TWM656155U - Cleaning brush and automatic cleaning device - Google Patents

Abstract

The present invention provides a cleaning brush and an automatic cleaning device, wherein the cleaning brush comprises: a shaft, comprising a shaft body and a first end portion located on one side of the shaft body; and a first end member configured to be mounted on the first end portion, wherein the first end member has at least one first introduction portion, and the first end portion has at least one first matching portion, and the at least one first introduction portion matches with the at least one first matching portion to form a guide matching structure so that the first end member can only be mounted to the first end portion in a circumferential assembly manner.

Description

Cleaning brushes and automatic cleaning equipment

This invention claims priority to Chinese patent application No. 202223603508X filed on December 30, 2022, the entire contents of which are hereby incorporated by reference as a part of this invention. This invention relates to the field of self-propelled equipment technology, and more specifically, to a cleaning brush and an automatic cleaning device.

The cleaning brush is an important functional component of the automatic cleaning equipment. The existing end cover of the cleaning brush is small in size, and the end of the cleaning brush shaft is relatively long and exposed outside the end cover. In addition, the end cover is located outside the cylindrical component sleeved on the outer periphery of the cleaning brush shaft cover, resulting in the entanglement of the cylindrical component being easily wound from the end of the cylindrical component to the end of the shaft.

Some embodiments of the present invention provide a cleaning brush, the cleaning brush comprising: A shaft, comprising a shaft body and a first end located on one side of the shaft body; and A first end member, configured to be mounted on the first end, wherein the first end member has at least one first lead-in portion, the first end has at least one first mating portion, the at least one first lead-in portion and the at least one first mating portion match to form a guide mating structure so that the first end member can only be mounted to the first end in a circumferential assembly manner.

In some embodiments, the at least one first lead-in portion includes two first lead-in portions, and at least one of the shapes and sizes of the two first lead-in portions is different, so that the first end member can only be installed to the first end in a circumferential assembly manner.

In some embodiments, the shaft further includes a second end located on the other side of the shaft body; and a second end member configured to be mounted on the second end, the second end member having a second assembly structure on a side away from the shaft, wherein the second end member has at least one second lead-in portion, the second end has at least one second mating portion, the at least one second lead-in portion and the at least one second mating portion match to form a guide mating structure so that the second end member can be mounted to the second end in a variety of circumferential assembly methods.

In some embodiments, the at least one second lead-in portion includes two second lead-in portions, and the two second lead-in portions have the same shape and size, so that the second end member can be mounted to the second end portion in two circumferential assembly modes.

In some embodiments, the two first introduction portions have different sizes, and the sizes of the two second introduction portions are between the sizes of the two first introduction portions.

In some embodiments, the first end member includes a first guide sleeve, the first guide sleeve is configured to accommodate the first end, the at least one first introduction portion is disposed on the inner circumferential wall of the first guide sleeve, the at least one first matching portion is disposed on the outer circumference of the first end, and corresponds one-to-one with the at least one first introduction portion.

In some embodiments, the first end member has a first assembly structure on a side away from the shaft, and the at least one first introduction portion extends along the circumferential spiral of the first guide sleeve in a direction away from the first assembly structure.

In some embodiments, one of the first introducing portion and the first matching portion is a protruding portion, and the other is a recessed portion.

In some embodiments, a marking portion is provided on the outer circumference of the first guide sleeve, which is configured to mark the position of the first introduction portion on the outer circumference of the guide sleeve so that the first introduction portion and the first matching portion are aligned and assembled.

In some embodiments, a first locking portion is disposed on the first guide sleeve, and a first locking matching portion is disposed on the first end portion, and the first locking portion cooperates with the first locking matching portion so that the first end member is locked to the first end portion.

In some embodiments, the first end member further includes a first guide shaft, the first guide shaft extends along the axis of the first guide sleeve, a first guide hole is provided on the end surface of the first end away from the second end, the first guide hole is coaxial with the shaft, and is configured to accommodate the first guide shaft.

In some embodiments, the cleaning brush further includes a brush component coaxially arranged with the shaft, and the brush component includes: a cylindrical component sleeved on the outer circumference of the shaft; and a plurality of brush components extending from the outer surface of the cylindrical component in a direction away from the cylindrical component, and the plurality of brush components are evenly arranged along the circumference of the cylindrical component.

In some embodiments, the first end member has a first assembly structure on a side away from the shaft, and the end surface of the first assembly structure away from the shaft has a regular polygon that is a factor of the number of brushes.

In some embodiments, a flexible filler is filled between the brush member and the shaft, and the flexible filler covers the outer circumference of the shaft body to expose the first end and the second end.

In some embodiments, the first end member has a first assembly structure on a side away from the shaft, and the first end member also includes a first blocking structure, which is arranged between the first assembly structure and the first guide sleeve to prevent the winding object from excessively extending away from the brush member.

In some embodiments, the first end member has a first assembly structure on a side away from the shaft, the first assembly structure includes a transmission structure, and the second assembly structure includes a bearing structure.

Some embodiments of the present invention provide an automatic cleaning device, including the cleaning brush described in the above embodiments.

The above scheme of the novel embodiment can have the following beneficial effects: The novel cleaning brush ensures that the driving end has a relatively fixed installation direction by setting the introduction member of the end member of the driving end to have a unique circumferential assembly mode, which helps to control the installation angle of the roller brush. This will be particularly beneficial in some scenarios where there are certain preset requirements for the sub-components of the roller brush, especially the orientation or alignment direction of the blades, such as those scenarios where two roller brushes of this case are used to form a double brush system and their respective blades have certain alignment requirements. At the same time, by cleverly setting the introduction structure of the driven side to an intermediate size, it not only ensures that the overall appearance of the two end components is close, but also can effectively realize foolproofing, and realizes two-way foolproofing in a very simple way, greatly improving the user experience.

In order to make the technical scheme and technical effect of the present invention clearer, the present invention will be described in further detail below in conjunction with the attached drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making progressive labor are within the scope of protection of the present invention.

The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "one", "said" and "the" used in the present invention and the appended patent application are also intended to include plural forms, unless the context clearly indicates other meanings, and "plurality" generally includes at least two.

It should be understood that the term "and/or" used in this article is only a description of the relationship between related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the related objects before and after are in an "or" relationship.

It should also be noted that the terms "include", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of more restrictions, the elements defined by the phrase "comprising one" do not exclude the existence of other identical elements in the product or device including the elements.

In order to further optimize the installation structure of the end member and the shaft end, and further optimize the stability of the installation structure, the present invention provides a cleaning brush, which forms a guide matching structure with the end of the shaft through the guide portion in the guide sleeve of the end member, and forms a locking matching structure with the end of the shaft through the locking portion in the guide sleeve. The guide matching structure and the locking matching structure assist in matching each other, and can more effectively perform the introduction installation, can realize a more effective guide matching structure, can realize a more effective fool-proof installation structure, can improve the installation simplicity of the end member and the stability of the installation structure, can optimize the installation structure of the end member and the shaft, and then optimize the overall structure of the cleaning brush.

The new cleaning brush is widely used, especially for automatic cleaning equipment, which can be self-propelled robots such as mopping robots, sweeping robots, sweeping and mopping robots, and large commercial floor scrubbers. The automatic cleaning equipment works on the operating surface, which can also be any operating surface, such as the ground, desktop, roof, platform, etc. The self-propelled equipment can also be a window cleaning robot, which works on the outer surface of the glass of the building, and the glass is the operating surface; the automatic cleaning equipment can also be a pipeline self-propelled robot, which works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface. It is purely for the purpose of demonstration.

It should be noted that, in the present invention, the left side of the attached drawing page is the first side, the right side of the attached drawing page is the second side, the upper side of the attached drawing page is the upper side, and the lower side of the attached drawing page is the lower side. The up-and-down direction of the attached drawing page is the vertical direction, and the left-and-right direction of the attached drawing page is the horizontal direction.

The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

FIG1 is a schematic diagram of the structure of an automatic cleaning device according to an exemplary embodiment, and FIG2 is a schematic diagram of the structure of the automatic cleaning device in FIG1 from a bottom view. As shown in FIG1 and FIG2, the automatic cleaning device can be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 1000, a sensing system 2000, a control system (not shown), a drive system 3000, an energy system (not shown), a human-computer interaction system 4000, and a cleaning module 5000. Wherein: The mobile platform 1000 can be configured to automatically move along a target direction on an operating surface. The operating surface can be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, and the automatic cleaning device works on the ground, which is the operating surface; the automatic cleaning device may also be a window cleaning robot, and the automatic cleaning device works on the outer surface of the glass of the building, which is the operating surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, which is the operating surface. For the purpose of demonstration only, the following description in this application is explained by taking the mopping robot as an example.

In some embodiments, the mobile platform 1000 can be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 1000 itself can automatically and adaptively make operation decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operation decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic. Accordingly, when the mobile platform 1000 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning device; when the mobile platform 1000 is a non-autonomous mobile platform, the target direction can be set by the system or manually.

The perception system 2000 includes a position determination device (not shown in the figure) located above the mobile platform 1000, a buffer (not shown in the figure) located at the forward part of the mobile platform 1000, a rotation sensor (not shown in the figure) and an ultrasonic sensor (not shown in the figure) located at the bottom of the mobile platform, an infrared sensor (not shown in the figure), a magnetometer (not shown in the figure), an accelerometer (not shown in the figure), a gyroscope (not shown in the figure), an odometer (not shown in the figure) and other sensing devices, which provide the control system with various position information and motion status information of the machine.

For ease of description, the following directions are defined: The automatic cleaning device can be calibrated by defining the following three mutually perpendicular axes: the horizontal axis Y, the front-rear axis X, and the vertical axis Z. The direction along the arrow pointing to the front-rear axis X is marked as "backward", and the direction opposite to the arrow along the front-rear axis X is marked as "forward". The horizontal axis Y is essentially along the width of the automatic cleaning device. The direction along the arrow of the horizontal axis Y is marked as "left", and the direction opposite to the arrow of the horizontal axis Y is marked as "right". The vertical axis Z is the direction extending upward from the bottom surface of the automatic cleaning device. As shown in FIG. 1 , the direction along the front-rear axis X is defined as the second direction, such as the forward direction or the backward direction; the direction perpendicular to the second direction in the horizontal plane is defined as the first direction, such as the left direction or the right direction.

The control system (not shown in the figure) is arranged on a circuit motherboard in the mobile platform 1000, and includes a computing processor, such as a central processing unit and an application processor, which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory. The application processor is configured to receive environmental information sensed by the multiple sensors transmitted by the perception system, and use a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the automatic cleaning device is located based on the obstacle information fed back by the position determination device, and autonomously determine a driving path based on the environmental information and the environmental map, and then control the drive system 3000 to perform forward, backward and/or turning operations based on the autonomously determined driving path. Furthermore, the control system can also decide whether to start the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

The driving system 3000 can execute driving commands based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device to travel across the ground. The driving system 3000 includes a driving wheel element. The driving system 3000 can control the left wheel and the right wheel at the same time. In order to more accurately control the movement of the machine, it is preferred that the driving system 3000 includes a left driving wheel element and a right driving wheel element respectively. The left and right driving wheel assemblies are symmetrically arranged along the transverse axis defined by the mobile platform 1000. In order for the automatic cleaning device to move more stably or with stronger movement ability on the ground, the automatic cleaning device may include one or more steering elements. The steering element may be a driven wheel or a driving wheel. Its structural form includes but is not limited to a universal wheel. The steering element may be located in front of the driving wheel element.

The energy system (not shown in the figure) includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The host is charged by connecting the charging pole arranged on the side or bottom of the fuselage to the charging pile.

The human-machine interaction system 4000 includes buttons on the main panel for users to select functions; it may also include a display screen and/or indicator lights and/or speakers, which display the current state of the machine or function options to the user; it may also include a mobile client program. For a path navigation cleaning device, a map of the environment where the device is located and the location of the machine can be displayed to the user on the mobile client, which can provide the user with more abundant and humanized functions.

As shown in FIG2 , the cleaning module 5000 includes a dust box, a fan, and a main brush module. The main brush module sweeps the garbage on the ground to the front of the dust suction port between the main brush module and the dust box, and then the gas with suction generated by the fan and passing through the dust box is sucked into the dust box. The dust removal capacity of the sweeper can be characterized by the garbage pickup efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the wind utilization rate of the air duct formed by the dust suction port, dust box, fan, air outlet and the connecting parts between the four, and is affected by the type and power of the fan. It is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, a machine that can clean 80 square meters of ground on one charge can evolve to clean 180 square meters or even more on one charge. And the service life of the battery with fewer charging times will also be greatly increased, so that the frequency of battery replacement will also be reduced. More intuitively and importantly, the improvement of dust removal ability is the most obvious and important user experience, and users will directly draw conclusions on whether the sweeping/wiping is clean.

As shown in FIG2 , the automatic cleaning device includes a mobile platform 1000, which is configured to move freely on the operating surface, and a cleaning module 5000 is arranged at the bottom of the mobile platform 1000, and the cleaning module 5000 is configured to clean the operating surface. The cleaning module 5000 includes a driving unit 5100, a roller brush frame 200, and a roller brush 5300 assembled in the roller brush frame 200. The driving unit 5100 provides a forward or reverse driving force, and applies the driving force to the roller brush 5300 through a multi-stage gear set. The roller brush 5300 rotates under the action of the driving force to clean the operating surface, or the roller brush 5300 rotates under the action of the driving force to collect dust.

As shown in FIG2 , a front cleaning brush mounting position 5211 and a rear cleaning brush mounting position 5212 for accommodating a cleaning roller brush are provided in the roller brush frame 200. The front cleaning brush mounting position 5211 has a first end 52111 and a second end 52112 opposite to the first end 52111, one end of the first roller brush 100 is clamped and fixed at the first end 52111, and the other end of the first roller brush is clamped and fixed at the second end 52112. In some embodiments, the front cleaning brush mounting position 5211 is a long strip groove structure in the mobile platform, and the long strip groove structure extends along the first direction. The rear cleaning brush installation position 5212 has a third end 52121 and a fourth end 52122 opposite to the third end 52121. In some embodiments, the rear cleaning brush installation position 5212 is substantially the same in structure as the front cleaning brush installation position 5211, for example, it is also a strip-shaped groove structure in the mobile platform, and the strip-shaped groove structure extends along the first direction. The second roller brush can be installed in the strip-shaped groove of the rear cleaning brush installation position 5212 through the opening of the strip-shaped groove structure. The two strip-shaped groove structures are parallel to each other in the second direction. There is no restriction on the shape and size of the strip-shaped groove structure, and it only needs to accommodate at least a part of the first roller brush and the second roller brush. The first end of the front cleaning brush mounting position 5211 and the third end of the rear cleaning brush mounting position 5212 are located on one side of the front-rear axis X-axis, and the second end of the front cleaning brush mounting position 5211 and the fourth end of the rear cleaning brush mounting position 5212 are located on the other side of the front-rear axis X-axis.

It should be noted that in the following embodiments of the present invention, the long strip groove structure close to the steering wheel on the automatic cleaning device is used as the front cleaning brush installation position 5211, and the long strip groove structure far from the steering wheel is used as the rear cleaning brush installation position 5212. Of course, the reverse is also possible.

As shown in FIG. 2 , in some embodiments, the automatic cleaning device includes two cleaning roller brushes 5300, one cleaning roller brush is disposed at the front cleaning brush mounting position 5211 and is regarded as a “front roller brush”; the other cleaning roller brush is disposed at the rear cleaning brush mounting position 5212 and is regarded as a “rear roller brush”. The front roller brush can be mounted in the front cleaning brush mounting position 5211 through the opening of the long strip groove structure, and the rear roller brush can be mounted in the rear cleaning brush mounting position 5212 through the opening of the long strip groove structure.

The cleaning brush of the present invention is explained below by taking a roller brush, for example, a front roller brush, as an example.

Fig. 3 is a three-dimensional structural exploded view of an example of a cleaning brush provided according to the present invention. Fig. 4 is a three-dimensional structural view of an example of an end member of the cleaning brush of Fig. 3. Fig. 5 is a three-dimensional structural view of the end member of the cleaning brush of Fig. 4 from another angle.

3 to 5, the present novel embodiment provides a cleaning brush 100. The cleaning brush 100 comprises: a shaft 110, comprising a shaft body 113 and a first end 111 and a second end 112 located on both sides of the shaft body 113; a first end member 120, configured to be mounted on the first end 111, and the first end member 120 has a first assembly structure 121 on a side away from the shaft 110. Specifically, the first assembly structure 121 is a transmission structure, and the first assembly structure 121 is connected to a driving mechanism of a cleaning device.

Specifically, the first end member 120 has at least one first introduction portion 1221, and the first end 111 has at least one first matching portion 1111. The at least one first introduction portion 1221 matches with the at least one first matching portion 1111 to form a guide matching structure so that the first end member 120 can only be installed to the first end 111 in a circumferential assembly manner, that is, the first end member 120 and the shaft 110 have a single installation direction when assembled.

The meaning of the circumferential assembly method in this article is as follows: if the two assemblies rotate 360 degrees relative to each other and there are N assembly methods, then the two are deemed to have N circumferential assembly methods, where N is greater than or equal to 1.

As shown in FIG4 , the first end member 120 includes a first guide sleeve 122, the first guide sleeve 122 is configured to accommodate the first end 111, and the at least one first introduction portion 1221 is disposed on the inner circumferential wall of the first guide sleeve 122, and is a protrusion protruding inward from the inner circumferential wall of the first guide sleeve 122. The first end member 120 is installed on the first end 111 located on the driving side.

Specifically, at least the first introduction portion 1221 extends in a circumferential spiral along the first guide sleeve 122 in a direction away from the first assembly structure 121, and is specifically a spiral shape that extends in a helical rotation along the inner circumferential wall, so that the first introduction portion 1221 has a rotation direction, for example, a rotation direction of rotating clockwise (or counterclockwise) around the axis z of the shaft 110.

It should be noted that, in this example, the first introduction portion 1221 is a protrusion protruding from the inner circumferential wall of the first guide sleeve 122, but is not limited to this, as long as one of the first introduction portion 1221 and the first matching portion 1111 is a protrusion and the other is a recessed portion.

In the example of FIG4 , there are two first lead-in parts 1221, and the sizes of the two first lead-in parts 1221 are different. By setting the sizes of the two first lead-in parts different, it can be effectively ensured that the first end member 120 and the end of the driving side of the shaft have only a single installation direction, thereby controlling the installation direction of the blades and other components of the cleaning brush to be unique.

It should be noted that, in this example, the number of the first introduction parts 1221 is two, but it is not limited to this. In other examples, the number of the first introduction parts 1221 can also be three or more. The above is only explained as an optional example and cannot be understood as a limitation of the present invention.

As can be seen from FIG. 5 , a first matching portion 1111 corresponding to the first introduction portion 1221 is provided on the outer circumference of the first end portion 111 of the shaft 110. In this example, two first matching portions 1111 are provided on the outer circumference of the first end portion 111, and the two first matching portions 1111 correspond to the two first introduction portions 1221 one by one, respectively. The first matching portion 1111 is a groove portion recessed inward from the outer circumference of the first end portion 111, and the first introduction portion 1221 matches the first matching portion 1111 to form a guide matching structure so that the first end member 120 can only be installed to the first end portion 111 in one circumferential assembly manner.

By adding two first introduction parts of different sizes to the inner circumferential wall of the first guide sleeve, the introduction installation can be carried out more effectively, and the first end component can only be installed to the first end in a circumferential assembly manner, which can improve the ease of installation of the end component and the stability of the installation structure.

Optionally, a marking portion 1223 (see FIG. 4 ) is provided on the outer periphery of the first guide sleeve 122, which is configured to mark the position of the first lead-in portion 1221 on the outer periphery of the first guide sleeve 122, and is used to indicate the rotational assembly direction of installing the first end member 120 on the first end portion 111 of the shaft 110, so that the first lead-in portion 1221 is aligned and assembled with the first mating portion 1111.

As shown in FIGS. 4 to 6 , the first guide sleeve 122 is provided with a first locking portion 1222, for example, a groove portion recessed inwardly from the outer circumference of the first guide sleeve 122. Correspondingly, the first end portion 111 is provided with a first locking matching portion 1112, and the first locking portion 1222 cooperates with the first locking matching portion 1112 so that the first end member 120 is locked to the first end portion 111.

Referring to Figures 5 and 6, the first end component 120 further includes a first guide shaft 123, which extends along the axis of the first guide sleeve 122. A first guide hole 1113 is provided on the end surface of the first end 111 away from the second end 112. The first guide hole 1113 is coaxial with the shaft 110 and is configured to accommodate the first guide shaft 123.

As shown in Figures 5 and 6, the end face of the first assembly structure 121 away from the shaft has a regular polygon, and the number of sides of the regular polygon is a factor of the number of brushes. In other words, the number of sides of the regular polygon on the outer end face of the first end member corresponds to the number of groups of brushes of the automatic cleaning device. For example, the number of sides N of the regular polygon is a factor of the number of groups (for example, 4 sides, 8 groups of blades; for another example, 4 sides, 4 groups of blades). Thus, it can be ensured that after the cleaning brush is installed in the main unit of the automatic cleaning device in N directions, the orientation of the blades and other components in the brush of the cleaning brush is consistent.

It should be noted that, in this embodiment, the sides of the regular polygon are N straight lines, but it is not limited thereto. In other embodiments, it can be adjusted, such as curved sides, or a combination of straight lines and curved sides. In addition, in other examples, the shape of the regular polygon can be adaptively changed according to the number of brushes.

In the example of FIG. 3 , the cleaning brush 100 further includes a brush member 130 coaxially arranged with the shaft 110, and the brush member 130 includes: a cylindrical member 131 sleeved on the outer circumference of the shaft; and a plurality of brush members 132. The plurality of brush members 132 extend from the outer surface of the cylindrical member in a direction away from the cylindrical member 131, and the plurality of brush members 132 are uniformly arranged along the circumference of the cylindrical member.

Specifically, the brush member 132 includes a first brush member. For example, the first brush member is V-shaped and includes five groups of first brush members.

It should be noted that, in other examples, the brush member may further include a second brush member or a third brush member, etc., and the second brush member and the third brush member have different shapes and lengths from the first brush member. In addition, the structures of the brush members in different groups are basically the same, and each group of brush members may include one or more blades. When multiple blades are included, the structures of the multiple blades are often not completely the same.

Specifically, a flexible filler (not shown in the figure) is filled between the brush component 130 and the shaft 110, and the flexible filler covers the outer circumference of the shaft body to expose the first end and the second end.

Furthermore, the first end member 120 further includes a first blocking structure 125, which is disposed between the first assembly structure 121 and the first guide sleeve 122, and is used to prevent the entangled object from excessively extending away from the brush member and from excessively extending away from the cleaning brush. The first blocking structure 125 is, for example, at least one blocking ring, and in this example, two blocking rings. By providing the blocking structure, entangled objects such as garbage are entangled around the blocking structure of the first end member, effectively preventing the entangled object from being entangled around the shaft, and when the end member is removed, the entangled object can be directly removed following the removal of the end cover member.

A guide fitting structure is formed by the first guide portion in the first guide sleeve of the first end member and the end of the shaft on the driving side, and a locking fitting structure is formed by the first locking portion on the first guide sleeve and the first locking matching portion at the end of the shaft. The guide fitting structure and the locking fitting structure assist in cooperating with each other to achieve a more effective installation structure, further optimize the installation structure of the end member and the shaft, and thus optimize the overall structure of the cleaning brush.

FIG. 7 is a three-dimensional structural exploded view of the cleaning brush of FIG. 3 at another angle; FIG. 8 is a partial structural exploded view of the second end component and the shaft of the cleaning brush of FIG. 3 at one angle.

As shown in Figures 7 and 8, the cleaning brush 100 further includes a second end member 140. The second end member 140 is located on the driven side and is mounted on the second end 112 of the shaft 110. The second end member 140 has a second assembly structure 141 (specifically a bearing structure) on the side away from the shaft 110. The second assembly structure 141 can rotate relative to the shaft, and other structures (such as the body, etc.) connected to the cleaning device are rotated through the second assembly structure 141.

As shown in Figures 7 and 8, the second end member 140 has at least one second introduction portion 1421, and the second end 112 has at least one second matching portion 1121. The at least one second introduction portion 1421 matches with the at least one second matching portion 1121 to form a guide matching structure so that the second end member 140 can be installed to the second end in a variety of circumferential assembly methods.

Further, the second introduction portion 1421 extends in a spiral along the circumference of the second guide sleeve 142 in a direction away from the second assembly structure 141, specifically, a spiral shape extending in a spiral rotation along the inner peripheral wall, so that the second introduction portion 1421 has a rotation direction, for example, a rotation direction of clockwise (or counterclockwise) rotation around the axis z of the shaft 110, thereby forming a second introduction direction. In this example, the second introduction direction is the same as the first introduction direction.

It should be noted that, in this example, the first introduction direction and the second introduction direction are the same, but not limited to this. In other examples, the rotation direction of the first introduction portion may be non-helical or linear. In addition, in other examples, the second introduction direction may be different from the first introduction direction. The above is only described as an optional example and cannot be understood as a limitation of the present invention.

As shown in FIG. 8 , the at least one second introduction portion 1421 includes two second introduction portions 1421 , and the two second introduction portions 1421 have the same shape and size, so that the second end member can be installed to the second end portion 112 in two circumferential assembly modes.

Preferably, when the introduction directions of the first introduction portion 1221 and the second introduction portion 1421 are the same, the sizes of the two first introduction portions 1221 are different (correspondingly, the size of the first matching portion 1111 and the size of the second matching portion 1121 are different), the sizes of the two second introduction portions 1421 are the same, and the size of the second introduction portion 1421 is between the sizes of the two first introduction portions 1221.

By making the size of the two second guide parts at the driven end between the sizes of the two first guide parts at the driving side, it is possible to ensure that the second end components can be freely installed at multiple angles, and it is possible to ensure that the end components on both sides are not installed upside down, and it can be effectively ensured that the blades and other components are oriented correctly after the cleaning brush is installed.

It should be noted that, in other examples, the number of second introduction parts can also be three or more. The above is only explained as an optional example and cannot be understood as a limitation of the present invention. In addition, for the first end member and the second end member, it is preferred to arrange the two first introduction parts of different sizes on the driving side, because there is a requirement for the installation angle on the driving side, and the second end member on the driven side does not need to be designed with different sizes, because the second assembly structure (specifically the bearing structure) on the driven side can rotate freely relative to the shaft. When this bearing structure is assembled to the body of the automatic cleaning device, the rest of the cleaning brush is allowed to rotate freely relative to the bearing structure. There is no strong requirement for the assembly angle on the driven side. Therefore, in other examples, the size of the second introduction part can also be the same.

By forming a guide matching structure with the first introduction part 1221 and the second introduction part 1421 and the first matching part 1111 and the second matching part 1121, a more effective guide matching structure can be realized. By setting the two first introduction parts 1221 with different sizes and the second introduction part with different sizes from the first introduction part, the first end member can only be installed to the first end in one circumferential assembly mode, and the second end member can be installed to the second end in multiple circumferential assembly modes, the installation angles of the first end member and the second end member and the shaft can be accurately determined, and a more effective installation structure can be realized.

Furthermore, a second locking portion 1422 is provided on the outer periphery of the second guide sleeve 142 of the second end member 140, for example, a groove portion recessed inward from the outer periphery of the second guide sleeve 142, and the second locking portion 1422 may also be a through hole penetrating the second guide sleeve 142. Correspondingly, a first locking matching portion 1123 is provided on the second end 112, and the second locking portion 1422 cooperates with the second locking matching portion 1123 so that the second end member 140 is locked to the second end 112 to form a locking matching structure.

As shown in Figure 8, the second end member 140 also includes a second guide shaft 144, which extends along the axis of the second guide sleeve 142. A second guide hole (not shown) is provided on the end surface of the second end 112 away from the first end 111. The second guide hole is coaxial with the shaft 110 and is configured to accommodate the second guide shaft 144.

Furthermore, the second end member 140 further includes a second blocking structure 145 , and the second blocking structure 145 is disposed on a side of the second guide sleeve 142 away from the shaft 110 .

Specifically, the outer diameter of the blocking structure 145 is larger than the outer diameter of the second guide sleeve 142. By arranging the blocking structure at the second end member, entangled objects such as garbage are entangled around the blocking structure of the second end member, effectively preventing the entangled objects from entangled around the shaft, and when the end member is removed, the entangled objects can be directly removed along with the removal of the end cover member.

Optionally, the second guide sleeve 142 may also be provided with a marking portion 1423, which is configured to mark the position of the second guide portion 1421 on the outer periphery of the second guide sleeve 142, and is used to indicate the rotational assembly direction of installing the second end member 140 on the shaft 110 and the second end 112, so that the second guide portion is aligned and assembled with the second mating portion.

Further, the second assembly structure 141 of the second end member 140 is configured as a polygonal shape corresponding to the number of the brush members. In this example, the polygonal shape of the outer end surface of the second assembly structure 141 is a pentagon formed by a combination of straight lines and curves.

Preferably, the regular polygonal shape of the outer end face of the first end member 120 is different from the polygonal shape of the outer end face of the second assembly structure 141, so that the outer end face shapes of the first end member and the second end member are different, which makes it easier to distinguish the two ends and improves the convenience of installation.

The cleaning brush of the present invention ensures that the driving end has a relatively fixed installation direction by setting the introduction component of the end component of the driving end to have a unique circumferential assembly method, which helps to control the installation angle of the roller brush. This will be particularly beneficial in some scenarios where there are certain preset requirements for the sub-components of the roller brush, especially the orientation or alignment direction of the blades, such as those scenarios where two roller brushes of the present invention are used to form a double brush system and their respective blades have certain alignment requirements.

The cleaning brush of the present invention forms a guide fitting structure with the end of the shaft through the guide portion of the inner wall of the guide sleeve of the end component, and forms a locking fitting structure with the end of the shaft through the locking portion of the outer periphery of the guide sleeve. The guide fitting structure and the locking fitting structure cooperate with each other, and can more effectively perform the introduction installation, can realize a more effective guide fitting structure, can realize a more effective fool-proof installation structure, can improve the installation simplicity of the end component and the stability of the installation structure, can optimize the installation structure of the end component and the shaft, and thus optimize the overall structure of the cleaning brush.

In addition, by arranging different sizes of the two first introduction parts and arranging different sizes of the second introduction part and the first introduction part, the first end member can only be installed to the first end in one circumferential assembly method, and the second end member can be installed to the second end in multiple circumferential assembly methods, the installation angles of the first end member and the second end member and the shaft can be accurately determined, and a more effective installation structure can be achieved.

In addition, by providing marking portions on the outer circumference of the first guide sleeve and the second guide sleeve to indicate the rotational assembly direction of installing the first end member and the second end member on the first end and the second end of the shaft, it is possible to effectively ensure that the first lead-in portion is aligned and assembled with the first mating portion, and it is possible to effectively ensure that the second lead-in portion is aligned and assembled with the second mating portion.

In addition, by factoring the number of sides of the regular polygon of the outer end face of the first end component and the number of brush groups of the automatic cleaning device, it can be ensured that after the cleaning brush is installed on the main unit of the automatic cleaning device in N directions, the orientations of components such as blades in the brush of the cleaning brush are consistent.

In addition, by providing a blocking structure at the end member, the entangled object is directly entangled around the blocking structure of the end member, which can effectively prevent the entangled object from entangled around the shaft.

The present invention also provides another embodiment that is connected with the above embodiment. The present invention also provides an automatic cleaning device, which is characterized in that it includes the cleaning brush described in the above embodiment. The explanation based on the same meaning of the name is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

Finally, it should be noted that the embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the new system or device of the embodiment, since it corresponds to the new method of the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technical personnel in this field should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

100: First roller brush/cleaning brush

110: Shaft

111: first end

1111: first matching part

1112: first locking matching unit

1113: First guide hole

112: Second end

1121: Second matching part

1123: First locking matching unit

113: Shaft body

120: First end member

121: First assembly structure

122: First guide bushing

1221: First introduction

1222: First locking part

1223: Marking Department

123: First guide shaft

125: First barrier structure

130: Brush component

131: Cylindrical member

132: Brush

140: Second end member

141: Second assembly structure

142: Second guide bushing

1421: Second introduction

1422: Second locking part

1423: Marking Department

144: Second guide shaft

145: Second blocking structure/blocking structure

200: Rolling brush frame

1000: Mobile Platform

2000: Perception Systems

3000:Drive system

4000: Human-computer interaction system

5000: Cleaning module

5211: Front cleaning brush installation position

52111:First End

52112: Second end

5212: Rear cleaning brush installation position

52121: The third end

52122: The fourth end

z:axis

The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without making any progressive efforts. In the attached drawings: Figure 1 is a structural schematic diagram of an automatic cleaning device of an exemplary embodiment provided by the present invention; Figure 2 is a bottom-up structural schematic diagram of the automatic cleaning device in Figure 1; Figure 3 is a three-dimensional structural exploded diagram of an example of a cleaning brush provided according to the present invention; Figure 4 is a three-dimensional structural diagram of an example of a first end member of the cleaning brush of Figure 3; Figure 5 is a partial structural exploded diagram of the first end member of the cleaning brush of Figure 3 and a shaft at an angle; Figure 6 is a partial structural exploded diagram of the first end member of the cleaning brush of Figure 3 and a shaft at another angle; Figure 7 is a three-dimensional structural exploded diagram of the cleaning brush of Figure 3 at another angle; Figure 8 is a partial structural exploded diagram of the second end member of the cleaning brush of Figure 3 and a shaft at an angle.

100: First roller brush/cleaning brush

110: Shaft

111: First end

112: Second end

120: First end member

121: First assembly structure

122: First guide bushing

1222: First locking part

1223: Marking Department

125: First blocking structure

130: Brush components

131: Cylindrical component

132: Brush parts

140: Second end member

141: Second assembly structure

142: Second guide bushing

1422: Second locking part

1423: Marking Department

145: Second blocking structure/blocking structure

z:axis

Claims (17)

A cleaning brush comprises: a shaft, comprising a shaft body and a first end located at one side of the shaft body; and a first end member configured to be mounted on the first end, wherein the first end member has at least one first lead-in portion, the first end has at least one first mating portion, the at least one first lead-in portion matches with the at least one first mating portion to form a guide mating structure so that the first end member can only be mounted to the first end in a circumferential assembly manner. A cleaning brush as claimed in claim 1, wherein the at least one first lead-in portion includes two first lead-in portions, and at least one of the shapes and sizes of the two first lead-in portions is different, so that the first end member can only be mounted to the first end in one circumferential assembly manner. As in claim 2, the cleaning brush, wherein the shaft further includes a second end located on the other side of the shaft body; and a second end member configured to be mounted on the second end, the second end member having a second assembly structure on a side away from the shaft, wherein the second end member has at least one second lead-in portion, the second end has at least one second mating portion, the at least one second lead-in portion and the at least one second mating portion match to form a guide mating structure so that the second end member can be mounted to the second end in a variety of circumferential assembly methods. As in claim 3, the cleaning brush, wherein the at least one second introduction portion includes two second introduction portions, the two second introduction portions are of the same shape and size, so that the second end member can be mounted to the second end in two circumferential assembly modes. A cleaning brush as claimed in claim 4, wherein the sizes of the two first introduction parts are different, and the sizes of the two second introduction parts are between the sizes of the two first introduction parts. As in claim 3, the cleaning brush, wherein the first end member includes a first guide sleeve, the first guide sleeve is configured to accommodate the first end, the at least one first introduction portion is arranged on the inner peripheral wall of the first guide sleeve, and the at least one first matching portion is arranged on the outer periphery of the first end, corresponding one-to-one with the at least one first introduction portion. A cleaning brush as claimed in claim 6, wherein the first end member has a first assembly structure on a side away from the shaft, and the at least one first guide portion extends along the circumferential spiral of the first guide sleeve in a direction away from the first assembly structure. A cleaning brush as claimed in claim 6, wherein one of the first introduction portion and the first matching portion is a raised portion and the other is a recessed portion. As in claim 6, a cleaning brush is provided on the outer periphery of the first guide sleeve, and is configured to mark the position of the first introduction portion on the outer periphery of the guide sleeve so that the first introduction portion and the first matching portion are aligned and assembled. A cleaning brush as claimed in claim 6, wherein a first locking portion is disposed on the first guide sleeve, and a first locking matching portion is disposed on the first end portion, and the first locking portion cooperates with the first locking matching portion so that the first end member is locked to the first end portion. As in claim 6, the first end member further comprises a first guide shaft, the first guide shaft extends along the axis of the first guide sleeve, a first guide hole is provided on the end surface of the first end away from the second end, the first guide hole is coaxial with the shaft and is configured to accommodate the first guide shaft. A cleaning brush as claimed in any one of claims 3 to 5, wherein the cleaning brush further comprises a brush component coaxially arranged with the shaft, the brush component comprising: a cylindrical component sleeved on the outer circumference of the shaft; and a plurality of brush components extending from the outer surface of the cylindrical component in a direction away from the cylindrical component, the plurality of brush components being evenly arranged along the circumference of the cylindrical component. A cleaning brush as claimed in claim 12, wherein the first end member has a first assembly structure on a side away from the shaft, and the end surface of the first assembly structure away from the shaft has a regular polygon that is a factor of the number of brush members. A cleaning brush as claimed in claim 12, wherein a flexible filler is filled between the brush member and the shaft, and the flexible filler covers the periphery of the shaft body, exposing the first end and the second end. A cleaning brush as claimed in claim 11, wherein the first end member has a first assembly structure on a side away from the shaft; the first end member also includes a first blocking structure, which is arranged between the first assembly structure and the first guide sleeve to prevent the entanglement from excessively extending away from the brush member. A cleaning brush as claimed in any one of claims 3 to 5, wherein the first end member has a first assembly structure on a side away from the shaft; wherein the first assembly structure includes a transmission structure, and the second assembly structure includes a bearing structure. An automatic cleaning device, comprising a roller brush frame and a cleaning brush as claimed in any one of claims 1 to 16, wherein the cleaning brush is mounted in the roller brush frame.