JP2020501615A - Cleaning roller for cleaning robot - Google Patents

Abstract

The cleaning roller attachable to the cleaning robot includes an elongated shaft extending along a rotation axis from a first end to a second end. The first end and the second end are attachable to a cleaning robot for rotating about a rotation axis. The cleaning roller further includes a core fixed about the shaft and having an outer end proximate the first end and the second end of the shaft along the elongate shaft. The core tapers from a portion near the first end of the shaft toward the center of the shaft. The cleaning roller further includes a sheath secured to the core and extending beyond an outer end of the core. The sheath has a first half and a second half each tapering toward the center of the shaft.

Description

  The present description relates in particular to cleaning rollers for cleaning robots.

  The autonomous cleaning robot can move on the floor to avoid obstacles while vacuuming the floor to capture debris from the floor. The cleaning robot may include a roller for picking up debris from the floor. While moving on the floor, the cleaning robot can rotate the rollers, which rotate the debris towards the vacuum airflow generated by the cleaning robot. In this regard, the rollers and vacuum airflow may cooperate to enable the robot to capture debris. While rotating, the rollers may engage debris, including hairs and other fibrous objects. Fibrous debris may wind around the rollers.

  In one aspect, a cleaning roller attachable to a cleaning robot includes an elongate shaft extending along a rotation axis from a first end to a second end. The first end and the second end are attachable to a cleaning robot for rotating about an axis of rotation. The cleaning roller further includes a core secured about the shaft and having an outer end proximate the first end and the second end of the shaft along the elongate shaft. The core is tapered from a portion near the first end of the shaft toward the center of the shaft, and is tapered from a portion near the second end of the shaft toward the center of the shaft. I have. The cleaning roller further includes a sheath secured to the core and extending beyond an outer end of the core. The sheath has a first half and a second half each tapering toward the center of the shaft. The cleaning roller further comprises a collection hole defined by the outer end of the core and the sheath.

  In another aspect, an autonomous cleaning robot includes a body, a drive operable to move the body over a floor, and a cleaning assembly. The cleaning assembly includes a roller. The roller is, for example, a first cleaning roller mounted on the body and rotatable about a first axis, and the cleaning assembly is further mounted on the body and rotatable about a second axis parallel to the first axis. It has rollers. The shell of the first cleaning roller and the second cleaning roller define a gap therebetween, the gap extending along the first axis and increasing toward the center of the length of the first cleaning roller.

  In some embodiments, the length of the cleaning roller is between 20 cm and 30 cm. The sheath is fixed to the elongate shaft, for example, over 75% to 90% of the length of the sheath.

  In some embodiments, the elongate shaft is configured to be driven by a cleaning robot motor.

  In some embodiments, the core has a plurality of discontinuous sections located around the shaft and within the sheath. In some cases, the sheath is fixed to the core between the discontinuous sections. In some cases, the sheath is connected to the shaft at a location between the discontinuous sections of the core.

  In some embodiments, the core has a plurality of posts extending away from the axis of rotation toward the sheath. The post engages the sheath and connects the sheath with the core.

  In some embodiments, the smallest diameter of the core is at the center of the shaft.

  In some embodiments, the first and second halves of the sheath each have an outer surface. The outer surface makes an angle of, for example, 5 to 20 degrees with the rotation axis.

  In some embodiments, the first half of the sheath tapers from a portion proximate the first end toward the center of the shaft, and the second half of the sheath has a second end of the shaft. The portion is tapered from the portion close to the portion toward the center of the shaft.

  In some embodiments, the sheath has a shell surrounding the core and secured to the core. The shell has a frustoconical half.

  In some embodiments, the sheath has a shell surrounding the core and secured to the core. The sheath has, for example, vanes extending radially outward from the shell. The height of the portion of the blade near the first end of the shaft is, for example, lower than the height of the portion of the blade near the center of the shaft. In some cases, the vanes follow a V-shaped path along the outer surface of the sheath. In some cases, the height of the portion of the blade proximate the first end is between 1 and 5 millimeters, and the height of the portion of the blade proximate the center of the shaft is between 10 and 30 millimeters.

  In some embodiments, the length of one of the collection holes is 5% to 15% of the length of the cleaning roller.

  In some embodiments, the tubular portion of the sheath defines a collection hole.

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

  In some embodiments, the shell of the first cleaning roller and the shell of the second cleaning roller define a gap.

  In some embodiments, the gap is between 5 and 30 millimeters at the center of the length of the first cleaning roller.

  In some embodiments, the length of the first cleaning roller is between 20 and 30 centimeters. In some cases, the first cleaning roller is longer than the second cleaning roller. In some cases, the length of the first cleaning roller is equal to the length of the second cleaning roller.

  In some embodiments, the front of the body has a substantially rectangular shape. The first cleaning roller and the second cleaning roller are attached to, for example, a bottom surface of a front portion of the main body.

  In some embodiments, the first cleaning roller and the second cleaning roller define an air gap therebetween at the center of the length of the first cleaning roller. The gap changes in width when the first cleaning roller and the second cleaning roller rotate, for example.

  Advantages of the above aspect include, but are not limited to, those described below and elsewhere in this specification. The cleaning roller can improve collection of debris from the floor. Torque can be more easily transmitted from the drive shaft to the outer surface of the cleaning roller over the entire length of the cleaning roller. The improved torque transmission allows the debris to move more easily when the outer surface of the cleaning roller engages the debris. The cleaning roller can collect more debris when driven at a constant torque compared to other cleaning rollers that do not have the features described herein that allow for improved torque transmission. .

  The cleaning roller can be increased in length without reducing the cleaning roller's ability to collect debris from the floor. Specifically, the cleaning roller may require more drive torque as it gets longer. However, due to the improved torque transmission of the cleaning rollers, the cleaning rollers can be driven with less torque to achieve a debris collection capability comparable to that of other cleaning rollers. If the cleaning roller is attached to the cleaning robot, the cleaning roller can have a length that extends near both sides of the cleaning robot so that the cleaning roller reaches a larger range of debris.

  In another example, the cleaning roller can be configured to collect fibrous debris in a manner that does not interfere with the cleaning ability of the cleaning roller. Fibrous debris, when collected, can be easily removed and removed. Specifically, when the cleaning roller engages the fibrous debris from the floor, the cleaning roller guides the fibrous debris toward the outer end of the cleaning roller where the collecting hole for the fibrous debris is located. can do. The collection holes are easily accessible by the user when the rollers are removed from the robot so that the user can easily discard the fibrous debris. Improved collection of fibrous debris, in addition to preventing damage to the cleaning roller, reduces the likelihood that the fibrous debris will interfere with the cleaning roller's debris collection ability, for example, by wrapping around the outer surface of the cleaning roller. be able to.

  In a further example, a cleaning roller can cooperate with another cleaning roller to define a gap therebetween that enhances the characteristics of the airflow generated by the vacuum assembly. Since the gap increases toward the center of the cleaning roller, the airflow can be concentrated at the center of the cleaning roller. While fibrous debris tends to collect toward the end of the cleaning roller, other debris can be more easily captured through the center of the cleaning roller where air flow is at the highest velocity.

  The details of one or more embodiments of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other potential features, aspects, and advantages will be apparent from the description, drawings, and claims.

FIG. 1A is a bottom view of the cleaning head during a cleaning operation of the cleaning robot. FIG. 1B is a sectional side view of the cleaning robot and the cleaning head shown in FIG. 1A during a cleaning operation. FIG. 2A is a bottom view of the cleaning robot shown in FIG. 1B. FIG. 2B is a side perspective development view of the cleaning robot shown in FIG. 2A. FIG. 3A is a front perspective view of the cleaning roller. FIG. 3B is an exploded front perspective view of the cleaning roller shown in FIG. 3A. FIG. 3C is a front view of the cleaning roller shown in FIG. 3A. FIG. 3D is a front partial cross-sectional view of the cleaning roller shown in FIG. 3A with a portion of the cleaning roller sheath and support structure removed to reveal the cleaning roller collection holes. FIG. 3E is a cross-sectional view of the cleaning roller sheath shown in FIG. 3A, taken along line 3E-3E shown in FIG. 3C. FIG. 4A is a perspective view of the support structure of the cleaning roller shown in FIG. 3A. FIG. 4B is a front view of the support structure shown in FIG. 4A. FIG. 4C is a cross-sectional view of the end of the support structure shown in FIG. 4B, taken along 4C-4C shown in FIG. 4B. FIG. 4D is an enlarged perspective view of the inset 4D shown in FIG. 4A, showing the end of the subassembly shown in FIG. 4A. FIG. 5A is an enlarged view of the inset view 5A shown in FIG. 3C, showing the central portion of the cleaning roller shown in FIG. 3C. FIG. 5B is a cross-sectional view of the end of the cleaning roller shown in FIG. 3C, taken along line 5B-5B shown in FIG. 3C. FIG. 6 is a schematic view of the cleaning roller shown in FIG. 3A in a state where a free portion of a sheath is removed.

  Like reference numbers and designations in multiple figures indicate like elements.

  Referring to FIGS. 1A and 1B, a cleaning head 100 for a cleaning robot 102 includes cleaning rollers 104a, 104b arranged to engage debris 106 on the floor surface 10. FIG. 1A shows the cleaning head 100 during a cleaning operation in a state where the cleaning head 100 is separated from a cleaning robot 102 to which the cleaning head 100 is attached. The cleaning robot 102 moves on the floor 10 while taking in debris 106 from the floor 10. FIG. 1B shows the cleaning robot 102 taking in debris 106 from the floor 10 by rotating the rollers 104a, 104b while traversing the floor 10 during the cleaning operation, with the cleaning head 100 attached to the cleaning robot 102. ing. During the cleaning operation, the cleaning rollers 104a and 104b are rotatable so as to lift the debris 106 from the floor 10 into the cleaning robot 102. The outer surfaces of the cleaning rollers 104a and 104b engage with the debris 106 to stir the debris 106. The rotation of the cleaning rollers 104a, 104b facilitates movement of the debris 106 toward the interior of the cleaning robot 102.

  In some embodiments, as described herein, cleaning rollers 104a, 104b may include a plurality of chevron-shaped vanes 224a, 224b (shown in FIG. 1A) disposed along an outer surface of cleaning rollers 104a, 104b. It is an elastomer roller with a pattern. At least one of the cleaning rollers 104a, 104, for example, the blades 224a, 224b of the cleaning roller 104a, are in contact with the floor surface 10 over the length of the cleaning rollers 104a, 104b and have a bristle that is easy to bend during rotation. In this case, it receives a consistently applied frictional force that does not exist. Further, the cleaning rollers 104a, 104b have vanes 224a, 224b extending radially outward, as well as cleaning rollers having separate bristles extending radially from the shaft. On the other hand, the blades 224a and 224b also extend in the longitudinal direction without interruption along the outer surfaces of the cleaning rollers 104a and 104b. The blades 224a, 224b also extend circumferentially along the outer surfaces of the cleaning rollers 104a, 104b, and define a V-shaped path along the outer surfaces of the cleaning rollers 104a, 104b, as described herein. . However, other suitable configurations are also conceivable. For example, in some embodiments, at least one of the rear and front rollers 104a, 104b has bristles and / or for agitating the floor surface in addition to or instead of the blades 224a, 224b. Elongated flexible flaps may be provided.

As shown in FIG. 1A, a gap 108 and a gap 109 are defined between the cleaning roller 104a and the cleaning roller 104b. Both the gap 108 and the gap 109 extend from a first outer end 110a of the cleaning roller 104a to a second outer end 112a of the cleaning roller 104a. As described herein, the gap 108 corresponds to the distance between the bladeless cleaning rollers 104a, 104b on the cleaning rollers 104a, 104b, and the gap 109 corresponds to the cleaning including the blades on the cleaning rollers 104a, 104b. This corresponds to the distance between the rollers 104a and 104b. The air gap 109 is sized to accommodate the debris 106 that is moved by the rollers 104a, 104b as the rollers 104a, 104b rotate and to draw airflow into the cleaning robot 102, wherein the cleaning rollers 104a, 104b, As 104 rotates, the width changes. The gap 109 can vary in width during rotation of the rollers 104a, 104b, while the gap 108 has a constant width during rotation of the rollers 104a, 104b. The gap 108 facilitates upward movement of the debris 106 toward the interior of the robot 102 caused by the rollers 104a, 104b so that the robot 102 can pick up debris. As described herein, the gap 108 increases in size toward the center 114 of the length L1 of the cleaning roller 104a, for example, the center of the cleaning roller 114a along the longitudinal axis 126a of the cleaning roller 114a. The gap 108 decreases in width toward the ends 110a, 112a of the cleaning roller 104a. This configuration of the gap 108 reduces the likelihood that fibrous debris picked up by the rollers 104a, 104b will interfere with the operation of the rollers 104a, 104b, while improving the ability of the rollers 104a, 104b to pick up debris. Can be.

Example of cleaning robot

  The cleaning robot 102 is an autonomous cleaning robot that autonomously crosses the floor 10 while taking in debris 106 from different portions of the floor 10. In the example shown in FIGS. 1B and 2A, the robot 102 includes a main body 200 that can move on the floor 10. The main body 200 may include a plurality of continuous structures to which movable components of the cleaning robot 102 are attached in some cases. The continuous structure includes, for example, an outer housing that covers internal components of the cleaning robot 102, a chassis to which the drive wheels 210a and 210b and the rollers 104a and 104b are mounted, a bumper that is mounted to the outer housing, and the like. As shown in FIG. 2A, in some embodiments, body 200 includes a substantially rectangular front portion 202a and a substantially semicircular rear portion 202b. The front part 202 a is, for example, a part from the front third to the front half of the cleaning robot 102, and the rear part 202 b is a part from the rear half to the rear two-thirds of the cleaning robot 102. The front portion 202a includes, for example, two side surfaces 204a and 204b that are substantially perpendicular to the front surface 206 of the front portion 202a.

  As shown in FIG. 2A, the robot 102 includes a drive system that includes actuators 208a, 208b, eg, a motor, operable with the drive wheels 210a, 210b. The actuators 208a, 208b are mounted on the main body 200 and are operatively connected to drive wheels 210a, 210b rotatably mounted on the main body 200. The drive wheels 210a and 210b support the main body 200 on the floor surface 10. Actuators 208a, 208b, when driven, rotate drive wheels 210a, 210b to allow robot 102 to move autonomously on floor 10.

  The robot 102 includes a control device 212 that operates the actuators 208a and 208b to autonomously move the robot 102 on the floor 10 during the cleaning operation. The actuators 208a, 208b are operable to drive the robot 102 in a forward drive direction 116 (shown in FIG. 1B) to rotate the robot 102. In some embodiments, robot 102 includes caster wheels 211 that support body 200 on floor 10. The caster wheels 211 support, for example, the rear part 202b of the main body 200 on the floor surface 10, and the drive wheels 210a, 210b support the front part 202a of the main body 200 on the floor surface 10.

  As shown in FIGS. 1B and 2A, the vacuum assembly 118 is carried inside a main body 200 of the robot 102, for example, in a rear portion 202b of the main body 200. The controller 212 operates the vacuum assembly 118 to create an airflow 120 that passes through the gap 109 near the rollers 104a, 104b, passes through the body 200, and flows out of the body 200. The vacuum assembly 118 includes, for example, an impeller that produces an airflow 120 when rotated. The airflow 120 and the rotating rollers 104a, 104b cooperate to take debris 106 into the robot 102. The cleaning bin 122 attached to the main body 200 contains debris 106 captured by the robot 102 and the filter 123 in the main body 200 is used to remove the airflow 120 from entering the vacuum assembly 118 and exiting the main body 200. Next, the debris 106 is separated from the air stream 120. Thus, the debris 106 is trapped in both the cleaning bin 122 and the filter 123 before the airflow 120 is discharged from the main body 200.

  As shown in FIGS. 1A and 2A, the cleaning head 100 and the rollers 104a, 104b are disposed between the side surfaces 204a, 204b on the front part 202a of the main body 200. The rollers 104a, 104b are operably connected to actuators 214a, 214b, for example, a motor. The cleaning head 100 and the rollers 104a, 104b are disposed in front of the cleaning bin 122, and the cleaning bin 122 is disposed in front of the vacuum assembly 118. In the example of the robot 102 described with respect to FIGS. 2A and 2B, the substantially rectangular shape of the front portion 202a of the body 200 causes the rollers 104a, 104b to be longer than, for example, a roller for a cleaning robot having a circular body. Enable.

  The rollers 104a, 104b are attached to the housing 124 of the cleaning head 100, for example, indirectly or directly, to the main body 200 of the robot 102. Specifically, the rollers 104a, 104b are attached to the bottom surface of the front part 202a of the main body 200 so as to engage with the debris 106 on the floor surface 10 when the bottom surface faces the floor surface 10 during the cleaning operation. Have been.

  In some embodiments, housing 124 of cleaning head 100 is attached to body 200 of robot 102. Incidentally, the rollers 104 a and 104 b are also attached to the main body 200 of the robot 102 indirectly via, for example, the housing 124. Alternatively or additionally, cleaning head 100 is a removable assembly of robot 102 in which housing 124 to which rollers 104a, 104b are mounted is removably mounted to body 200 of robot 102. The housing 124 and rollers 104a, 104b are removable from the body 200 as a unit so that the cleaning head 100 can be easily replaced with a replacement cleaning head.

  In some embodiments, the housing 124 of the cleaning head 100 is not removably attached to the body 200, but instead is a separate element from the body 200, but rather an integral part of the body 200 of the robot 102. The rollers 104 a and 104 b are directly attached to the main body 200 of the robot 102, for example, at a portion integrated with the robot 200. Each of the rollers 104a, 104b can be independently removed from the housing 124 of the cleaning head 100 and / or the body 200 of the robot 102 so that the rollers 104a, 104b can be easily replaced with cleaning or replacement rollers. As described herein, the rollers 104a, 104b provide a collection hole for fibrous debris that can be easily accessed and cleaned by a user when the rollers 104a, 104b are removed from the housing 124. Can prepare.

  The rollers 104a, 104b are rotatable with respect to the housing 124 of the cleaning head 100 and the main body 200 of the robot 102. As shown in FIGS. 1B and 2A, the rollers 104a, 104b are rotatable about longitudinal axes 126a, 126b parallel to the floor 10. The axes 126a, 126b are parallel to each other and correspond to the longitudinal axes of the cleaning rollers 104a, 104b, respectively. In some cases, axes 126a, 126b are perpendicular to forward drive direction 116 of robot 102. The center 114 of the cleaning roller 104a is located along the longitudinal axis 126a and corresponds to the midpoint of the length L1 of the cleaning roller 104a. The center 114 is located along the rotation axis of the cleaning roller 104a in this case.

  Referring to the exploded view of cleaning head 100 shown in FIG. 2B, in some embodiments, rollers 104a, 104b include sheaths 220a, 220b having shells 222a, 222b and vanes 224a, 224b, respectively. Rollers 104a, 104b also include support structures 226a, 226b and shafts 228a, 228b, respectively. In some cases, sheaths 220a, 220b are a single piece made of an elastomeric material. In this case, the shells 222a, 222b and their corresponding blades 224a, 224b are part of a single molded product. The outer surfaces of the sheaths 220a, 220b are coupled to the shafts 228a, 228b such that the amount of material of the sheaths 220a, 220b prevents the sheaths 220a, 220b from flexing in response to contact with an object, such as the floor surface 10. Extending inwards. The high surface friction of the sheaths 220a, 220b allows the sheaths 220a, 220b to engage the debris 106 and guide the debris 106 toward the interior of the cleaning robot 102, for example, an air conduit 128 within the cleaning robot 102. I do.

  Shafts 228a, 228b and, in some cases, support structures 226a, 226b are operable by actuators 214a, 214b (shown schematically in FIG. 2A) when rollers 104a, 104b are mounted to body 200 of robot 102. It is connected to the. When the rollers 104a, 104b are mounted on the body 200, mounting devices 216a, 216b at the second ends 232a, 232b of the shafts 228a, 228b connect the shafts 228a, 228b to the actuators 214a, 214b. The first ends 230a, 230b of the shafts 228a, 228b are rotatably mounted on mounting devices 218a, 218b on the housing 124 of the cleaning head 100 or the main body 200 of the robot 102. The attachment devices 218a, 218b are fixed to the housing 124 or the main body 200. In some cases, as described herein, a portion of support structure 226a, 226b cooperates with shafts 228a, 228b to rotatably couple cleaning rollers 104a, 104b to actuators 214a, 214b and The cleaning rollers 104a and 104b are rotatably mounted on the mounting devices 218a and 218b.

  As shown in FIG. 1A, the rollers 104a and 104b are separated from each other such that a longitudinal axis 126a of the roller 104a and a longitudinal axis 126b of the roller 104b define an interval S1. The interval S1 is, for example, 2 cm to 6 cm, for example, 2 cm to 4 cm, or 4 cm to 6 cm.

  The rollers 104a and 104b are mounted such that the shell 222a of the roller 104a and the shell 222b of the roller 104b define the gap 108. The gap 108 is between the shells 222a and 222b and extends longitudinally between the shells 222a, 222b. Specifically, the outer surface of the shell 222b of the roller 104b and the outer surface of the shell 222a of the roller are separated by a gap 108, and the gap 108 varies in width along the longitudinal axes 126a, 126b of the rollers 104a, 104b. The gap 108 becomes smaller toward a plane passing through the center 114 of the cleaning roller 104a, for example, both centers of the cleaning rollers 104a, 104b, and perpendicular to the longitudinal axes 126a, 126b. Gap 108 The width of the gap 108 decreases toward the center 114.

  Gap 108 is measured as the width between the outer surface of shell 222a and the outer surface of shell 222b. In some cases, the width of gap 108 is measured as the closest distance between shells 222a and 222b at some point along longitudinal axis 126a. The width of gap 108 is measured along a plane passing through both longitudinal axes 126a, 126b. In this case, the width changes so that the distance S3 between the rollers 104a and 104b at the center of the rollers 104a and 104b is larger than the distance S2 at the ends of the rollers 104a and 104b.

  Referring to the inset 132a in FIG. 1A, the length S2 of the gap 108 near the first end 110a of the roller 104a is 2 mm to 10 mm, for example, 2 mm to 6 mm, 4 mm to 8 mm, 6 mm to 10 mm, and the like. The length S2 of the gap 108 corresponds to, for example, the minimum length of the gap 108 along the length L1 of the roller 104a. Referring to the inset 132b in FIG. 1A, the length S3 of the gap 108 near the center 114 of the cleaning roller 104a is, for example, 5 mm to 30 mm, for example, 5 mm to 20 mm, 10 mm to 25 mm, 15 mm to 30 mm, and the like. The length S3 is, for example, 3 to 15 times longer than the length S2, for example, 3 to 5, 5 to 10, 10 to 15 times longer than the length S2. The length S3 of the gap 108 corresponds to, for example, the maximum length of the gap 108 along the length L1 of the roller 104a. In some cases, the gap 108 increases linearly from the center 114 of the cleaning roller 104 toward the ends 110a, 110b.

  The gap 109 between the rollers 104a, 104b is defined as the distance between the free ends of the vanes 224a, 224b on the opposing rollers 104a, 104b. In some examples, the distance depends on how vanes 224a, 224b are aligned during rotation. The gap 109 between the sheaths 220a, 220b of the rollers 104a, 104b varies along the longitudinal axes 126a, 126b of the rollers 104a, 104b. Specifically, the dimension of the width of the gap 109 changes depending on the relative positions of the blades 224a and 224b of the rollers 104a and 104b. The width of the gap 109 is defined by the distance between the outer circumferences of the sheaths 220a and 220b, for example, the distance between the blades 224a and 224b when the blades 224a and 224b face each other during the rotation of the rollers 104a and 104b. The width of the gap 109 is defined by the distance between the outer circumferences of the shells 222a and 222b when the blades 224a and 224b of both rollers 104a and 104b are not facing the other roller. Thus, while the outer perimeters of rollers 104a, 104b are consistent over the length of rollers 104a, 104b, as described herein, the gap 109 between rollers 104a, 104b becomes wider as rollers 104a, 104b rotate. Changes. Specifically, the gap 108 has a constant length while the opposing rollers 104a, 104b are rotating, but the distance defining the gap 109 is the blade 224a of the rollers 104a, 104b while the rollers 104a, 104b are rotating. , 224b by the relative motion. The width of the gap 109 varies from 1 mm to 10 mm when the blades 224 a and 224 b have the minimum width facing each other, to 5 mm to 30 mm when the blades 224 a and 224 b have no maximum width. The maximum width corresponds to, for example, the length S3 of the gap 108 at the center of the cleaning rollers 104a, 104b, and the minimum width is the height of the blades 224a, 224b at the center of the cleaning rollers 104a, 104b. Is equivalent to the value obtained by subtracting.

  Referring to FIG. 2A, in some embodiments, the robot 102 may use a non-horizontal axis, for example, an angle of 75 to 90 degrees with the floor 10 to sweep the debris 106 toward the rollers 104a, 104b. A brush 233 that rotates around an axis is provided. The non-horizontal axis may, for example, form an angle of 75 to 90 degrees with the longitudinal axes 126a, 126b of the cleaning rollers 104a, 104b. Robot 102 includes an actuator 234 operably connected to brush 233. The brush 233 extends beyond the outer periphery of the body 200 so as to be able to engage the debris 106 in portions of the floor 10 that are normally out of reach of the rollers 104a, 104b.

  During the cleaning operation shown in FIG. 1B, while the control device 212 operates the actuators 208 a and 208 b to move the robot 102 on the floor surface 10, if the brush 233 exists, the control device 212 Actuator 234 is operated to rotate brush 233 about a non-horizontal axis to engage debris 106 that does not reach 104b. Specifically, brush 233 can engage debris 106 near the wall of the environment to sweep debris 106 toward rollers 104a, 104b. Brush 233 sweeps debris 106 toward rollers 104a, 104b so that debris 106 can be picked up through gap 108 between rollers 104a, 104b.

  The control device 212 operates the actuators 214a and 214b to rotate the rollers 104a and 104b around the axes 126a and 126b. As the rollers 104a, 104b rotate, they engage the debris 106 on the floor 10 and move the debris 106 toward the air conduit 128. As shown in FIG. 1B, rollers 104a, 104b may be moved in opposite directions, e.g., in a clockwise direction 130a, for example, to cooperate to move debris 106 through gap 108 toward air conduit 128. , And roller 104b rotates in a counterclockwise direction 130b.

Controller 212 also operates vacuum assembly 118 to generate airflow 120. The vacuum assembly 118 is operated to create an air flow 120 through the gap 108 so that the debris 106 collected by the rollers 104a, 104b can be moved by the air flow 120. Air flow 120 carries debris 106 into a cleaning bin 122 that collects debris 106 carried by air flow 120. In this case, both the vacuum assembly 118 and the rollers 104a, 104b facilitate the capture of debris 106 from the floor 10. The air conduit 128 receives the air flow 120 containing the debris 106 and directs the air flow 120 into the cleaning bin 122. Debris 106 accumulates in cleaning bin 122. While the rollers 104a, 104b are rotating, the rollers 104a, 104b exert a force on the floor 10 to agitate any debris on the floor 10. Agitation of the debris 106 allows the debris 106 to be removed from the floor 10 so that the rollers 104a, 104b can further contact the debris 106 and the air flow generated by the vacuum assembly 118 120 can more easily carry debris 106 into the interior of robot 102. As described herein, improved torque transfer from the actuators 214a, 214b to the outer surfaces of the rollers 104a, 104b allows the rollers 104a, 104b to apply more force. As a result, the rollers 104a, 104b may be better placed on the floor 10 as compared to rollers or brushes that transmit less torque, or that easily deform in response to contact with the floor 10 or debris 106. Debris 106 can be stirred.

Example of cleaning roller

  The example of rollers 104a, 104b described with respect to FIG. 2B may include additional configurations as described with respect to FIGS. 3A-3E, 4A-4D, and 5A-5G. As shown in FIG. 3B, an example of the roller 300 includes a sheath 302, a support structure 303, and a shaft 306. The roller 300 corresponds to, for example, the rear roller 104a described with reference to FIGS. 1A, 1B, 2A, and 2B. Sheath 302, support structure 303 and shaft 306 are similar to sheath 220a, support structure 226a and shaft 228a described with respect to FIG. 2B. In some embodiments, sheath 220a, support structure 226a, and shaft 228a are sheath 302, support structure 303, and shaft 306, respectively. As shown in FIG. 3C, the overall length L2 of the roller 300 is equal to the overall length L1 described for the rollers 104a and 104b.

  The cleaning roller 300 can be attached to the cleaning robot 102 similarly to the cleaning roller 104a. The absolute and relative dimensions associated with the cleaning robot 102, the cleaning roller 300, and their components are described herein. Some of these dimensions are indicated on the drawing by reference letters, for example, W1, S1-S3, L1-L10, D1-D7, M1 and M2. Numerical examples of these dimensions in embodiments are described herein, for example, in the section "Dimensional Examples for Cleaning Robots and Rollers".

  3B and 3C, shaft 306 is an elongated member having a first outer end 308 and a second outer end 310. The shaft 306 extends from a first end 308 to a second end 310 along a longitudinal axis 312, for example, an axis 126a that is the axis of rotation of the roller 104a. The shaft 306 is, for example, a drive shaft made of a metal material.

  The first end 308 and the second end 310 of the shaft 306 are configured to be attached to a cleaning robot, for example, the robot 102. The second end 310 is configured to be attached to a mounting device, for example, the mounting device 216a. The mounting device couples the shaft 306 to an actuator of the cleaning robot, for example, the actuator 214a described with respect to FIG. 2A. First end 308 rotatably mounts shaft 306 to a mounting device, for example, mounting device 218a. The second end 310 is driven by the actuator of the cleaning robot.

  Referring to FIG. 3B, support structure 303 is disposed about shaft 306 and is rotatably coupled to shaft 306. The support structure 303 includes a core 304 fixed to a shaft 306. As described herein, in some embodiments, the core 304 and the shaft 306 are secured together by an insert molding process that couples the core 304 to the shaft 306. 3D and 3E, the core 304 has a first outer end 314 and a second outer end 316 located along the shaft 306. The first end 314 of the core 304 is disposed close to the first end 308 of the shaft 306. The second end 316 of the core 304 is located proximate to the second end 310 of the shaft 306. Core 304 extends along longitudinal axis 312 and surrounds a portion of shaft 306.

  Referring to FIGS. 3D and 4A, in some cases, support structure 303 extends from first end 314 of core 304 toward first end 308 of shaft 306 along longitudinal axis 312 of roller 300. It further includes a unit 305a. The extension 305a has, for example, a cylindrical shape. The extension 305a of the support structure 303 and the first end 308 of the shaft 306 are, for example, configured to be rotatably mounted to a mounting device, for example, a mounting device 218a. The attachment devices 218a, 218b function, for example, as bearing surfaces, such that the extension 305a and thereby the roller 300 can rotate around its longitudinal axis 312 with a relatively small frictional force caused by the contact between the extension 305a and the attachment device. Allows to rotate.

  In some cases, support structure 303 includes an extension 305 b that extends along a longitudinal axis 312 of roller 300 from second end 314 of core 304 toward second end 310 of shaft 306. The extension 305b of the support structure 303 and the second end 314 of the core 304 are connected, for example, to a mounting device, for example, a mounting device 216a. The mounting device 216a allows the roller 300 to be mounted on an actuator of the cleaning robot, for example, rotatably connected to the motor shaft of the actuator. Extension 305b has a prismatic shape with a non-circular cross-section, such as a square, hexagon, or other polygon, that rotatably couples support structure 303 to a rotatable mounting device, for example, mounting device 216a. Extension 305b engages mounting device 216a to rotatably couple support structure 303 to mounting device 216a.

  The mounting device 216a rotatably couples both the shaft 306 and the support structure 303 to the actuator of the cleaning robot, thereby improving torque transmission from the actuator to the shaft 306 and the support structure 303. Shaft 306 can be attached to support structure 303 and sheath 302 in a manner that improves torque transmission from shaft 306 to support structure 303 and sheath 302. 3C and 3E, the sheath 302 is fixed to the core 304 of the support structure 303. As described herein, the support structure 303 and the sheath 302 are fixed together to rotatably couple the sheath 302 to the support structure 303. Specifically, the support structure 303 and the sheath 302 are fixed to each other in a manner that improves torque transmission from the support structure 303 to the sheath 302 over the entire length of the interface between the sheath 302 and the support structure 303. . The sheath 302 is fixed to the core 304 by, for example, an overmolding or insert molding process in which the core 304 and the sheath 302 are directly joined to each other. In addition, in some embodiments, the sheath 302 and the core 304 have a coupling shape that ensures that the rotational movement of the core 304 can drive the rotational movement of the sheath 302.

  Sheath 302 has a first half 322 and a second half 324. The first half 322 corresponds to a portion of the sheath 302 on one side of a central plane 327 that passes through the center 326 of the roller 300 and is perpendicular to the longitudinal axis 312 of the roller 300. The second half 324 corresponds to another portion of the sheath 302 on the other side of the center plane 327. The center plane 327 is, for example, a bisector that divides the roller 300 into two symmetrical halves. In this case, the center of the fixing portion 331 is located on the bisector.

  Sheath 302 has a first outer end 318 on first half 322 of sheath 302 and a second outer end 320 on second half 324 of sheath 302. The sheath 302 extends beyond the core 304 of the support structure 303 along the longitudinal axis 312 of the roller 300. Specifically, sheath 302 extends beyond first end 314 and second end 316 of core 304. In some cases, the sheath 302 extends beyond the extension 305a along the longitudinal axis 312 of the roller 300 and the extension 305b extends beyond the second end 320 of the sheath 302 along the longitudinal axis 312 of the roller 300. extend.

  In some cases, the fixing portion 331a of the sheath 302 extending over the length of the core 304 is fixed to the support structure 303, but the free portions 331b, 331c of the sheath 302 extending beyond the length of the core 304 are supported by the support structure 303. Not fixed to 303. The fixing portion 331a extends from the center plane 327 in both directions of the longitudinal axis 312 so that the fixing portion 331a is symmetrical with respect to the center plane 327, for example. The free part 331b is fixed to one end of the fixed part 331a, and the free part 331c is fixed to the other end of the fixed part 331a.

  In some embodiments, the fixing portion 331a tends to be less deformed when the sheath 302 of the roller 300 comes into contact with an object such as the floor surface 10 or debris on the floor surface 10 as compared with the free portions 331b and 331c. There is. In some cases, the free portions 331b, 331c of the sheath 302 flex in response to contact with the floor surface 10, while the fixed portions 331b, 331c are compressed in the radial direction. Since the fixing portions 331b and 331c have a material extending radially toward the shaft 306, the amount of radial compression of the fixing portions 331b and 331c is smaller than the amount of radial deflection of the free portions 331b and 331c. As described herein, in some cases, the material forming the securing portions 331b, 331c contacts the shaft 306 and the core 304.

  FIG. 3D shows a partial cross-sectional view of roller 300 with a portion of sheath 302 removed. 3A, 3D, and 3E, the roller 300 includes a first collection hole 328 and a second collection hole 330. The collection holes 328, 330 correspond to the volume at the end of the roller 300 where fibrous debris drawn by the roller 300 tends to collect. Specifically, when the roller 300 engages the fibrous debris on the floor 10 during the cleaning operation, the fibrous debris moves over the ends 318, 320 of the sheath 302, wraps around the shaft 306, and Collect in the collection holes 328,330. The fibrous debris wraps around the extensions 305a, 305b of the support structure 303 and can be easily removed from the extensions 305a, 305b by the user. In this regard, extensions 305a, 305b are located within collection holes 328, 330. Collection holes 328, 330 are defined by sheath 302, core 304 and shaft 306. Collection holes 328, 330 are defined by the free portions of sheath 302 that extend beyond ends 314 and 316 of core 304.

  First collection hole 328 is located within first half 322 of sheath 302. First collection hole 328 is defined, for example, by first end 314 of core 304, extension 305 a of support structure 303, free portion 331 b of sheath 302, and shaft 306. The first end 314 of the core 304 and the free part 331b of the sheath 302 define a length L5 of the first collection hole 328.

  Second collection hole 330 is located within second half 324 of sheath 302. The second collection hole 330 is defined, for example, by the second end 316 of the core 304, the free part 331c of the sheath 302, and the shaft 306. The second end 316 of the core 304 and the free portion 331c of the sheath 302 define a length L5 of the second collection hole 330.

  Referring to FIG. 3E, the sheath 302 is tapered along a longitudinal axis 312 of the roller 300 toward a center 326, for example, a center plane 327. Both the first half 322 and the second half 324 of the sheath 302, along the longitudinal axis 312, over at least a portion of each of the first half 322 and the second half 324, a center 326, eg, a center It is tapered toward the plane 327. The first half 322 tapers from a portion of the shaft 306 near the first outer end 308 toward the center 326, and the second half 324 has a taper near the second outer end 310 of the shaft 306. The tapered portion is tapered from the portion to be bent toward the center 326. In some embodiments, the first half 322 is tapered from the first outer end 318 to the center 326 and the second half 324 is tapered from the second outer end 320 to the center 326. It is tapered toward. In some embodiments, rather than tapering the center of the sheath 302 to the center 326 over the entire length of the sheath 302, the sheath 302 may be tapered toward the center 326 along a fixed portion 331a of the sheath 302. The free portions 331b and 331c of the sheath 302 are not tapered. The degree of the taper of the sheath 302 differs depending on the embodiment. Examples of dimensions that define the degree of taper are described elsewhere in this specification.

  Similarly, the support structure 303 has a tapered portion to allow the sheath 302 to taper toward the center 326 of the roller 300. The core 304 of the support structure 303 has, for example, a portion tapered toward the center 326 of the roller 300. 4A to 4D show an example of the configuration of the core 304. Referring to FIGS. 4A and 4B, core 304 has a first half 400 including a first end 314 and a second half 402 including a second end 316. First half 400 and second half 402 of core 304 are symmetric about center plane 327.

  The first half 400 tapers along the longitudinal axis 312 toward the center 326 of the roller 300, and the second half 402 tapers toward the center 326, for example, the center plane 327 of the roller 300. It is attached. In some embodiments, the first half 400 of the core 304 tapers from a first end 314 toward the center 326 and the second half 402 of the core 304 has a longitudinal axis 312. From the second end 316 to the center 326. In some cases, the core 304 is tapered toward the center 326 over the entire length L3 of the core 304. In some cases, the outer diameter D1 of the core 304 at or near the center 326 of the roller 300 is smaller than the outer diameters D2, D3 of the core 304 at or near the first and second ends 314, 316 of the core 304. The outer diameter of the core 304 decreases linearly, for example, along the longitudinal axis 312 of the roller 300, for example, from a location along the longitudinal axis 312 at both ends 314, 316 toward the center 326.

  In some embodiments, the core 304 of the support structure 303 is tapered from the first end 314 and the second end 316 toward the center 326 of the roller 300, and the extensions 305a, 305b are 304 and one. The core 304 is fixed to the shaft 306 over the entire length L3 of the core 304. By fixing the core 304 to the core 304 over the entire length L3, the torque applied to the core 304 and / or the shaft 306 can be transmitted more uniformly over the entire length L3 of the core 304.

  In some embodiments, support structure 303 is a single unitary piece, with core 304 extending the entire length of support structure 303 without discontinuities. The core 304 is integral with the first end 314 and the second end 316. Alternatively, with reference to FIG. 4B, core 304 has a plurality of discontinuous sections disposed about shaft 306, disposed within sheath 302, and secured to sheath 302. The first half 400 of the core 304 has, for example, a plurality of sections 402a, 402b, 402c. The sections 402a, 402b, 402c are discontinuous with each other such that the core 304 has a gap 403 between the sections 402a, 402b and between the sections 402b, 402c. A plurality of sections 402a, 402b, 402c are each secured to shaft 306 to enhance torque transmission from shaft 306 to core 304 and support structure 303. In this case, the shaft 306 mechanically connects the sections 402a, 402b, 402c together such that the plurality of sections 402a, 402b, 402c rotate with the shaft 306. Each of the plurality of sections 402a, 402b, 402c tapers toward the center 326 of the roller 300. The plurality of sections 402a, 402b, 402c, for example, each taper in a direction away from the first end 314 of the core 304 and taper toward a center 326. The extension 305a of the support structure 303 is fixed to the section 402a of the core 304 and is, for example, integral with the section 402a of the core 304.

  Similarly, the second half 402 of the core 304 may be, for example, a plurality of sections 404a, 404b, 404c, and may be incompatible with each other such that the core 304 has a gap 403 between the sections 404a, 404b and between the sections 404b, 404c. It has sections 404a, 404b, 404c that are continuous. The plurality of sections 404a, 404b, 404c are each fixed to the shaft 306. In this case, the shaft 306 mechanically connects the sections 404a, 404b, 404c together such that the plurality of sections 404a, 404b, 404c rotate together with the shaft 306. Accordingly, the second half 402 of the core 304 rotates with the first half 400 of the core 304. Each of the plurality of sections 404a, 404b, 404c tapers toward the center 326 of the roller 300. The plurality of sections 404a, 404b, 404c, for example, each taper away from the second end 314 of the core 304 and taper toward the center 326. The extension 305b of the support structure 303 is fixed to the section 404a of the core 304 and is, for example, integral with the section 404a of the core 304.

  In some cases, the section 402c closest to the center 326 of the first half 400 and the section 404c closest to the center 326 of the second half 402 are continuous with each other. Section 402c of first half 400 and section 404c of second half 402 form a continuous section 406 that extends outwardly from center 326 toward both first end 314 and second end 316 of core 304. I do. In such an example, core 304 has five different discontinuous sections 402a, 402b, 406, 404a, 404b. Similarly, the support structure 303 has five different discontinuities. The first of these sections has an extension 305a and a section 402a of the core 304. The second of these portions corresponds to section 402b of core 304. The third of these portions corresponds to a continuous section 406 of the core 304. The fourth of these portions corresponds to section 404b of core 304. The fifth of these portions has an extension 305b and a section 404a of the core 304. Although core 304 and support structure 303 have been described as having five different discontinuities, in some embodiments, core 304 and support structure 303 have fewer or additional discontinuities.

  Referring to both FIGS. 4C and 4D, the first end 314 of the core 304 has alternating ribs 408, 410. The ribs 408, 410 each extend radially outwardly away from the longitudinal axis 312 of the roller 300. Ribs 408, 410 are continuous with each other and form section 402a.

  Lateral ribs 408 extend transversely to longitudinal axis 312. The lateral rib 408 has a ring portion 412 fixed to the shaft 306 and protrusions 414a-414d extending radially outward from the ring portion 412. In some embodiments, the protrusions 414 a-414 d are axisymmetric with respect to the ring 412, for example, with respect to the longitudinal axis 312 of the roller 300.

  The longitudinal rib 410 extends longitudinally along a longitudinal axis 312. The rib 410 has a ring portion 416 fixed to the shaft 306 and protrusions 418a to 418d extending radially outward from the ring portion 416. The protrusions 418a-418d are axially symmetric with respect to the ring 416, for example, with respect to the longitudinal axis 312 of the roller 300.

  The ring portion 412 of the rib 408 has a thickness greater than the thickness of the ring portion 416 of the rib 410. The protrusions 414a to 414d of the rib 408 have a thickness greater than the thickness of the protrusions 418a to 418d of the rib 410.

  The free ends 415a-415d of the protrusions 414a-414d define the outer diameter of the rib 408, and the free ends 419a-419d of the protrusions 418a-418d define the outer diameter of the rib 410. The distance between free ends 415a-415d, 419a-419d and longitudinal axis 312 defines the width of ribs 408,410. In some cases, the width is the outer diameter of ribs 408, 410. The free ends 415a-415d, 419a-419d are arcs whose center coincides with a circle whose center is on the longitudinal axis 312, for example, a portion of the circumference of a circle whose center is on the longitudinal axis 312. These circles are concentric with each other and with the ring portions 412, 416. In some cases, the outer diameter of the ribs 408, 410 near the center 326 is larger than the outer diameter of the ribs 408, 410 far from the center 326. The outer diameter of the ribs 408, 410 decreases linearly from the first end 314 toward the center 326, for example, toward the center plane 327. Specifically, as shown in FIG. 4D, ribs 408, 410 form a continuous longitudinal rib 411 that extends the length of section 402a. The ribs extend radially outward from the longitudinal axis 312. The height of rib 411 relative to longitudinal axis 312 decreases toward center 327. The height of the bush 411 decreases linearly toward the center 327, for example.

  Referring also to FIG. 4B, in some embodiments, the core 304 of the support structure 303 includes a post 420 that extends away from the longitudinal axis 312 of the roller 300. Pillar 420 extends, for example, from a plane extending parallel to and through longitudinal axis 312 of roller 300. As described herein, the posts 420 can enhance torque transmission between the sheath 302 and the support structure 303. The posts 420 extend into the sheath 302 not only to increase the bond strength between the sheath 302 and the support structure 303, but also to improve torque transmission. By balancing the mass distribution of the entire roller 300 by the column 420, the vibration of the roller 300 can be stabilized and reduced.

  In some embodiments, posts 420 extend perpendicular to the ribs of core 304, for example, perpendicular to protrusions 418a, 418c. The protrusions 418a, 418c extend vertically, for example, away from the longitudinal axis 312 of the roller 300, and the column 420 extends from the protrusions 418a, 418c and is perpendicular to the protrusions 418a, 418c. The pillar 420 has a length L6 of, for example, 0.5 mm to 4 mm, for example, 0.5 mm to 2 mm, 1 mm to 3 mm, 1.5 mm to 3 mm, and 2 mm to 4 mm.

  In some embodiments, core 304 includes a plurality of posts 420a, 420b at a plurality of locations along longitudinal axis 312 of roller 300. The core 304 includes, for example, a plurality of columns 420a, 420c extending from a single lateral plane perpendicular to the longitudinal axis 312 of the roller 300. The posts 420a, 420c are symmetrical to each other, for example, along a longitudinal plane extending parallel to and through the longitudinal axis 312 of the roller 300. The longitudinal plane is a plane that is different from the lateral plane in which the columns 420a, 420c extend and that is perpendicular to the lateral plane. In some embodiments, the columns 420a, 420c on the lateral plane are axially symmetric with respect to the longitudinal axis 312 of the roller 300.

  Although four protrusions are shown for each rib 408, 410, in some embodiments, the ribs 408, 410 have fewer or additional protrusions. 4C and 4D are described with respect to the first end 314 and the section 402a of the core 304, the configuration of the second end 316 and the other sections 402b, 402c, and 404a-404c of the core 304 are also illustrated in FIG. The configuration may be equivalent to the configuration described with reference to the example of FIG. 4D. The first half 400 of the core 304 is, for example, symmetric with the second half 402 with respect to the center plane 327.

  The sheath 302 disposed around the core 304 has a number of suitable configurations. 3A to 3E show an example of the configuration. The sheath 302 includes a shell 336 that covers and is fixed to the core 304. Shell 336 has a first half 338 and a second half 340 that are symmetric about a center plane 327. The first half 322 of the sheath 302 includes the first half 338 of the shell 336, and the second half 324 of the sheath 302 includes the second half 340 of the shell 336.

  In some embodiments, first half 338 and second half 340 of shell 336 have frustoconical portions 341a, 341b and cylindrical portions 343a, 343b. The central axes of the frustoconical portions 341a, 341b and the cylindrical portions 343a, 343b extend parallel to and through the longitudinal axis 312 of the roller 300, respectively.

  The free portions 331b and 331c of the sheath 302 include cylindrical portions 343a and 343b. In this regard, the cylindrical portions 343a, 343b extend beyond the ends 314, 316 of the core 304. The cylindrical portions 343a and 343b are tubular portions having an inner surface and an outer surface. The collection holes 328, 330 are defined on the inner surfaces of the cylindrical portions 343a, 343b.

  The fixing portion 331a of the sheath 302 includes the truncated conical portions 341a and 341b of the shell 336. Frustoconical portions 341a, 341b extend from central plane 327 along longitudinal axis 312 toward ends 318, 320 of sheath 302. The frustoconical portions 341a, 341b are disposed on the core 304 of the support structure 303 such that the outer diameter of the shell 336 decreases toward the center 326 of the roller 300, for example, the center plane 327. The outer diameter D4 of the shell 336 at the center plane 327 is smaller than the outer diameters D5 and D6 of the shell 336 at the outer ends 318 and 320 of the sheath 302, for example. The inner surfaces of the cylindrical portions 343a and 343b are free, while the inner surfaces of the truncated conical portions 341a and 341b are fixed to the core 304. In some cases, the outer diameter of shell 336 decreases linearly toward center 326.

  Although the sheath 302 has been described as having a cylindrical portion 343a, 343b, in some embodiments the portion of 343a, 343b is part of a frustoconical portion 341a, 341b and is similarly tapered. The frustoconical portions 341a, 341b extend over the entire length of the sheath 302. In this case, the collection holes 328, 330 are defined by the inner surfaces of the truncated cones 341a, 341b.

  Referring to FIG. 3D, shell 336 includes a core fixing portion 350 fixed to a protrusion of core 304, for example, protrusions 414a-414d, 418a-418d. Specifically, the core fixing portion 350 fixes the truncated cone portions 341a and 341b to the core 304. Each of the core fixing portions 350 extends radially inward from the outer surface of the shell 336 and is fixed to a protruding portion of the core 304. For example, the core fixing part 350 is connected to the core 304 so that torque can be uniformly transmitted from the core 304 to the truncated conical parts 341a and 341b. Specifically, the core fixing portion 350 is provided with protrusions 414a-414d, 418a-418d of the core 304 so that the core 304 can more easily drive the shell 336 and thereby the sheath 302 when the core 304 is rotated. Located between. The core fixing portion 350 may be, for example, a wedge-shaped extending circumferentially between adjacent protrusions 414 a-414 d, 418 a-418 d of the core 304 and radially inward toward the ring portions 412, 416 of the core 304. Part.

  Referring to FIG. 3E, shell 336 further includes a shaft fixing portion 352 extending radially inward from the outer surface of shell 336 toward shaft 306. The shaft fixing portion 352 fixes the truncated conical portions 341 a and 341 b to the shaft 306. Specifically, shaft anchor 352 extends inwardly toward shaft 306 between discontinuous sections 402a, 402b, 402c, allowing shaft anchor 352 to secure sheath 302 to shaft 306. . Thus, the sheath 302 is secured to the support structure 303 via the core 304, and allows a gap 403 between the discontinuous sections of the core 304 to allow direct contact between the sheath 302 and the shaft 306 (shown in FIG. 4B). Through the shaft 306. In some cases, as described herein, the shaft fixing portion 352 is directly adhered to the shaft 306 during an overmolding process for molding the sheath 302.

  Since the shaft 306 is fixed to both the core 304 and the shaft 306, the torque transmitted to the shaft 306 can be easily transmitted to the sheath 302. The increased torque transmission can improve the ability of the sheath 302 to pick up debris from the floor 10. Torque transmission may be constant over the length of the roller 300 due to the interlocking connection between the sheath 302 and the core 304. Specifically, the core fixing portion 350 of the shell 336 is connected to the core 304. The outer surface of shell 336 can rotate at the same or equivalent speed as shaft 306 over the entire length of the interface between shell 336 and core 304.

  In some embodiments, the sheath 302 of the roller 300 is a unitary piece that includes a shell 336 and cantilever vanes that extend substantially radially from the outer surface of the shell 336. Each of the blades has one end fixed to the outer surface of the shell 336 and the other end free. The height of each blade is defined by the distance from the end fixed to the shell 336, for example, the point of attachment to the shell 336 to the free end. The free end sweeps the outer circumference of the sheath 302 while the roller 300 is rotating. The outer circumference is consistent over the length of roller 300. As the radius from the axis 312 to the outer surface of the shell 336 decreases from the ends 318, 320 of the sheath 302 toward the center 327, each impeller is designed so that the roller 300 has a consistent outer circumference over the length of the roller 300. Increases from the ends 318, 320 of the sheath 302 toward the center 327. In some embodiments, the vanes are such that the two legs of each vane start at opposite ends 318, 320 of the sheath 302, respectively, and the two legs form an angle at the center 327 of the roller 300. It has a chevron shape that forms a V-shape. The V-shaped tip precedes the leg in the direction of rotation.

  5A and 5B show an example of the sheath 302 having one or more blades on the outer surface of the shell 336. Although one blade 342 is described herein with reference to FIG. 3C, in some embodiments, the roller 300 comprises a plurality of blades, each of the plurality of blades being similar to the blade 342. But at different locations along the outer surface of the shell 336. The blades 342 are flexible portions of the sheath 302 that engage the floor 10 when the roller 300 rotates, possibly during a cleaning operation. The blades 342 extend along the outer surfaces of the cylindrical portions 343a and 343b and the frustoconical portions 341a and 341b of the shell 336. The blades 342 extend radially outward from the sheath 302 in a direction away from the longitudinal axis 312 of the roller 300. The blade 342 bends when the roller 300 rotates and comes into contact with the floor surface 300.

  Referring to FIG. 5B, blade 342 extends from first end 500 fixed to shell 336 to second free end 502. The height of the blade 342 corresponds to, for example, the height H1 measured from the first end 500 to the second end 502, for example, the height of the blade 342 measured from the outer surface of the shell 336. The height H1 of the blade 342 near the center 326 of the roller 300 is higher than the height H1 of the blade 342 near the first end 308 and the second end 310 of the shaft 306. The height H1 of the portion of the blade 342 close to the center of the roller 300 may be the maximum height of the blade 342 in some cases. In some cases, the height H1 of the blade 342 decreases linearly from the center 326 of the roller 300 toward the first end 308 of the shaft 306. In some cases, the height H1 of the blade 342 is constant over the cylindrical portions 343a, 343b of the shell 336 and decreases linearly along the frustoconical portions 341a, 341b of the shell 336. In some embodiments, the vanes 342 are angled rearward with respect to the direction of rotation 503 of the roller 300 to flex more easily in response to contact with the floor 10.

  Referring to FIG. 5A, vanes 342 follow a V-shaped path 504, for example, along the outer surface of shell 336. The V-shaped channel 504 has a first leg 506 and a second leg 508 extending from a central plane 327 toward a first end 318 and a second end 320 of the sheath 302, respectively. The first leg 506 and the second leg 508 extend circumferentially along the outer surface of the shell 336, specifically, in the rotational direction 503 of the roller 300. The height H1 of the blade 342 decreases from the center plane 327 toward the first end 318 along the first leg 506 of the path 504, and decreases from the center plane 327 along the second leg 508 of the path 504. It decreases toward the two ends 320. In some cases, the height of vanes 342 decreases linearly from center plane 327 toward second end 320 and linearly decreases from center plane 327 toward first end 308.

  In some cases, outer diameter D7 of sheath 302 corresponds to the distance between free ends 502a, 502b of vanes 342a, 342b located on opposite sides of a plane passing through longitudinal axis 312 of roller 300. The outer diameter D7 of the sheath 302 may be constant over the entire length of the sheath 302 in some cases. In this case, regardless of the taper of the frustoconical portions 341a, 341b of the shell 336, the outer diameter of the sheath 302 is constant over the length of the sheath 302 due to the changing height of the blades 342a, 342b of the sheath 302.

  When the roller 300 is combined with another roller, such as the roller 104b, the outer surface of the shell 336 of the roller 300 and the outer surface of the shell 336 of the other roller define a gap therebetween, such as the gap 108 described herein. . The two rollers define a gap between them, for example, a gap 109 described herein. The gap increases toward the center 326 of the roller 300 due to the taper of the frustoconical portions 341a, 341b. The frustoconical portions 341a, 341b taper inward toward the center 326 of the roller 300 so that they are directed toward the ends 318, 320 of the fibrous debris sheath 302 picked up by the roller 300. Promote movement. The fibrous debris can then be collected in collection holes 328, 330 so that the user can easily remove the fibrous debris from roller 300. In some examples, a user removes the roller 300 from the cleaning robot to enable removal of fibrous debris collected in the collection holes 328, 330.

In some cases, the size of the gap changes due to the taper of the truncated cone portions 341a and 341b. Specifically, the width of the gap depends on whether the blades 342a and 342 of the roller 300 face the blades of the other roller. The width of the gap between the sheath 302 of the roller 300 and the sheath of the other roller varies along the longitudinal axis 312 of the roller 300, but the outer circumference of the two rollers is constant. As described with respect to roller 300, free ends 502a, 502b of blades 342a, 342b define the outer periphery of roller 300. Similarly, the free ends of the vanes of the other roller define the outer circumference of the other roller. When the blades 342a, 342b face the blades of the other roller, the width of the gap is the minimum width between the roller 300 and the other roller, for example, the outer circumference of the shell 336 of the roller 300 and the outer circumference of the shell of the other roller. Corresponding to the distance between If the roller blades 342a, 342b and the other roller blade are arranged such that the air gap is defined by the distance between the shells of the two rollers, the width of the air gap will be between the two rollers, e.g. It corresponds to the maximum width between the free ends 502a, 502b of 342a, 342b and the free ends of the blades of the other roller.

Examples of cleaning robot and cleaning roller dimensions

  The dimensions of the cleaning robot 102, the rollers 300, and their components vary from embodiment to embodiment. 3E and 6, in some examples, the length L2 of the roller 300 corresponds to the length between the outer ends 308, 310 of the shaft 306. In this case, the length of the shaft 306 corresponds to the entire length L2 of the roller 300. The length L2 is, for example, 10 cm to 50 cm, for example, 10 cm to 30 cm, 20 cm to 40 cm, and 30 cm to 50 cm. The length L2 of the roller 300 is, for example, 70% to 90% of the overall width W1 of the robot 102 (shown in FIG. 2A), for example, 70% to 80%, 75% to 85%, and 80% of the overall width W1 of the robot 102. And 90%. The width W1 of the robot 102 is, for example, 20 cm to 60 cm, for example, 20 cm to 40 cm, 30 cm to 50 cm, 40 cm to 60 cm, and the like.

  Referring to FIG. 3E, the length L3 of the core 304 is 8 cm to 40 cm, for example, 8 cm to 20 cm, 20 cm to 30 cm, 15 cm to 35 cm, 25 cm to 40 cm, and the like. The length L3 of the core 304 corresponds to, for example, a length obtained by adding the length of the truncated conical portions 341a and 341b of the shell 336 and the length of the fixing portion 331a of the sheath 302. The length L3 of the core 304 is 70% to 90% of the length L2 of the roller 300, for example, 70% to 80%, 70% to 85%, and 75% to 90% of the length L2 of the roller 300. The length L4 of the sheath 302 is 9.5 cm to 47.5 cm, for example, 9.5 cm to 30 cm, 15 cm to 30 cm, 20 cm to 40 cm, 20 cm to 47.5 cm, and the like. The length L4 of the sheath 302 is 80% to 99% of the length L2 of the roller 300, for example, 85% to 99%, 90% to 99% of the length L2 of the roller 300.

  Referring to FIG. 4B, the length L8 of one of the extensions 305a, 305b of the support structure 303 is, for example, 1 cm to 5 cm, for example, 1 cm to 3 cm, 2 cm to 4 cm, 3 cm to 5 cm, and the like. The total length of the extension portions 305a and 305b is, for example, 10% to 30% of the entire length L9 of the support structure 303, for example, 10% to 20%, 15% to 25%, 20% to 30%, and the like of the entire length L9. . In some examples, the length of extension 305a is different from the length of extension 305b. The length of the extension 305a is, for example, 50% to 90% of the length of the extension 305b, for example, 50% to 70%, 70% to 90%, or the like.

  The length L3 of the core 304 is, for example, 70% to 90% of the total length L9, for example, 70% to 80%, 75% to 85%, 80% to 90%, and the like of the total length L9. The overall length L9 is, for example, 85% to 99% of the overall length L2 of the roller 300, for example, 90% to 99%, 95% to 99%, and the like of the overall length L2 of the roller 300. The shaft 306 extends beyond the extension 305a by a length L10 of, for example, 0.3 mm to 2 mm, for example, 0.3 mm to 1 mm, 0.3 mm to 1.5 mm, or the like. As described herein, in some cases, the overall length L2 of the roller 300 corresponds to the overall length of the shaft 306 that extends beyond the length L9 of the support structure 303.

  Referring to FIG. 3E, in some embodiments, the length L5 of one of the collection holes 328, 330 is, for example, 1.5 cm to 10 cm, for example, 1.5 cm to 7.5 cm, 5 cm to 10 cm. And so on. The length L5 corresponds to, for example, the length of the cylindrical portions 343a and 343b of the shell 336 and the length of the free portions 331b and 331c of the sheath 302. The length L5 of one of the collection holes 328, 330 is, for example, 2.5% to 15% of the length L2 of the roller 300, for example, 2.5% to 10%, 5% of the length L2 of the roller 300. To 10%, 7.5% to 12.5%, 10% to 15%. The total total length of the collection holes 328, 330 is, for example, 3 cm to 15 cm, for example, 3 cm to 10 cm, 10 cm to 15 cm, and the like. The total length corresponds to the total length of the free portions 331b and 331c of the sheath 302 and the total length of the cylindrical portions 343a and 343b of the shell 336. The total total length of the collection holes 328, 330 is, for example, 5% to 30% of the length L2 of the roller 300, for example, 5% to 15%, 5% to 20%, 10% of the length L2 of the roller 300. 25%, 15% to 30%, and the like. In some examples, the total length of the collection holes 328, 330 is 5% to 40% of the length L3 of the core 304, for example, 5% to 20%, 20% to 30% of the length L3 of the core 304, And 30% to 40%.

  In some embodiments, as shown in FIG. 6, the width or diameter of the roller 300 between the end 318 and the end 320 of the sheath 302 corresponds to the diameter D7 of the sheath 302. Diameter D7 is, in some cases, constant from end 318 to end 320 of sheath 302. The diameter D7 of the roller 300 at different positions along the longitudinal axis 312 of the roller 300 between the position of the end 318 and the position of the end 320 is equal. The diameter D7 is, for example, 20 mm to 60 mm, for example, 20 mm to 40 mm, 30 mm to 50 mm, 40 mm to 60 mm, and the like.

  Referring to FIG. 5B, height H1 of blade 342 is, for example, 0.5 mm to 25 mm, for example, 0.5 mm to 2 mm, 5 mm to 15 mm, 5 mm to 20 mm, 5 mm to 25 mm, and the like. The height H1 of the blade 342 in the central plane 327 is, for example, 2.5 mm to 25 mm, for example, 2.5 mm to 12.5 mm, 7.5 mm to 17.5 mm, 12.5 to 25 mm, and the like. The height H1 of the blade 342 at the ends 318 and 320 of the sheath 302 is, for example, 0.5 mm to 5 mm, for example, 0.5 mm to 1.5 mm, 0.5 mm to 2.5 mm, and the like. The height H1 of the blade 342 at the center plane 327 is, for example, 1.5 to 50 times, for example, 1.5 to 5 times, 5 to 5 times the height H1 of the blade 342 at the ends 318, 320 of the sheath 302. 10 times, 10 times to 20 times, 10 times to 50 times larger. For example, the height H1 of the blade 342 at the center plane 327 corresponds to the maximum height of the blade 342, and the height H1 of the blade 342 at the ends 318, 320 of the sheath 302 corresponds to the minimum height of the blade 342. In some embodiments, the maximum height of the vanes 342 is 5% to 45% of the diameter D7 of the sheath 302, for example, 5% to 15%, 15% to 30%, 30% to 45% of the diameter D7 of the sheath 302. % Etc.

  The diameter D7 may be constant between the ends 318, 320 of the sheath 302, but the diameter of the core 304 may differ at different points along the length of the roller 300. The diameter D1 of the core 304 along the central plane 327 is, for example, 5 mm to 20 mm, for example, 5 mm to 10 mm, 10 mm to 15 mm, 15 mm to 20 mm, and the like. The diameter D2, D3 of the core 304 at or near the first and second ends 314, 316 of the core 304 is, for example, 10 mm to 50 mm, for example, 10 mm to 20 mm, 15 mm to 25 mm, 20 mm to 30 mm, 20 mm to 50 mm. . For example, the diameters D2 and D3 are the maximum diameters of the core 304, and the diameter D1 is the minimum diameter of the core 304. The diameters D2 and D3 are smaller than the diameter D7 of the sheath 302 by, for example, 5 mm to 20 mm, for example, 5 mm to 10 mm, 5 mm to 15 mm, 10 mm to 20 mm, and the like. In some embodiments, the diameters D2, D3 are 10% to 90% of the diameter D7 of the sheath 302, such as 10% to 30%, 30% to 60%, 60% to 90%, etc. of the diameter D7 of the sheath 302. It is. The diameter D1 is, for example, smaller than the diameter D7 of the sheath 302 by 10 mm to 25 mm, for example, 10 mm to 15 mm, 10 mm to 20 mm, 15 mm to 25 mm, and the like. In some embodiments, the diameter D1 is 5% to 80% of the diameter D7 of the sheath 302, such as 5% to 30%, 30% to 55%, 55% to 80%, etc. of the diameter D7 of the sheath 302. is there.

  Similarly, the outer diameter of the sheath 302 defined by the free ends 502a, 502b of the vanes 342a, 342b may be constant, but the diameter of the shell 336 of the sheath 302 differs at different points along the length of the shell 336. It may be different. The diameter D4 of the shell 336 along the central plane 327 is, for example, 7 mm to 22 mm, for example, 7 mm to 17 mm, 12 mm to 22 mm, and the like. The diameter D4 of the shell 336 along the central plane 327 is defined, for example, by the thickness of the shell 336. The diameters D5 and D6 of the shell 336 at the outer ends 318 and 320 of the sheath 302 are, for example, 15 mm to 55 mm, for example, 15 mm to 40 mm, 20 mm to 45 mm, 30 mm to 55 mm, and the like. In some cases, diameters D4, D5, and D6 are greater than diameter D1 by 1 mm to 5 mm, such as 1 mm to 3 mm, 2 mm to 4 mm, 3 mm to 5 mm, etc., from diameters D1, D2, and D3 of core 304 along central plane 327. large. The diameter D4 of the shell 336 is, for example, 10% to 50% of the diameter D7 of the sheath 302, for example, 10% to 20%, 15% to 25%, 30% to 50%, etc. of the diameter D7. The diameters D5, D6 of the shell 336 are, for example, 80% to 95% of the diameter D7 of the sheath 302, such as 80% to 90%, 85% to 95%, 90% to 95%, etc. of the diameter D7 of the sheath 302.

  In some embodiments, diameter D4 corresponds to the minimum diameter of shell 336 along the length of shell 336, and diameters D5, D6 correspond to the maximum diameter of shell 336 along the length of shell 336. The diameters D5 and D6 correspond to, for example, the diameters of the cylindrical portions 343a and 343b of the shell 336 and the maximum diameters of the frustoconical portions 341a and 341b of the shell 336. In the example shown in FIG. 1A, the length S2 of the gap 108 is defined by the maximum diameter of the shell of the cleaning rollers 104a and 104b. The length S3 of the gap S3 of the gap 108 is defined by the minimum diameter of the shell of the cleaning rollers 104a and 104b.

  In some embodiments, the diameter of the core 304 varies linearly along the length of the core 304. The diameter of the core 304 may range from a minimum diameter to a maximum diameter over the length of the core 304, for example, a slope M1 of 0.01 to 0.4 mm / mm, for example, 0.01 to 0.3 mm / mm, 0. It increases at an inclination M1 such as 0.35 mm / mm from 05. In this regard, the angle between the tilt M1 defined on the outer surface of the core 304 and the longitudinal axis 312 is, for example, 0.5 to 20 degrees, for example, 1 to 10 degrees, 5 to 20 degrees. 5 to 15 degrees, 10 to 20 degrees, and the like.

Referring to FIG. 3E, similarly, in some examples, the diameter of the shell 336 also varies linearly along the length of the shell 336. The diameter of the core 304 increases from the smallest diameter to the largest diameter along the length of the shell 336 with a slope M2 similar to the slope described for the diameter of the core 304. The slope M2 is, for example, 0.01 to 0.4 mm / mm, for example, 0.01 to 0.3 mm / mm, 0.05 to 0.35 mm / mm, or the like. The angle between the tilt M2 defined on the outer surface of the shell 336 and the longitudinal axis is equivalent to the tilt M1 of the core 304. The angle between the tilt M2 and the longitudinal axis 312 is, for example, 0.5 to 20 degrees, for example, 1 to 10 degrees, 5 to 20 degrees, 5 to 15 degrees, 10 to 20 degrees, and the like. is there. Specifically, the inclination M2 corresponds to the inclination of the truncated cone portions 341a and 341b of the shell 336.

Example of cleaning roller manufacturing method

  The particular configuration of the sheath 302, support structure 303 and shaft 306 of the roller 300 can be manufactured using one of a number of suitable methods. The shaft 306 is a single element formed by a metal manufacturing method such as machining or metal injection molding. To secure the support structure 303 to the shaft 306, the support structure 303 is formed of a plastic material by, for example, an injection molding method in which a molten plastic material is poured into a mold for the support structure 303. In some embodiments, the shaft 306 is inserted into the mold for the support structure 303 prior to injecting the molten plastic material by insert injection molding. When cooled, the molten plastic material combines with the shaft 306 to form the support structure 303 in the mold. As a result, the support structure 303 is fixed to the shaft 306. If the core 304 of the support structure 303 has discontinuous sections 402a, 402b, 402c, 404a, 404b, 404c, the surface of the mold will have a gap 403 between the discontinuous sections 402a, 402b, 402c, 404a, 404b, 404c. At a position, and prevents the support structure 303 from being formed in the gap 403.

  In some cases, the sheath 302 may be insert injection molded by inserting the shaft 306 into a mold having a support structure 303 secured to the shaft 306 prior to injecting the molten plastic material forming the sheath 302 into a mold for the sheath 302. It is formed by a method. When cooled, the molten plastic material combines with the core 304 of the support structure 303 to form the sheath 302 in the mold. The sheath 302 is fixed to the support structure 303 via the core 304 by being combined with the core 304 during the injection molding process. In some embodiments, the mold for the sheath 302 is designed such that the frustoconical portions 341a, 341b couple to the core 304, but the cylindrical portions 343a, 343b do not couple to the core 304. Rather, the cylindrical portions 343a, 343b are not attached and extend freely beyond the ends 314, 316 of the core 304 to define the collection holes 328, 330.

  In some embodiments, to improve the bonding force between the sheath 302 and the core 304, the core 304 may include a bond between the sheath 302 and the core 304 as the molten plastic material for the sheath 302 cools. It has structural features that increase the area. In some embodiments, the protrusions on core 304, for example, protrusions 414 a-414 d, 418 a-418 d, increase the coupling area between sheath 302 and core 304. The protrusions of the core fixing portion 350 and the core 304 have a larger coupling area compared to other examples in which the core 304 has a uniform cylindrical shape or a uniform prismatic shape, for example. In a further example, post 420 extends into sheath 302, thereby further increasing the coupling area between core anchor 350 and sheath 302. Post 420 engages sheath 302 to rotatably couple sheath 302 to core 304. In some embodiments, the gap 403 between the discontinuous sections 402a, 402b, 402c, 404a, 404b, 404c may be such that the portions of the sheath 302 are discontinuous sections 402a, 402b, 402c, 404a, 404b, 404c. The plastic material forming the sheath 302 is allowed to extend radially inward toward the shaft 306 so as to lie within the gap 403 therebetween. In some cases, shaft fixture 352 contacts shaft 306 and couples directly to shaft 306 during the insert molding process described herein.

  This exemplary manufacturing method can further facilitate uniform torque transmission from the shaft 306 to the support structure 303 and to the sheath 302. The enhanced coupling between these structures can reduce the likelihood that no torque will be transmitted from the drive shaft, for example, outward from the longitudinal axis 312 of the roller 300 toward the outer surface of the sheath 302. Because the torque is efficiently transmitted to the outer surface, more of the outer surface of the roller 300 can exert more torque to move the debris on the floor and facilitate debris pick-up.

Furthermore, since the sheath 302 extends inward toward the core 304 and is connected to the core 304, the shell 336 of the sheath 302 can maintain a circular shape even when it comes into contact with the floor surface. The vanes 342a, 342b can flex in response to contact with the floor surface and / or contact with debris, but the shell 336 can flex only slightly compared to it, thereby making the shell 336 more flexible. It allows a lot of force to be applied to the contact debris. Due to the increased force applied to the debris, the amount of stirring of the debris can be increased so that the roller 300 can take in the debris more easily. Further, the increased debris agitation can assist the air flow 120 created by the vacuum assembly 118 to carry debris into the cleaning robot 102. In this regard, the roller 300 does not flex in response to contact with the floor surface, but rather maintains its shape to more easily transmit force to the debris.

Other examples

  A number of embodiments have been described. However, it will be understood that various modifications are possible.

  Although some of the above examples are described with reference to a single roller 300 or roller 104a, as described herein, roller 300 may have an arrangement of blades 342 of roller 300 and an arrangement of blades 224b of front roller 104b. It is similar to the front roller 104b except for the difference. Specifically, since the roller 104b is a front roller and the roller 104a is a rear roller, the V-shaped path for the blade 224a of the roller 104a is, for example, from the longitudinal axes 126a, 126b of the rollers 104a, 104b. With respect to a vertical plane at a distance, it is symmetrical with the V-shaped path for the blade 224b of the roller 104b. The legs of the V-shaped path for blade 224b extend in a counterclockwise direction 130b along the outer surface of shell 222b of roller 104b, while the legs of the V-shaped path for blade 224a are the outer surface of shell 222a of roller 104a. Along the clockwise direction 130a.

  In some embodiments, rollers 104a and 104b have different lengths. The roller 104b is shorter than the roller 104a, for example. The length of the roller 104b is, for example, 50% to 90% of the length of the roller 104a, for example, 50% to 70%, 60% to 80%, and 70% to 90% of the length of the roller 104a. If the lengths of the rollers 104a, 104b are different, the rollers 104a, 104b may have a minimum diameter of the shell 222a, 222b of the rollers 104a, 104b perpendicular to both longitudinal axes 126a, 126b of the rollers 104a, 104b. It is configured to be along a certain same plane. As a result, the gap between the shells 222a, 222b is defined by the shells 222a, 222b in this plane.

  Thus, other embodiments are also within the claims.

Claims (20)

A cleaning roller attachable to the cleaning robot,
An elongate shaft extending along a rotation axis from a first end to a second end, wherein the first end and the second end are attachable to the cleaning robot for rotation about the rotation axis. There is a shaft and
A core fixed around the shaft and having an outer end along and adjacent the first end and the second end of the shaft; A core tapered from a portion proximate an end to a center of the shaft located along the rotation axis;
A sheath fixed to the core and extending beyond the outer end of the core, the sheath having a first half and a second half each tapered toward the center of the shaft; ,
A collection hole defined by the outer end of the core and the sheath;
A cleaning roller comprising: The length of the cleaning roller is 20 cm to 30 cm, and the sheath is fixed to the shaft over 75% to 90% of the length of the sheath;
The cleaning roller according to claim 1. The core has a plurality of discontinuous sections located about the shaft and within the sheath;
The cleaning roller according to claim 1. The sheath extends to the shaft at a location between the discontinuous sections of the core;
The cleaning roller according to claim 3. The core is a plurality of pillars extending in a direction away from the rotation axis toward the sheath, the plurality of pillars engaging with the sheath and connecting the sheath to the core,
The cleaning roller according to claim 1. The first half and the second half each have an outer surface forming an angle of 5 to 20 degrees with the rotation axis,
The cleaning roller according to any one of claims 1 to 5. The first half of the sheath is tapered from a portion close to the first end toward the center of the shaft, and the second half of the sheath has the second half of the shaft. Tapered from the portion near the end toward the center of the shaft,
The cleaning roller according to any one of claims 1 to 6. The sheath has a shell surrounding and fixed to the core, the shell having a frustoconical half;
A cleaning roller according to any one of claims 1 to 7. The sheath is
A shell surrounding the core and fixed to the core;
A blade extending radially outward from the shell, wherein a height of a portion of the blade near the first end of the shaft is higher than a height of a portion of the blade near the center of the shaft. Low, the height of the blade being defined by the distance from the point of attachment of the blade to the shell to the free end of the blade;
Having,
A cleaning roller according to any one of claims 1 to 8. The wings follow a V-shaped path along the outer surface of the sheath;
The cleaning roller according to claim 9. A height of a portion of the blade near the first end is 1 to 5 millimeters, and a height of a portion of the blade near the center of the shaft is 10 to 30 millimeters;
The cleaning roller according to claim 9. The length of one of the collecting holes is 5% to 15% of the length of the cleaning roller;
A cleaning roller according to any one of claims 1 to 11. A tubular portion of the sheath defining the collection hole;
The cleaning roller according to claim 1. The sheath further comprising a shell surrounding the core and secured to the core, wherein the maximum width of the shell is between 80% and 95% of the overall diameter of the sheath.
A cleaning roller according to any one of claims 1 to 13. Body and
A drive unit operable to move the main body on the floor,
A cleaning assembly,
A first cleaning roller attached to the main body and rotatable around a first axis,
A second cleaning roller attached to the main body and rotatable around a second axis parallel to the first axis,
A cleaning assembly comprising:
With
The shell of the first cleaning roller and the second cleaning roller define a gap therebetween, the gap extending along the first axis and increasing toward a center of the length of the first cleaning roller. Do
Autonomous cleaning robot. The shell of the first cleaning roller and the shell of the second cleaning roller define the gap,
An autonomous cleaning robot according to claim 15. The gap is between 5 and 30 millimeters at the center of the length of the first cleaning roller;
The autonomous cleaning robot according to claim 15. The length of the first cleaning roller is 20 cm to 30 cm;
An autonomous cleaning robot according to any one of claims 15 to 17. A front portion of the main body has a substantially rectangular shape, and the first cleaning roller and the second cleaning roller are attached to a bottom surface of the front portion of the main body;
An autonomous cleaning robot according to any one of claims 15 to 18. The first cleaning roller and the second cleaning roller define a gap therebetween at a center of the length of the first cleaning roller, and the gap is formed by the rotation of the first cleaning roller and the second cleaning roller. Then the width changes,
The autonomous cleaning robot according to any one of claims 15 to 19.