JP2022066226A - Autonomous cleaning robot and cleaning assembly - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that a roller can engage debris including hair and other filaments during its rotation and filament debris can become wrapped around the roller.

SOLUTION: An autonomous cleaning robot comprises: a body; a drive unit operable so as to move the body on a floor surface; a first cleaning roller that is attached to the body and is rotatable around a first axis; and a second cleaning roller that is attached to the body and is rotatable around a second axis in parallel with the first axis. The autonomous cleaning robot has a gap between an external surface of the first cleaning roller and an external surface of the second cleaning roller, the gap defined by the external surface of the first cleaning roller and the external surface of the second cleaning roller. The gap extends along the first axis and increases toward the center of the first cleaning roller's length.

SELECTED DRAWING: Figure 1A

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present specification relates specifically to cleaning rollers for cleaning robots.

The autonomous cleaning robot can move on the floor surface and avoid obstacles while vacuuming the floor surface and taking in debris from the floor surface. The cleaning robot may be equipped with rollers for picking up debris from the floor. While moving on the floor, the cleaning robot can rotate the rollers, which guide the debris towards the vacuum airflow generated by the cleaning robot. In this regard, rollers and vacuum airflow can work together to allow the robot to capture debris. The rollers can engage debris, including bristles and other fibrous material, while rotating. Fibrous debris can wrap around the rollers.

In one embodiment, the cleaning roller that can be attached to the cleaning robot comprises an elongated shaft that extends from a first end to a second end along a axis of rotation. The first end and the second end can be attached to the cleaning robot to rotate around the axis of rotation. The cleaning roller further comprises a core fixed around the shaft and having an outer end located in close proximity to the first and second ends of the shaft along the elongated shaft. The core is tapered from the portion close to the first end of the shaft toward the center of the shaft and from the portion close to the second end of the shaft toward the center of the shaft. There is. The cleaning roller further comprises a sheath that is secured to the core and extends beyond the outer end of the core. The sheath has a first half and a second half, each tapered towards 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, the autonomous cleaning robot comprises a body, a drive unit capable of moving the body on the floor, and a cleaning assembly. The cleaning assembly is equipped with rollers. The roller is, for example, a first cleaning roller that is attached to the body and is rotatable around the first axis, and the cleaning assembly is further attached to the body and is a second cleaning that is rotatable about a second axis parallel to the first axis. Equipped with rollers. The shell of the first cleaning roller and the second cleaning roller define a gap between them, the gap extending along the first axis and increasing towards the center of the length of the first cleaning roller.

In some embodiments, the length of the cleaning roller is 20 cm to 30 cm. The sheath is fixed to an elongated shaft, for example, from 75% to 90% of the length of the sheath.

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

In some embodiments, the core has multiple discontinuous sections located around the shaft and within the sheath. In some cases, the sheath is secured to the core between the discontinuous sections. In some cases, the sheath is attached to the shaft at a position between discontinuous sections of the core.

In some embodiments, the core has multiple columns extending away from the axis of rotation towards the sheath. The pillar engages the sheath to connect the sheath to the core.

In some embodiments, the minimum diameter of the core is in the center of the shaft.

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

In some embodiments, the first half of the sheath is tapered from the portion close to the first end towards the center of the shaft, and the second half of the sheath is the second end of the shaft. A taper is provided from the portion close to the portion toward the center of the shaft.

In some embodiments, the sheath has a shell that encloses the core and is secured to the core. The shell has a conical trapezoidal half.

In some embodiments, the sheath has a shell that encloses the core and is secured to the core. The sheath has, for example, blades that extend outward radially from the shell. The height of the portion of the blade close to the first end of the shaft is, for example, lower than the height of the portion of the blade close to the center of the shaft. In some cases, the blades follow a V-shaped path along the outer surface of the sheath. In some cases, the height of the portion of the blade close to the first end is 1 mm to 5 mm and the height of the portion of the blade close to the center of the shaft is 10 mm to 30 mm.

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 that encloses the core and is secured to the core, the maximum width of the shell being 80% to 95% of the total diameter of the sheath.

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

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

In some embodiments, the length of the first cleaning roller is 20 to 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, the bottom surface of the front portion of the main body.

In some embodiments, the first cleaning roller and the second cleaning roller define a void between them at the center of the length of the first cleaning roller. The width of the void changes, for example, when the first cleaning roller and the second cleaning roller rotate.

The advantages of the above embodiments may include, but are not limited to, those described below and elsewhere herein. Cleaning rollers can improve the collection of debris from the floor surface. 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 with the debris. Cleaning rollers 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 increase its length without compromising the ability of the cleaning roller to collect debris from the floor surface. Specifically, the cleaning roller may require more drive torque if it becomes longer. However, due to the improved torque transmission of the cleaning roller, the cleaning roller can be driven with less torque in order to achieve a debris collecting capacity equivalent to that of other cleaning rollers. When the cleaning roller is attached to the cleaning robot, the cleaning roller can have a length that extends close to both sides of the cleaning robot so that the cleaning roller can reach a larger area 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 capacity of the cleaning roller. Fibrous debris, when collected, can be easily removed. Specifically, when the cleaning roller engages with the fibrous debris from the floor, the cleaning roller guides the fibrous debris toward the outer end of the cleaning roller where the collection holes for the fibrous debris are located. can do. The collection holes are easily accessible to the user when the rollers are removed from the robot so that the user can easily dispose of the fibrous debris. Improved fibrous debris collection, in addition to preventing damage to the cleaning roller, reduces the possibility of fibrous debris wrapping around the outer surface of the cleaning roller, for example, to interfere with the cleaning roller's ability to collect debris. be able to.

In a further example, the cleaning rollers can work with other cleaning rollers to define gaps between them that improve the characteristics of the airflow generated by the vacuum assembly. The gap increases toward the center of the cleaning roller, so that the air flow can be concentrated in the center of the cleaning roller. Fibrous debris tends to collect towards the ends of the cleaning roller, while other debris can be more easily taken up through the center of the cleaning roller, which has the highest airflow velocity.

Details of one or more embodiments described herein are described in the accompanying drawings and the following description. Other potential features, embodiments and strengths will be apparent from the description, drawings and claims.

FIG. 1A is a bottom view of the cleaning head during the cleaning operation of the cleaning robot. FIG. 1B is a cross-sectional side view of the cleaning robot and the cleaning head shown in FIG. 1A during the 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 a front perspective development 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, in which the sheath of the cleaning roller and a part of the support structure are removed so that the collection hole of the cleaning roller can be seen. FIG. 3E is a cross-sectional view of the sheath of the cleaning roller shown in FIG. 3A, cut along 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. 4C is a cross-sectional view of the end of the support structure shown in FIG. 4B, cut along 4C-4C shown in FIG. 4B. 4D is an enlarged perspective view of insert FIG. 4D, shown in FIG. 4A, showing the ends of the subassembly shown in FIG. 4A. 5A is an enlarged view of the insertion FIG. 5A shown in FIG. 3C, showing the central portion of the cleaning roller shown in FIG. 3C. 5B is a cross-sectional view of the end of the cleaning roller shown in FIG. 3C, cut along 5B-5B shown in FIG. 3C. FIG. 6 is a schematic view of the cleaning roller shown in FIG. 3A in a state where the free portion of the sheath is removed.

Similar reference numbers and reference symbols in multiple drawings indicate similar elements.

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

In some embodiments, as described herein, the cleaning rollers 104a, 104b are of chevron-shaped blades 224a, 224b (shown in FIG. 1A) arranged along the outer surface of the cleaning rollers 104a, 104b. Elastomer roller with a pattern. The blades 224a and 224b of at least one of the cleaning rollers 104a and 104, for example, the cleaning rollers 104a, are in contact with the floor surface 10 over the lengths of the cleaning rollers 104a and 104b, and are brushes having bristles that are easily bent during rotation. In the case of, it receives a consistently applied frictional force that does not exist. Further, like the cleaning rollers with separate bristles extending radially from the shaft, the cleaning rollers 104a, 104b have blades 224a, 224b extending radially outward. On the other hand, the blades 224a and 224b extend seamlessly along the outer surfaces of the cleaning rollers 104a and 104b in the longitudinal direction as well. The blades 224a and 224b also extend circumferentially along the outer surfaces of the cleaning rollers 104a and 104b, defining a V-shaped path along the outer surfaces of the cleaning rollers 104a and 104b, as described herein. .. However, other suitable configurations are possible. For example, in some embodiments, at least one of the rear and front rollers 104a, 104b has bristles and / or bristles for stirring the floor surface in addition to or on behalf of the blades 224a, 224b. It may be provided with an elongated flexible flap.

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 void 109 extend from the first outer end 110a of the cleaning roller 104a to the second outer end 112a of the cleaning roller 104a. As described herein, the gap 108 corresponds to the distance between the cleaning rollers 104a, 104b without the blades on the cleaning rollers 104a, 104b, and the void 109 is the cleaning including the blades on the cleaning rollers 104a, 104b. It corresponds to the distance between the rollers 104a and 104b. The 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 allow airflow to be drawn into the cleaning robot 102, and the cleaning rollers 104a, The width changes as the 104 rotates. The width of the gap 109 may change during the rotation of the rollers 104a and 104b, but the gap 108 has a constant width during the rotation of the rollers 104a and 104b. The gap 108 facilitates the upward movement of the debris 106 toward the inside of the robot 102 generated by the rollers 104a, 104b so that the robot 102 can capture the debris. As described herein, the gap 108 increases in size towards the center 114 of the length L1 of the cleaning roller 104a, eg, the center of the cleaning roller 114a along the longitudinal axis 126a of the cleaning roller 114a. The width of the gap 108 decreases toward the ends 110a and 112a of the cleaning roller 104a. Such a configuration of the gap 108 improves the ability of the rollers 104a, 104b to pick up debris while reducing the possibility that the fibrous debris picked up by the rollers 104a, 104b interferes with the operation of the rollers 104a, 104b. Can be done.

Example of cleaning robot

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

As shown in FIG. 2A, the robot 102 includes drive systems including actuators 208a, 208b that can operate with drive wheels 210a, 210b, such as a motor. The actuators 208a and 208b are attached to the main body 200 and are operably connected to the drive wheels 210a and 210b rotatably attached to the main body 200. The drive wheels 210a and 210b support the main body 200 on the floor surface 10. When the actuators 208a and 208b are driven, the drive wheels 210a and 210b are rotated to enable the robot 102 to move autonomously on the floor surface 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 surface 10 during a cleaning operation. The actuators 208a and 208b are capable of driving the robot 102 in the forward drive direction 116 (shown in FIG. 1B) and rotating the robot 102. In some embodiments, the robot 102 comprises caster wheels 211 that support the body 200 on the floor surface 10. For example, the caster wheels 211 support the rear portion 202b of the main body 200 on the floor surface 10, and the drive wheels 210a and 210b support the front portion 202a of the main body 200 on the floor surface 10.

As shown in FIGS. 1B and 2A, the vacuum assembly 118 is supported inside the body 200 of the robot 102, for example, inside the rear portion 202b of the body 200. The control device 212 operates the vacuum assembly 118 to generate an air flow 120 that passes through the voids 109 in the vicinity of the rollers 104a, 104b, passes through the body 200, and flows out of the body 200. The vacuum assembly 118 comprises, for example, an impeller that produces an airflow 120 when rotated. The air flow 120 and the rotating rollers 104a and 104b cooperate to take the debris 106 into the robot 102. The cleaning bin 122 attached to the main body 200 contains the debris 106 taken in by the robot 102, and the filter 123 in the main body 200 is before the air flow 120 enters the vacuum assembly 118 and is discharged from the main body 200. In addition, the debris 106 is separated from the air flow 120. Therefore, the debris 106 is captured by both the cleaning bin 122 and the filter 123 before the air flow 120 is discharged from the main body 200.

As shown in FIGS. 1A and 2A, the cleaning head 100 and the rollers 104a and 104b are arranged between the side surfaces 204a and 204b in the front portion 202a of the main body 200. The rollers 104a, 104b are operably connected to actuators 214a, 214b, such as a motor. The cleaning head 100 and the rollers 104a, 104b are arranged in front of the cleaning bin 122, and the cleaning bin 122 is arranged 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 main body 200 makes the rollers 104a, 104b longer than, for example, a roller for a cleaning robot having a circular main body. Enables.

The rollers 104a and 104b are attached to the housing 124 of the cleaning head 100, and are, for example, indirectly or directly attached to the main body 200 of the robot 102. Specifically, the rollers 104a and 104b are attached to the bottom surface of the front portion 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. Has been done.

In some embodiments, the housing 124 of the cleaning head 100 is attached to the body 200 of the robot 102. Incidentally, the rollers 104a and 104b are also indirectly attached to the main body 200 of the robot 102 via, for example, the housing 124. Alternatively or additionally, the cleaning head 100 is a removable assembly of the robot 102 in which the housing 124 to which the rollers 104a, 104b are attached is detachably attached to the body 200 of the robot 102. The housing 124 and the rollers 104a and 104b are removable from the main 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 detachably attached to the body 200, but rather corresponds to a portion integrated with the body 200 of the robot 102 rather than a separate element from the body 200. The rollers 104a and 104b are directly attached to the main body 200 of the robot 102, for example, to a portion integrated with the robot 200. The rollers 104a and 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 and 104b can be easily cleaned or replaced with replacement rollers. As described herein, the rollers 104a, 104b provide a collection hole for fibrous debris that the user can easily access and clean if the rollers 104a, 104b are removed from the housing 124. Can be prepared.

The rollers 104a and 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 and 104b are rotatable around longitudinal axes 126a and 126b parallel to the floor surface 10. The shafts 126a and 126b are parallel to each other and correspond to the longitudinal axes of the cleaning rollers 104a and 104b, respectively. In some cases, the axes 126a and 126b are perpendicular to the forward drive direction 116 of the 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 axis of rotation of the cleaning roller 104a in this case.

With reference to the exploded view of the cleaning head 100 shown in FIG. 2B, in some embodiments, the rollers 104a, 104b include sheaths 220a, 220b having shells 222a, 222b and blades 224a, 224b, respectively. The rollers 104a and 104b also include support structures 226a and 226b and shafts 228a and 228b, respectively. In some cases, the sheaths 220a and 220b are single molded products made of an elastomeric material. In this case, the shells 222a and 222b and the corresponding blades 224a and 224b are part of a single molded product. The sheaths 220a and 220b are attached to the shafts 228a and 228b from the outer surface thereof so as to prevent the sheaths 220a and 220b from bending in response to contact with an object such as the floor surface 10 depending on the amount of the material of the sheaths 220a and 220b. It extends inward toward you. 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, the air conduit 128 in the cleaning robot 102. do.

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

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

The rollers 104a and 104b are attached so 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 shell 222a and shell 222b and extends longitudinally between shells 222a and 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 width of the gap 108 changes along the longitudinal axes 126a and 126b of the rollers 104a and 104b. The gap 108 becomes smaller as it passes through the center 114 of the cleaning rollers 104a, for example, the centers of both the cleaning rollers 104a and 104b and toward a plane perpendicular to the longitudinal axes 126a and 126b. Gap 108 The width of the gap 108 decreases toward the center 114.

The gap 108 is measured as the width between the outer surface of the shell 222a and the outer surface of the shell 222b. In some cases, the width of the gap 108 is measured as the closest distance between shell 222a and shell 222b at some points along the longitudinal axis 126a. The width of the gap 108 is measured along a plane passing through both the 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.

With reference to the insertion diagram 132a in FIG. 1A, the length S2 of the gap 108 in the vicinity of the first end portion 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. With reference to insertion FIG. 132b in FIG. 1A, the length S3 of the gap 108 close to the center 114 of the cleaning roller 104a is, for example, 5 mm to 30 mm, such as 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 times, 5 to 10 times, 10 to 15 times, etc., 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 and 104b is defined as the distance between the free ends of the blades 224a and 224b on the opposing rollers 104a and 104b. In some examples, the distance depends on how the blades 224a and 224b are aligned during rotation. The gap 109 between the sheaths 220a and 220b of the rollers 104a and 104b changes along the longitudinal axes 126a and 126b of the rollers 104a and 104b. Specifically, the width of the gap 109 changes in size 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 are facing each other during 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 do not face the other roller. Therefore, the outer circumferences of the rollers 104a and 104b are consistent over the lengths of the rollers 104a and 104b as described herein, but the gap 109 between the rollers 104a and 104b is wide as the rollers 104a and 104b rotate. Changes. Specifically, the gap 108 has a constant length even when the opposing rollers 104a and 104b are rotating, but the distance defining the gap 109 is such that the blades 224a of the rollers 104a and 104b are rotating while the rollers 104a and 104b are rotating. It changes due to the relative motion of 224b. The width of the gap 109 changes from 1 mm to 10 mm when the blades 224a and 224b having the minimum width face each other to 5 mm to 30 mm when the blades 224a and 224b having the maximum width are not lined up. The maximum width corresponds to, for example, the length S3 of the gap 108 at the center of the cleaning rollers 104a and 104b, and the minimum width is the height of the blades 224a and 224b at the center of the cleaning rollers 104a and 104b from the length of the gap 108. Corresponds to the value obtained by subtracting.

With reference to FIG. 2A, in some embodiments, the robot 102 aligns a non-horizontal axis, eg, a floor surface 10 with an angle of 75 to 90 degrees, to sweep the debris 106 towards the rollers 104a, 104b. It is equipped with a brush 233 that rotates around the axis formed. The non-horizontal axis forms an angle of 75 to 90 degrees with, for example, the longitudinal axes 126a, 126b of the cleaning rollers 104a, 104b. The robot 102 includes an actuator 234 operably connected to the brush 233. The brush 233 extends beyond the outer circumference of the body 200 so that it can engage with the debris 106 that is normally out of reach of the rollers 104a, 104b on the floor surface 10.

During the cleaning operation shown in FIG. 1B, while the control device 212 operates the actuators 208a and 208b to move the robot 102 on the floor surface 10, the control device 212 may use the rollers 104a, if there is a brush 233. The actuator 234 is operated to rotate the brush 233 around a non-horizontal axis in order to engage with the debris 106 that 104b does not reach. Specifically, the brush 233 can engage the debris 106 in the vicinity of the wall of the environment to sweep the debris 106 toward the rollers 104a, 104b. The brush 233 sweeps the debris 106 toward the rollers 104a, 104b so that the debris 106 can be taken in through the gap 108 between the rollers 104a, 104b.

The control device 212 operates the actuators 214a and 214b to rotate the rollers 104a and 104b around the shafts 126a and 126b. When the rollers 104a and 104b rotate, they engage with the debris 106 on the floor surface 10 and move the debris 106 toward the air conduit 128. As shown in FIG. 1B, the rollers 104a, 104b collaborate, for example, in opposite directions to move the debris 106 towards the air conduit 128 through the gap 108, eg, the rollers 104a clockwise 130a. , And the roller 104b rotates in the counterclockwise direction 130b.

The control device 212 also operates the vacuum assembly 118 to generate the airflow 120. The vacuum assembly 118 is operated to generate an airflow 120 through the gap 108 so that the debris 106 recovered by the rollers 104a, 104b can be moved by the airflow 120. The air stream 120 carries the debris 106 into a cleaning bin 122 that collects the debris 106 carried by the air stream 120. In this case, both the vacuum assembly 118 and the rollers 104a, 104b facilitate the uptake of debris 106 from the floor surface 10. The air conduit 128 receives the airflow 120 containing the debris 106 and guides the airflow 120 into the cleaning bin 122. Debris 106 accumulates in the cleaning bin 122. While the rollers 104a, 104b are rotating, the rollers 104a, 104b exert a force on the floor surface 10 to agitate any debris on the floor surface 10. The 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 airflow generated by the vacuum assembly 118. The 120 will be able to more easily carry the debris 106 inside the robot 102. As described herein, the 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 and 104b are better on the floor 10 than the rollers and brushes with less torque transmission or the rollers and brushes that easily deform in response to contact with the floor 10 and debris 106. Debris 106 can be agitated.

Cleaning roller example

The examples of rollers 104a, 104b described with respect to FIG. 2B may comprise 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 respect to FIGS. 1A, 1B, 2A and 2B. The sheath 302, the support structure 303 and the shaft 306 are similar to the sheath 220a, the support structure 226a and the shaft 228a described with respect to FIG. 2B. In some embodiments, the sheath 220a, the support structure 226a and the shaft 228a are the sheath 302, the support structure 303 and the shaft 306, respectively. As shown in FIG. 3C, the total length L2 of the roller 300 is equivalent to the total length L1 described with respect to the rollers 104a and 104b.

The cleaning roller 300 can be attached to the cleaning robot 102 in the same manner as the cleaning roller 104a. Absolute and relative dimensions associated with the cleaning robot 102, cleaning rollers 300 and their components are described herein. Some of these dimensions are shown on the drawings with reference letters such as W1, S1-S3, L1-L10, D1-D7, M1 and M2. Numerical examples in the examples of these dimensions are described, for example, in the section "Dimensional Examples of Cleaning Robots and Cleaning Rollers" herein.

With reference to FIGS. 3B and 3C, the shaft 306 is an elongated member having a first outer end 308 and a second outer end 310. The shaft 306 extends from the first end 308 to the second end 310 along the longitudinal axis 312, for example the axis 126a, which is the axis of rotation of the rollers 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, such as the robot 102. The second end 310 is configured to be attached to a mounting device, such as a mounting device 216a. The mounting device connects the shaft 306 to an actuator of the cleaning robot, for example, the actuator 214a described with respect to FIG. 2A. The first end portion 308 rotatably attaches the shaft 306 to an attachment device, for example, the attachment device 218a. The second end 310 is driven by the actuator of the cleaning robot.

With reference to FIG. 3B, the support structure 303 is located around the shaft 306 and is rotatably connected to the shaft 306. The support structure 303 includes a core 304 fixed to the shaft 306. As described herein, in some embodiments, the core 304 and the shaft 306 are fixed to each other by an insert molding process that couples the core 304 to the shaft 306. With reference to FIGS. 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 portion 314 of the core 304 is arranged close to the first end portion 308 of the shaft 306. The second end 316 of the core 304 is located close to the second end 310 of the shaft 306. The core 304 extends along the longitudinal axis 312 and surrounds a portion of the shaft 306.

With reference to FIGS. 3D and 4A, in some cases, the support structure 303 extends from the first end 314 of the core 304 toward the first end 308 of the shaft 306 along the longitudinal axis 312 of the rollers 300. A portion 305a is further provided. The extension portion 305a has, for example, a cylindrical shape. The extension portion 305a of the support structure 303 and the first end portion 308 of the shaft 306 are configured to be rotatably attached to, for example, an attachment device, for example, an attachment device 218a. The mounting devices 218a and 218b act as bearing surfaces, for example, around the longitudinal axis 312 of the extension 305a and thereby the rollers 300 with a relatively small frictional force generated by the contact between the extension 305a and the mounting device. Allows to rotate.

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

The mounting device 216a rotatably connects 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. The shaft 306 can be attached to the support structure 303 and the sheath 302 in a form that improves torque transmission from the shaft 306 to the support structure 303 and the sheath 302. With reference to FIGS. 3C and 3E, the sheath 302 is secured to the core 304 of the support structure 303. As described herein, the support structure 303 and the sheath 302 are fixed to each other in order to rotatably connect the sheath 302 to the support structure 303. Specifically, the support structure 303 and the sheath 302 are fixed to each other in a form 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 step 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 sheath 302 can be driven by the rotational movement of the core 304.

The sheath 302 has a first half piece 322 and a second half piece 324. The first half piece 322 corresponds to a portion of the sheath 302 on one side of the 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 piece 324 corresponds to the other portion of the sheath 302 on the other side of the central plane 327. The central plane 327 is, for example, a bisector that divides the roller 300 into two symmetrical halves. In this case, the center of the fixed portion 331 is located on the bisector.

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

In some cases, the fixed 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 and 331c of the sheath 302 extending beyond the length of the core 304 are supported structures. Not fixed to 303. The fixed portion 331a extends from the central plane 327 along both directions of the longitudinal axis 312 so that, for example, the fixed portion 331a is symmetrical with respect to the central plane 327. The free portion 331b is fixed to one end of the fixed portion 331a, and the free portion 331c is fixed to the other end of the fixed portion 331a.

In some embodiments, the fixed 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 to the free portions 331b and 331c. There is. In some cases, the free portions 331b and 331c of the sheath 302 bend in response to contact with the floor surface 10, while the fixed portions 331b and 331c are compressed in the radial direction. Since the fixed portions 331b and 331c have a material extending in the radial direction toward the shaft 306, the amount of radial compression of the fixed 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 fixation portions 331b, 331c comes into contact with the shaft 306 and the core 304.

FIG. 3D shows a partial cross-sectional view of the roller 300 from which a part of the sheath 302 has been removed. With reference to FIGS. 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 of the end of the roller 300 where the 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 It gathers in the collection holes 328 and 330. The fibrous debris wraps around the extension portions 305a and 305b of the support structure 303 and can be easily removed from the extension portions 305a and 305b by the user. In this regard, the extension portions 305a, 305b are located in the collection holes 328, 330. The collection holes 328, 330 are defined by the sheath 302, the core 304 and the shaft 306. The collection holes 328, 330 are defined by the free portion of the sheath 302 that extends beyond the end 314 and 316 of the core 304.

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

The second collection hole 330 is located within the second half piece 324 of the sheath 302. The second collection hole 330 is defined, for example, by the second end 316 of the core 304, the free portion 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 the length L5 of the second collection hole 330.

With reference to FIG. 3E, the sheath 302 is tapered along the longitudinal axis 312 of the roller 300 towards the center 326, eg, the center plane 327. A center 326, eg, a center, on both the first half piece 322 and the second half piece 324 of the sheath 302, along the longitudinal axis 312, over at least a portion of each of the first half piece 322 and the second half piece 324. It is tapered towards plane 327. The first half piece 322 is tapered from the portion of the shaft 306 close to the first outer end portion 308 toward the center 326, and the second half piece 324 is close to the second outer end portion 310 of the shaft 306. There is a taper from the part to the center 326. In some embodiments, the first hanpen 322 is tapered from the first outer end 318 to the center 326 and the second hanpen 324 is from the second outer end 320 to the center 326. It is tapered toward it. In some embodiments, the sheath 302 is tapered towards the center 326 along the fixation portion 331a of the sheath 302, rather than being tapered towards the center 326 over the entire length of the sheath 302. The free portions 331b and 331c of the sheath 302 are not tapered. The degree of taper of the sheath 302 varies depending on the embodiment. Examples of dimensions that define the degree of taper are described elsewhere herein.

Similarly, the support structure 303 has a tapered portion to allow the sheath 302 to be tapered towards the center 326 of the roller 300. The core 304 of the support structure 303 has, for example, a portion tapered towards the center 326 of the roller 300. FIG. 4A-4D shows an example of the configuration of the core 304. With reference to FIGS. 4A and 4B, the core 304 has a first half piece 400 including a first end portion 314 and a second half piece 402 including a second end portion 316. The first half piece 400 and the second half piece 402 of the core 304 are symmetrical with respect to the central plane 327.

The first half piece 400 is tapered along the longitudinal axis 312 towards the center 326 of the roller 300, and the second half piece 402 is tapered towards the center 326 of the roller 300, for example the central plane 327. It is attached. In some embodiments, the first half piece 400 of the core 304 is tapered from the first end 314 towards the center 326 and the second half piece 402 of the core 304 is on the longitudinal axis 312. Along the taper from the second end 316 towards the center 326. In some cases, the core 304 is tapered toward the center 326 over the total length L3 of the core 304. In some cases, the outer diameter D1 of the core 304 in or near the center 326 of the roller 300 is smaller than the outer diameters D2 and D3 of the core 304 in or near the first and second ends 314 and 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, from positions along the longitudinal axis 312 at both ends 314 and 316, for example, toward the center 326.

In some embodiments, the core 304 of the support structure 303 is tapered from the first end 314 and second end 316 towards the center 326 of the roller 300, with the extension 305a, 305b being the core. It is integrated with 304. The core 304 is fixed to the shaft 306 over the entire length L3 of the core 304. By fixing to the core 304 over the total length L3 of the core 304, the torque applied to the core 304 and / or the shaft 306 can be transmitted more evenly over the total length L3 of the core 304.

In some embodiments, the support structure 303 is a single integral component in which the core 304 extends over the entire length of the support structure 303 without having a discontinuity. The core 304 is integral with the first end 314 and the second end 316. Alternatively, with reference to FIG. 4B, the core 304 has a plurality of discontinuous sections disposed around the shaft 306, within the sheath 302, and secured to the sheath 302. The first half piece 400 of the core 304 has, for example, a plurality of sections 402a, 402b, 402c. Sections 402a, 402b, 402c are discontinuous with each other such that the core 304 has a gap 403 between sections 402a, 402b and between sections 402b, 402c. The plurality of sections 402a, 402b, 402c are fixed to the shaft 306 in order to improve torque transmission from the shaft 306 to the core 304 and the support structure 303, respectively. In this case, the shaft 306 mechanically connects the sections 402a, 402b, 402c to each other so that the plurality of sections 402a, 402b, 402c rotate together with the shaft 306. Each of the plurality of sections 402a, 402b, 402c is tapered towards the center 326 of the roller 300. The plurality of sections 402a, 402b, 402c each taper toward the center 326 and taper toward the center 326, for example, each tapering away from the first end 314 of the core 304. The extension portion 305a of the support structure 303 is fixed to the section 402a of the core 304, and is integrated with the section 402a of the core 304, for example.

Similarly, the second halves 402 of the core 304 are, for example, a plurality of sections 404a, 404b, 404c, and are not compatible with each other such that the core 304 has a gap 403 between sections 404a, 404b and between sections 404b, 404c. It has sections 404a, 404b, 404c that are continuous. The plurality of sections 404a, 404b, and 404c are fixed to the shaft 306, respectively. In this case, the shaft 306 mechanically connects the sections 404a, 404b, 404c to each other so that the plurality of sections 404a, 404b, 404c rotate together with the shaft 306. Therefore, the second half piece 402 of the core 304 rotates together with the first half piece 400 of the core 304. Each of the plurality of sections 404a, 404b, 404c is tapered towards the center 326 of the roller 300. The plurality of sections 404a, 404b, 404c each taper away from the second end 314 of the core 304 and taper towards the center 326, for example. The extension portion 305b of the support structure 303 is fixed to the section 404a of the core 304, and is integrated with the section 404a of the core 304, for example.

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

With reference to both FIGS. 4C and 4D, the first end 314 of the core 304 has ribs 408, 410 provided alternately. The ribs 408 and 410 extend radially outward, respectively, away from the longitudinal axis 312 of the roller 300. The ribs 408 and 410 are continuous with each other and form a section 402a.

The lateral rib 408 extends laterally with respect to the longitudinal axis 312. The lateral rib 408 has a ring portion 412 fixed to the shaft 306 and protrusions 414a-414d radiating outward from the ring portion 412. In some embodiments, the protrusions 414a-414d are axisymmetric with respect to the ring portion 412, eg, axially symmetric with respect to the longitudinal axis 312 of the roller 300.

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

The ring portion 412 of the rib 408 has a wall thickness thicker than the wall thickness of the ring portion 416 of the rib 410. The protrusions 414a-414d of the rib 408 have a wall thickness thicker than the wall thickness of the protrusions 418a-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 the free ends 415a-415d, 419a-419d and the longitudinal axis 312 defines the width of the ribs 408, 410. In some cases, the width is the outer diameter of the ribs 408, 410. The free ends 415a-415d and 419a-419d are arcs that coincide with a circle whose center is on the longitudinal axis 312, for example, a portion of the outer circumference of the 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 diameters of the ribs 408, 410 decrease linearly from the first end 314 toward the center 326, for example toward the center plane 327. Specifically, as shown in FIG. 4D, the ribs 408, 410 form a continuous longitudinal rib 411 extending over the length of the section 402a. The ribs extend outward radially from the longitudinal axis 312. The height of the rib 411 with respect to the longitudinal axis 312 decreases towards the center 327. The height of the bu 411 decreases linearly, for example, toward the center 327.

Also with reference to FIG. 4B, in some embodiments, the core 304 of the support structure 303 comprises a pillar 420 extending away from the longitudinal axis 312 of the roller 300. The pillar 420 extends, for example, from a plane extending parallel to the longitudinal axis 312 of the roller 300 and through the longitudinal axis 312. As described herein, the columns 420 can improve torque transfer between the sheath 302 and the support structure 303. The column 420 extends into the sheath 302 not only to improve the adhesive 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 with the pillar 420, the vibration of the roller 300 can be stabilized and reduced.

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

In some embodiments, the core 304 comprises a plurality of columns 420a, 420b at a plurality of positions along the longitudinal axis 312 of the 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 rollers 300. The columns 420a, 420c are symmetrical with each other, for example, parallel to the longitudinal axis 312 of the roller 300 and along a longitudinal plane extending through the longitudinal axis 312. The longitudinal plane is a plane perpendicular to the lateral plane, which is different from the lateral plane in which the columns 420a and 420c extend. In some embodiments, the columns 420a, 420c on the transverse plane are arranged axisymmetrically with respect to the longitudinal axis 312 of the rollers 300.

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

The sheath 302 arranged around the core 304 has a plurality of suitable configurations. FIG. 3A-3E shows an example of the configuration. The sheath 302 comprises a shell 336 that covers the core 304 and is secured to the core 304. The shell 336 has a first half piece 338 and a second half piece 340 that are symmetrical with respect to the central plane 327. The first half piece 322 of the sheath 302 contains the first half piece 338 of the shell 336, and the second half piece 324 of the sheath 302 contains the second half piece 340 of the shell 336.

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

The free portions 331b and 331c of the sheath 302 include cylindrical portions 343a and 343b. In this regard, the cylindrical portions 343a and 343b extend beyond the ends 314 and 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 and 330 are defined on the inner surface of the cylindrical portions 343a and 343b.

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

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

With reference to FIG. 3D, the shell 336 comprises a core 304 protrusion, eg, a core fixation 350 fixed to a protrusion 414a-414d, 418a-418d. Specifically, the core fixing portion 350 fixes the conical trapezoidal portions 341a and 341b to the core 304. Each of the core fixing portions 350 extends inward radially from the outer surface of the shell 336 and is fixed to the protruding portion of the core 304. For example, the core fixing portion 350 is connected to the core 304 so as to enable uniform torque transmission from the core 304 to the conical trapezoidal portions 341a and 341b. Specifically, the core fixing portion 350 is a protrusion 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 extends circumferentially between adjacent protrusions 414a-414d and 418a-418d of the core 304, and extends radially inward toward the ring portions 412 and 416 of the core 304, for example, in a wedge shape. It is a part.

With reference to FIG. 3E, the shell 336 further comprises a shaft fixing portion 352 extending inward radially inward from the outer surface of the shell 336 towards the shaft 306. The shaft fixing portion 352 fixes the conical trapezoidal portions 341a and 341b to the shaft 306. Specifically, the shaft fixing portion 352 extends inward toward the shaft 306 between the discontinuous sections 402a, 402b, 402c, and the shaft fixing portion 352 makes it possible to fix the sheath 302 to the shaft 306. .. Thus, the sheath 302 is secured to the support structure 303 via the core 304 and the gap 403 between the discontinuous sections of the core 304 allowing the sheath 302 and the shaft 306 to be in direct contact (shown in FIG. 4B). It is fixed to the shaft 306 via. In some cases, as described herein, the shaft fixing portion 352 is directly bonded to the shaft 306 during the overmolding process of forming 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 surface 10. Torque transmission can be constant over the length of the roller 300 due to the interlocking coupling 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 the shell 336 can rotate at the same or equivalent speed as the shaft 306 over the entire length of the interface between the shell 336 and the core 304.

In some embodiments, the sheath 302 of the roller 300 is an integral part that includes a shell 336 and cantilever blades that extend substantially radially from the outer surface of the shell 336. One end of each of the blades is fixed to the outer surface of the shell 336, and the other end is free. The height of each blade is defined by the distance from the end fixed to the shell 336, eg, the attachment point 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 the roller 300. Since the radius from the shaft 312 to the outer surface of the shell 336 decreases from the ends 318, 320 of the sheath 302 towards the center 327, each blade so that the roller 300 has a consistent perimeter over the length of the roller 300. The height of the sheath 302 increases from the ends 318, 320 of the sheath 302 toward the center 327. In some embodiments, the blades are such that the two legs of each blade 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 a 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 which is similar to the blade 342. However, they are located at different positions along the outer surface of the shell 336. The blade 342 is a flexible portion of the sheath 302 that engages with the floor surface 10 when the roller 300 rotates during the cleaning operation, in some cases. The blades 342 extend along the outer surfaces of the cylindrical portions 343a, 343b and the conical trapezoidal portions 341a, 341b of the shell 336. The blade 342 extends 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.

With reference to FIG. 5B, the blade 342 extends from the first end 500 fixed to the shell 336 to the 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 portion of the blade 342 close to the center 326 of the roller 300 is higher than the height H1 of the blade 342 close to 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 is, in some cases, the maximum height of the blade 342. 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 conical trapezoidal portions 341a, 341b of the shell 336. In some embodiments, the blades 342 are angled backwards with respect to the direction of rotation 503 of the rollers 300 so that they flex more easily in response to contact with the floor surface 10.

With reference to FIG. 5A, the blade 342 follows, for example, a V-shaped path 504 along the outer surface of the shell 336. The V-shaped path 504 has a first leg 506 and a second leg 508 extending from the central plane 327 toward the first end 318 and the 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 central plane 327 toward the first end 318 along the first leg 506 of the path 504, and from the central plane 327 along the second leg 508 of the path 504. It decreases toward the two ends 320. In some cases, the height of the blade 342 decreases linearly from the central plane 327 toward the second end 320 and linearly from the central plane 327 toward the first end 308.

In some cases, the outer diameter D7 of the sheath 302 corresponds to the distance between the free ends 502a, 502b of the blades 342a, 342b arranged on both sides of the plane passing through the longitudinal axis 312 of the roller 300. The outer diameter D7 of the sheath 302 may be constant over the entire length of the sheath 302. In this case, regardless of the taper of the conical trapezoidal portions 341a and 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 and 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 between them, eg, the gap 108 described herein. .. The two rollers define a gap between them, eg, a gap 109 as described herein. Due to the taper of the conical trapezoidal portions 341a and 341b, the gap increases toward the center 326 of the roller 300. The conical trapezoidal portions 341a and 341b are tapered inward toward the center 326 of the roller 300 toward the ends 318 and 320 of the fibrous debris sheath 302 picked up by the roller 300. Promote movement. The fibrous debris can then be collected in the collection holes 328, 330 so that the user can easily remove the fibrous debris from the roller 300. In some examples, the user removes the roller 300 from the cleaning robot to allow removal of fibrous debris collected in the collection holes 328, 330.

In some cases, the size of the void changes due to the taper of the conical trapezoidal portions 341a and 341b. Specifically, the width of the gap depends on whether or not 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 circumferences of the two rollers are constant. As described with respect to the roller 300, the free ends 502a, 502b of the blades 342a, 342b define the outer circumference of the roller 300. Similarly, the free end of the blade of the other roller defines the outer circumference of the other roller. When the blades 342a and 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. Corresponds to the distance between. If the blades of the roller 342a, 342b and the blades of the other roller are arranged such that the gap is defined by the distance between the shells of the two rollers, the width of the gap is between the two rollers, eg the blades of the roller 300. It corresponds to the maximum width between the free ends 502a and 502b of 342a and 342b and the free ends of the blades of the other roller.

Dimensional example of cleaning robot and cleaning roller

The dimensions of the cleaning robot 102, the rollers 300, and their components vary from embodiment to embodiment. With reference to FIGS. 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 total 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 full width W1 of the robot 102 (shown in FIG. 2A), for example 70% to 80%, 75% to 85%, and 80% of the full width W1 of the robot 102. From 90% and so on. 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.

With reference 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, the combined length of the lengths of the conical trapezoidal portions 341a and 341b of the shell 336 and the lengths of the fixing portions 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%, 75% to 90% of the length L2 of the roller 300, and the like. 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, and the like.

With reference to FIG. 4B, one length L8 of the extension portions 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 elongated portions 305a and 305b is, for example, 10% to 30% of the total length L9 of the support structure 303, for example, 10% to 20%, 15% to 25%, 20% to 30% of the total length L9, and the like. .. In some examples, the length of the extension 305a differs from the length of the extension 305b. The length of the extension portion 305a is, for example, 50% to 90%, for example, 50% to 70%, 70% to 90%, etc. of the length of the extension portion 305b.

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% of the total length L9, and the like. The total length L9 is, for example, 85% to 99% of the total length L2 of the roller 300, for example, 90% to 99%, 95% to 99% of the total length L2 of the roller 300, and the like. The shaft 306 extends beyond the extension portion 305a by, for example, a length L10 of 0.3 mm to 2 mm, for example 0.3 mm to 1 mm, 0.3 mm to 1.5 mm, and 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 extending beyond the length L9 of the support structure 303.

With reference 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, such as 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% to 5% of the length L2 of the roller 300. From 10%, 7.5% to 12.5%, 10% to 15%. The 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. This total total length corresponds to the total total length of the free portions 331b and 331c of the sheath 302 and the total total length of the cylindrical portions 343a and 343b of the shell 336. The total length of the collection holes 328, 330 is, for example, from 5% to 30% of the length L2 of the roller 300, for example from 5% to 15% to 5% to 20% to 10% of the length L2 of the roller 300. 25%, 15% to 30%, etc. 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% and so on.

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. In some cases, the diameter D7 is constant from the end 318 to the end 320 of the sheath 302. The diameters D7 of the rollers 300 at different positions along the longitudinal axis 312 of the rollers 300 between the positions of the ends 318 and the positions of the ends 320 are 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.

With reference to FIG. 5B, the height H1 of the 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 in the central plane 327 is, for example, 1.5 to 50 times, for example, 1.5 to 5 times to 5 times the height H1 of the blade 342 at the ends 318 and 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 in the central plane 327 corresponds to the maximum height of the blade 342, and the height H1 of the blade 342 in the ends 318 and 320 of the sheath 302 corresponds to the minimum height of the blade 342. In some embodiments, the maximum height of the vane 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 in 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 diameters D2, D3 of the core 304 at or near the first and second ends 314, 316 of the core 304 are, 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, eg 10% to 30%, 30% to 60%, 60% to 90% of the diameter D7 of the sheath 302, etc. Is. The diameter D1 is, for example, 10 mm to 25 mm smaller than the diameter D7 of the sheath 302, 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, for example 5% to 30%, 30% to 55%, 55% to 80% of the diameter D7 of the sheath 302, and the like. be.

Similarly, the outer diameter of the sheath 302 defined by the free ends 502a, 502b of the blades 342a, 342b may be constant, but the diameter of the shell 336 of the sheath 302 differs 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 by, for example, the wall thickness of the shell 336. The diameters D5 and D6 of the shell 336 in the outer end portions 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, the diameters D4, D5 and D6 are 1 mm to 5 mm from the diameters D1, D2 and D3 of the core 304 along the central plane 327, for example 1 mm to 3 mm, 2 mm to 4 mm, 3 mm to 5 mm and the like from the diameter D1. big. 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% of the diameter D7, and the like. The diameters D5 and D6 of the shell 336 are, for example, 80% to 95% of the diameter D7 of the sheath 302, for example 80% to 90%, 85% to 95%, 90% to 95% of the diameter D7 of the sheath, and the like.

In some embodiments, the diameter D4 corresponds to the minimum diameter of the shell 336 along the length of the shell 336, and the diameters D5, D6 correspond to the maximum diameter of the shell 336 along the length of the shell 336. The diameters D5 and D6 correspond to, for example, the diameter of the cylindrical portion 343a and 343b of the shell 336 and the maximum diameter of the conical trapezoidal 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 shells of the cleaning rollers 104a, 104b. The length S3 of the gap S3 of the gap 108 is defined by the minimum diameter of the shells 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 extends from the minimum diameter to the maximum diameter over the length of the core 304, eg, a slope M1 of 0.01 to 0.4 mm / mm, eg 0.01 to 0.3 mm / mm, 0. It increases with 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. It is 5 to 15 degrees, 10 to 20 degrees, and so on.

Similarly, with reference to FIG. 3E, in some examples, the diameter of the shell 336 also changes linearly along the length of the shell 336. The diameter of the core 304 increases from the minimum diameter to the maximum diameter along the length of the shell 336 with a slope M2 equivalent to the slope described for the diameter of the core 304. The inclination 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, and 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 degrees to 20 degrees, for example 1 degree to 10 degrees, 5 degrees to 20 degrees, 5 degrees to 15 degrees, 10 degrees to 20 degrees, and the like. be. Specifically, the inclination M2 corresponds to the inclination of the conical trapezoidal portions 341a and 341b of the shell 336.

Example of cleaning roller manufacturing method

Specific configurations of the sheath 302, support structure 303 and shaft 306 of the roller 300 can be manufactured using one of a plurality of suitable methods. The shaft 306 is a single element formed by a metal manufacturing method such as machining or metal injection molding. In order to fix the support structure 303 to the shaft 306, the support structure 303 is formed of the plastic material by, for example, an injection molding method in which a molten plastic material is injected into a mold for the support structure 303. In some embodiments, the shaft 306 is inserted into the mold by the insert injection molding method prior to injecting the molten plastic material into the mold for the support structure 303. When the molten plastic material cools, it combines with the shaft 306 to form a 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. Engages with the shaft 306 to prevent the support structure 303 from forming in the gap 403.

In some cases, the sheath 302 is an insert injection molding that inserts the shaft 306 with a support structure 303 fixed to the shaft 306 into the mold prior to injecting the molten plastic material forming the sheath 302 into the mold for the sheath 302. Formed by law. When the molten plastic material cools, it combines with the core 304 of the support structure 303 to form a sheath 302 in the mold. The sheath 302 is fixed to the support structure 303 via the core 304 by being coupled to the core 304 during the injection molding process. In some embodiments, the mold for the sheath 302 is designed so that the conical trapezoidal portions 341a, 341b are coupled to the core 304, but the cylindrical portions 343a, 343b are not coupled to the core 304. Rather, the cylindrical portions 343a and 343b are not attached and extend freely beyond the ends 314 and 316 of the core 304 to define the collection holes 328 and 330.

In some embodiments, in order to improve the bond between the sheath 302 and the core 304, the core 304 is bonded 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, protrusions of the core 304, such as protrusions 414a-414d and 418a-418d, increase the coupling area between the sheath 302 and the core 304. The protrusions of the core fixing portion 350 and the core 304 have a large coupling area as compared to other examples in which the core 304 has, for example, a uniform cylindrical shape or a uniform prismatic shape. In a further example, the column 420 extends into the sheath 302, thereby further increasing the coupling area between the core fixation portion 350 and the sheath 302. The pillar 420 engages with the sheath 302 to rotatably connect the sheath 302 to the core 304. In some embodiments, the gap 403 between the discontinuous sections 402a, 402b, 402c, 404a, 404b, 404c is the partially discontinuous sections 402a, 402b, 402c, 404a, 404b, 404c of the sheath 302. Allows the plastic material forming the sheath 302 to be located within the gap 403 between them to extend radially inward towards the shaft 306. In some cases, the shaft fixing portion 352 contacts the shaft 306 and is directly coupled to the shaft 306 during the insert molding process described herein.

According to this manufacturing method example, uniform torque transmission from the shaft 306 to the support structure 303 and to the sheath 302 can be further promoted. By strengthening the coupling between these structures, it is possible to reduce the possibility that torque will not be transmitted outward from the drive shaft, for example, from the longitudinal axis 312 of the roller 300 toward the outer surface of the sheath 302. Since the torque is efficiently transmitted to the outer surface, more parts of the outer surface of the roller 300 can exert more torque to move the debris on the floor surface and promote the pick-up of the debris.

Further, 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 blades 342a, 342b can flex in response to contact with the floor and / or debris, but the shell 336 can flex less compared to it, thereby causing the shell 336 to bend more. It allows a lot of force to be applied to the contacting debris. Due to the force applied to the increased debris, the amount of debris agitation can be increased so that the roller 300 can more easily take in the debris. Further, the increased debris agitation can assist the airflow 120 generated by the vacuum assembly 118 to carry the debris into the cleaning robot 102. In this regard, the roller 300 can more easily transfer force to the debris by maintaining its shape rather than flexing in response to contact with the floor surface.

Other Examples

Many examples have been described. However, it will be appreciated that various changes are possible.

Some of the above examples describe one roller 300 or roller 104a, but as described herein, in the roller 300, the arrangement of the blades 342 of the roller 300 is the arrangement of the blades 224b of the front roller 104b. It is similar to the front roller 104b except that it is different from. 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 and 126b of the rollers 104a and 104b. With respect to the vertical plane at a distance, it is symmetrical to the V-shaped path for the blades 224b of the roller 104b. The legs of the V-shaped path for the blade 224b extend counterclockwise 130b along the outer surface of the shell 222b of the roller 104b, while the legs of the V-shaped path for the blade 224a are the outer surface of the shell 222a of the roller 104a. Extends in the clockwise direction 130a along.

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

Thus, other examples are also within the scope of the claims.

[Item 1]
A cleaning roller that can be attached to a cleaning robot.
An elongated shaft that extends from the first end to the second end along the axis of rotation, the first end and the second end being attachable to the cleaning robot to rotate around the axis of rotation. There is a shaft and
A core that is fixed around the shaft and has an outer end that is located along the shaft in close proximity to the first end and the second end of the shaft, the first of the shaft. A core tapered from a portion close to the end toward the center of the shaft located along the axis of rotation.
A sheath fixed to the core and extending beyond the outer end of the core, each having a first and second halves tapered towards the center of the shaft. ,
A collection hole defined by the outer end of the core and the sheath,
Cleaning roller equipped with.
[Section 2]
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 paragraph 1.
[Section 3]
The core has a plurality of discontinuous sections located around the shaft and within the sheath.
The cleaning roller according to paragraph 1 or 2.
[Section 4]
The sheath extends to the shaft at a position between the discontinuous sections of the core.
The cleaning roller according to Section 3.
[Section 5]
The core is a plurality of pillars extending toward the sheath in a direction away from the rotation axis, and has a plurality of pillars that engage with the sheath and connect the sheath to the core.
The cleaning roller according to any one of the items 1 to 4.
[Section 6]
The first half and the second half each have an outer surface that forms an angle of 5 to 20 degrees with the axis of rotation.
The cleaning roller according to any one of paragraphs 1 to 5.
[Section 7]
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 is the second of the shaft. A taper is provided from the portion close to the end toward the center of the shaft.
The cleaning roller according to any one of items 1 to 6.
[Section 8]
The sheath has a shell that surrounds the core and is secured to the core, the shell having a conical trapezoidal half.
The cleaning roller according to any one of paragraphs 1 to 7.
[Section 9]
The sheath is
A shell that surrounds the core and is fixed to the core,
A blade extending outward radially from the shell, the height of the portion of the blade close to the first end of the shaft is greater than the height of the portion of the blade close to the center of the shaft. Low, the height of the blade is defined by the distance from the attachment point of the blade to the shell to the free end of the blade, with the blade.
Have,
The cleaning roller according to any one of items 1 to 8.
[Section 10]
The blades follow a V-shaped path along the outer surface of the sheath.
The cleaning roller according to paragraph 9.
[Section 11]
The height of the portion of the blade close to the first end is 1 mm to 5 mm, and the height of the portion of the blade close to the center of the shaft is 10 mm to 30 mm.
The cleaning roller according to paragraph 9 or 10.
[Section 12]
The length of one of the collection holes is 5% to 15% of the length of the cleaning roller.
The cleaning roller according to any one of paragraphs 1 to 11.
[Section 13]
The tubular portion of the sheath defines the collection hole,
The cleaning roller according to any one of paragraphs 1 to 12.
[Section 14]
The sheath further comprises a shell that encloses the core and is secured to the core, the maximum width of the shell being 80% to 95% of the total diameter of the sheath.
The cleaning roller according to any one of paragraphs 1 to 13.
[Section 15]
With the main body
A drive unit that can move the main body on the floor,
It ’s a cleaning assembly.
The first cleaning roller, which is attached to the main body and can rotate around the first axis,
A second cleaning roller attached to the main body and rotatable around a second axis parallel to the first axis,
With a cleaning assembly and
Equipped with
The shell of the first cleaning roller and the second cleaning roller define a gap between them, the gap extending along the first axis and increasing towards the center of the length of the first cleaning roller. do,
Autonomous cleaning robot.
[Section 16]
The shell of the first cleaning roller and the shell of the second cleaning roller define the gap.
The autonomous cleaning robot according to paragraph 15.
[Section 17]
The gap is 5 to 30 millimeters at the center of the length of the first cleaning roller.
The autonomous cleaning robot according to paragraph 15 or 16.
[Section 18]
The length of the first cleaning roller is 20 cm to 30 cm,
The autonomous cleaning robot according to any one of paragraphs 15 to 17.
[Section 19]
The front portion of the main body has a substantially rectangular shape, and the first cleaning roller and the second cleaning roller are attached to the bottom surface of the front portion of the main body.
The autonomous cleaning robot according to any one of paragraphs 15 to 18.
[Section 20]
The first cleaning roller and the second cleaning roller define a gap between them at the center of the length of the first cleaning roller, in which the first cleaning roller and the second cleaning roller rotate. Then the width changes,
The autonomous cleaning robot according to any one of paragraphs 15 to 19.

Claims (19)

With the main body
A drive unit that can move the main body on the floor,
A first cleaning roller that is attached to the main body and can rotate around the first axis,
A second cleaning roller that is attached to the body and can rotate around a second axis parallel to the first axis.
It is an autonomous cleaning robot equipped with
The outer surface of the first cleaning roller and the outer surface of the second cleaning roller define a gap between the outer surface of the first cleaning roller and the outer surface of the second cleaning roller, and the gap defines a gap along the first axis. An autonomous cleaning robot that extends and increases towards the center of the length of the first cleaning roller. The autonomous cleaning robot according to claim 1, wherein the gap increases linearly toward the center of the length of the first cleaning roller. The autonomous cleaning robot according to claim 1, wherein the gap is between 5 and 30 mm at the center of the length of the first cleaning roller. The autonomous cleaning robot according to claim 1, wherein the length of the first cleaning roller is between 20 and 30 centimeters. 1. The autonomous cleaning robot described in. With a vacuum assembly that can operate to generate airflow through the gaps to facilitate the uptake of debris from the floor.
A cleaning bottle to receive debris sucked from the floor,
The autonomous cleaning robot according to any one of claims 1 to 5, further comprising. One or more actuators for driving the first cleaning roller and the second cleaning roller,
In order to promote the intake of debris from the floor surface, the first cleaning roller is rotated in the first direction during the cleaning operation, and the second cleaning roller is rotated in the second direction opposite to the first direction. A control device that operates the one or more actuators to rotate,
The autonomous cleaning robot according to any one of claims 1 to 5, further comprising. 7. The first cleaning roller is provided with a sheath that defines the outer surface of the first cleaning roller, and the sheath defines a collection hole for storing a part of debris, according to claim 7. The described autonomous cleaning robot. The first cleaning roller includes blades extending radially outward from the outer surface of the first cleaning roller, and the height of the blades close to the first end of the first cleaning roller is the height of the first cleaning roller. The autonomous cleaning robot according to any one of claims 1 to 5, wherein the height is lower than the height of the blades close to the center of the length. The height of the blades near the first end of the first cleaning roller is between 1 and 5 mm, and the height of the blades near the center of the length of the first cleaning roller is 10 to 30 mm. The autonomous cleaning robot according to claim 9, wherein the robot is characterized by the above. The height of the blades close to the first end of the first cleaning roller is 5% to 45% of the height of the blades close to the center of the length of the first cleaning roller. The autonomous cleaning robot according to claim 9. A cleaning assembly for an autonomous cleaning robot, and the cleaning assembly is
A first cleaning roller that can be attached to an autonomous cleaning robot along the first axis, and a first cleaning roller that can rotate around the first axis when attached to the autonomous cleaning robot.
A second cleaning roller that can be attached to an autonomous cleaning robot along a second axis parallel to the first axis, and is rotatable about the second axis when attached to the autonomous cleaning robot. Two cleaning rollers and
Equipped with
The outer surface of the first cleaning roller and the outer surface of the second cleaning roller define a gap between the outer surface of the first cleaning roller and the outer surface of the second cleaning roller, and the gap is along the first axis. A cleaning assembly that extends and increases towards the center of the length of the first cleaning roller. 12. The cleaning assembly according to claim 12, wherein the gap increases linearly toward the center of the length of the first cleaning roller. 12. The cleaning assembly of claim 12, wherein the gap is between 5 and 30 millimeters at the center of the length of the first cleaning roller. 12. The cleaning assembly according to claim 12, wherein the length of the first cleaning roller is between 20 and 30 centimeters. The first cleaning roller is provided with a sheath that defines the outer surface of the first cleaning roller, and the sheath defines a collection hole for receiving a part of debris collected by the autonomous cleaning robot. The cleaning assembly according to any one of claims 12 to 15, characterized in that. The first cleaning roller includes blades extending radially outward from the outer surface of the first cleaning roller, and the height of the blades close to the first end of the first cleaning roller is the height of the first cleaning roller. The cleaning assembly according to any one of claims 12 to 15, characterized in that it is lower than the height of the blades close to the center of length. The height of the blades near the first end of the first cleaning roller is between 1 and 5 mm, and the height of the blades near the center of the length of the first cleaning roller is 10 to 30 mm. 17. The cleaning assembly according to claim 17. The height of the blades close to the first end of the first cleaning roller is 5% to 45% of the height of the blades close to the center of the length of the first cleaning roller. The cleaning assembly according to claim 17.

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