled at a bottom of the roller brush frame, the wear-resistant assembly comprises a plurality of replaceable components of different sizes, and the plurality of replaceable components are configured to be assembled at the bottom of the roller brush frame to obtain a plurality of interference amounts between the roller brush and the operating surface.
The automatic cleaning device according to claim 8, wherein the roller brush extends perpendicular to a front-rear axis of the mobile platform;
the roller brush frame comprises two first side frames extending parallel to the front-rear axis of the mobile platform, and a bottom of the first side frame is configured as an inclined portion gradually proximal to a ground from front to rear; and

the wear-resistant assembly is arranged at least at a bottom on a rear side of one of second side frames.
The automatic cleaning device according to claim 9, wherein the wear-resistant assembly comprises a wear-resistant rolling wheel detachably mounted at the bottom on a rear side of the first side frame, and the wear-resistant rolling wheel is in rolling contact with the operating surface to support the roller brush frame.
The automatic cleaning device according to claim 10, wherein
the rear side of the second side frame is provided with a protruding part protruding toward the operating surface, the protruding part is provided with a shaft mounting hole, and the shaft mounting hole is configured to mount a rotation shaft of the wear-resistant rolling wheel.
The automatic cleaning device according to claim 9, wherein
the wear-resistant assembly comprises a wear-resistant block detachably mounted on an outer wall on the rear side of the first side frame, and the wear-resistant block is in sliding contact with the operating surface to support the roller brush frame.
The automatic cleaning device according to claim 12, wherein
an end part of the wear-resistant block proximal to the operating surface comprises a contact point in contact with the operating surface and at least one inclined surface arranged adjacent to the contact point.
The automatic cleaning device according to claim 12, wherein the wear-resistant assembly further comprises a fixing component configured to fix the wear-resistant block to an outer wall on the rear side of the second side frame.
The automatic cleaning device according to claim 12, wherein
an outer wall on the rear side of the second side frame is provided with an accommodating groove configured to accommodate at least a part of the wear-resistant block.
The automatic cleaning device according to claim 9, wherein
a mounting position of the wear-resistant assembly on the roller brush frame is adjustable, so as to adjust a spacing distance between the roller brush frame and the operating surface to adjust the interference amount between the roller brush and the operating surface.
The automatic cleaning device according to claim 8, wherein the roller brush comprises a first roller brush and a second roller brush arranged in parallel, and the first roller brush and the second roller brush are sequentially proximal to the support assemblies in a direction parallel to a front-rear axis of the mobile platform.
The automatic cleaning device according to claim 17, wherein a first interference amount between the first roller brush and the operating surface is less than or equal to a second interference amount between the second roller brush and the operating surface.
The automatic cleaning device according to claim 17, wherein: a diameter of the first roller brush is the same as a diameter of the second roller brush, and an axis of the first roller brush is more distal to the operating surface relative to an axis of the second roller brush.
The automatic cleaning device according to claim 17, wherein
one of the first roller brush and the second roller brush is a hard-core roller brush, and the other is a soft-core roller brush.
The automatic cleaning device according to any one of claims 1 to 20, wherein the support assemblies comprise wear-resistant blocks and/or wear-resistant wheels.