WO2017177697A1 - 自动清洁设备及其清扫组件 - Google Patents

自动清洁设备及其清扫组件 Download PDF

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Publication number
WO2017177697A1
WO2017177697A1 PCT/CN2016/108612 CN2016108612W WO2017177697A1 WO 2017177697 A1 WO2017177697 A1 WO 2017177697A1 CN 2016108612 W CN2016108612 W CN 2016108612W WO 2017177697 A1 WO2017177697 A1 WO 2017177697A1
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WO
WIPO (PCT)
Prior art keywords
brush
cleaning
wrap
roller
cleaning assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/108612
Other languages
English (en)
French (fr)
Inventor
乔亮
李行
夏勇峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xiaomi Mobile Software Co Ltd
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Xiaomi Mobile Software Co Ltd
Beijing Rockrobo Technology Co Ltd
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Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=57043956&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2017177697(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Beijing Xiaomi Mobile Software Co Ltd, Beijing Rockrobo Technology Co Ltd filed Critical Beijing Xiaomi Mobile Software Co Ltd
Publication of WO2017177697A1 publication Critical patent/WO2017177697A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0455—Bearing means therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present disclosure relates to the field of smart home technology, and in particular to an automatic cleaning device and a cleaning assembly thereof.
  • the automatic cleaning device can automatically perform cleaning operations and is convenient for the user. Taking the automatic sweeping robot as an example, the automatic cleaning of the place is realized by direct brushing, vacuuming and the like.
  • An anti-wrap structure the anti-wrap structure is located at a junction of the brush body and the brush holder, and the anti-wrap structure can fill a gap of the joint when the cleaning assembly is in an working state.
  • the anti-wrap structure is a soft material; wherein one end of the anti-wrap structure is fixed to one of the brush body or the brush holder, and the other end is close to or abuts against the other surface.
  • the main roller brush forms a circumferential protrusion at the joint, and one end of the anti-wrap structure is fixed to the inner side of the roller cover and the other end is convex toward the circumference.
  • the circumferential protrusion includes at least one circumferentially disposed first anti-wrap groove.
  • the brush holder is an edge brush holder structure of the bottom of the automatic cleaning device
  • the anti-wrap structure is disposed outside the base of the side brush or the side brush
  • the side brush formed by the frame structure accommodates the inner wall of the cavity to fill a gap between the base of the side brush and the side brush receiving cavity.
  • an end central region of the base of the side brush is connected to a rotating shaft of the bottom of the side brush receiving cavity, and an edge edge of the base of the side brush and the central portion of the end form at least A ring-shaped anti-wrap groove.
  • the present disclosure can block the gap between the brush body and the brush holder by providing an anti-wrap structure at the joint of the brush body and the brush holder, thereby preventing the elongated cleaning object such as hair from being covered by the gap. Entering the gearbox, motor and other driving parts of the brush body to avoid affecting the rotation of the brush body, helping to reduce the damage rate of the drive parts such as the gear box and the motor, and improving the reliability of the automatic cleaning parts.
  • 1-4 are schematic structural views of a robot according to an exemplary embodiment.
  • FIG. 6 is a schematic perspective view of a brush bar according to an exemplary embodiment.
  • FIG. 7 is a perspective structural schematic view of a roller brush cover according to an exemplary embodiment.
  • Figure 8B is a cross-sectional view taken along the line A-A' of the main roller brush structure shown in Figure 8A.
  • Figure 10 is a partially enlarged schematic view showing the second joint region of the main roller brush structure shown in Figure 8A.
  • FIG. 11 is an exploded perspective view of a side brush structure, according to an exemplary embodiment.
  • Figure 12 is a perspective view showing the structure of the side brush structure shown in Figure 11.
  • Figure 13 is a schematic view showing the structure of the bottom end of the side brush in the side brush structure shown in Figure 11.
  • the machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately circular shape (both front and rear are circular), and may have other shapes including, but not limited to, an approximate D-shape of the front rear circle.
  • the control system 130 can greatly improve the cleaning efficiency of the robot based on the cleaning path and the cleaning mode of the map information planning, which is the most efficient and reasonable.
  • the cleaning efficiency of the DPU is affected by the structure and material of the brush, and is affected by the dust suction port, the dust box structure, the fan structure, the air outlet, and the four.
  • the wind utilization rate of the air duct formed by the connecting parts is affected by the type and power of the wind turbine, which is a responsible system design problem.
  • the increased dust removal capacity is more important for energy-limited cleaning robots. Because the improvement of dust removal ability directly reduces the energy requirement, that is to say, the machine that can clean the ground of 80 square meters can be evolved to charge 100 square meters or more. And the battery life of the battery that reduces the number of times of charging is also greatly increased, so that the frequency of replacing the battery by the user is also increased.
  • Energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detecting circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detecting circuit, and the battery undervoltage monitoring circuit are connected to the single chip control circuit.
  • the main body is charged by connecting the charging electrode provided on the side or below the fuselage to the charging post. If the exposed charging electrode is stained with dust, the plastic body around the electrode melts and deforms due to the accumulation effect of electric charge during the charging process, and even the electrode itself is deformed, and normal charging cannot be continued.
  • the human-computer interaction system 170 includes buttons on the host panel, the buttons are for the user to select functions, and may also include a display screen and/or an indicator light and/or a speaker, the display screen, the indicator light and the speaker display the current state of the machine or Feature selection; also includes a mobile client program.
  • the mobile phone client can display the map of the environment where the device is located and the location of the machine, and can provide the user with richer and more user-friendly functions.
  • the robot 100 can travel on the ground by various combinations of movements of three mutually perpendicular axes defined by the body 110: the transverse axis x, the front and rear axes y, and Center vertical axis z.
  • the forward driving direction along the front and rear axis y is indicated as "forward”
  • the backward driving direction along the front and rear axis y is indicated as "backward”.
  • the transverse axis x extends substantially between the right and left wheels of the robot along an axis defined by the center point of the drive wheel module 141. Among them, the robot 100 can rotate about the x-axis.
  • the cleaning object when the cleaning system 150 performs the cleaning operation, the cleaning object can be roughly divided into two types: heavy particles and light debris; wherein the light debris includes human and animal hair, string, wire, carpet fiber, etc. It is easily stretched to form a entanglement of the brush body in the cleaning system 150, and the accumulated lightweight debris can reduce the performance of the brush body in various ways.
  • the cleaning component of the automatic cleaning device may include: a brush body and a body for arranging the brush body a brush holder; an anti-wrap structure, the anti-wrap structure is located at a joint of the brush body and the brush holder, and the anti-wrap structure can fill a gap of the joint when the cleaning assembly is in an working state.
  • the gap between the brush body and the brush holder can be blocked, thereby preventing an elongated cleaning object such as hair from entering the brush from the gap.
  • the driving parts such as the gear box of the body avoid affecting the rotation of the brush body, help reduce the damage rate of the driving parts such as the gear box, and improve the reliability of the automatic cleaning parts.
  • the brush body may be a main roller brush 11, and the main roller brush 11 includes a cleaning portion 111 at the center, a shaft connecting portion 112 at one end, and a passive connecting portion at the other end. 113.
  • the cleaning portion 111 is configured to perform a cleaning function of the main roller brush 11, and may include a cylindrical rotating portion (not shown) of the axial center position and a rubber brush member or a brush member on the side surface of the cylindrical rotating portion (Fig. Not shown; in fact, in the embodiment shown in Fig. 5, both the brush member and the brush member are included.
  • the rotating shaft connecting portion 112 is fitted to a driving motor (not shown) to drive the cleaning portion 111 to perform axial rotation, thereby implementing a cleaning operation.
  • the rotating shaft connecting portion 112 and the passive connecting portion 113 also need to be fitted with other components in the automatic cleaning device, thereby forming a circumferential protrusion 112A at the rotating shaft connecting portion 112 and forming a circumferential convex portion at the passive connecting portion 113.
  • the cleaning unit 111 can be provided with external conditions for performing the cleaning operation.
  • the brush holder in this embodiment may be a brush bar 12 as shown in FIG. 6 and a roller cover 13 as shown in FIG. 7, thereby accommodating the main roller 11 in the roll.
  • the brush compartment 12 is in the space provided by the roller cover 13.
  • the intermediate portion of the brush bar 12 forms a first recessed area 121 corresponding to the cleaning portion 111 of the main roller brush 11, for accommodating the cleaning portion 111; on both sides of the recessed area 121, respectively
  • the second recessed area 122 and the third recessed area 123 are respectively for receiving the circumferential protrusion 112A at the shaft connecting portion 112 of the main roller brush 11 and the circumferential protrusion 113A at the passive connecting portion 113; and, as shown in FIG. 5
  • the recessed depth of the first recessed region 121 is greater than the second recessed region 122 and the third recessed region 123 to fit the difference in specifications between the cleaning portion 111, the rotating shaft connecting portion 112, and the passive connecting portion 113.
  • an opening 124 is formed on the end surface of the brush bar 12 corresponding to the side of the second recessed area 122, so that the rotating shaft at the rotating shaft connecting portion 122 can pass
  • the opening 124 is connected to the power take-off of the drive motor.
  • the two ends of the roller cover 13 are respectively provided with a roller cover flapper 131 and a roller cover flapper 132, wherein the roller cover flapper 131 and the roller cover flapper 132 respectively form an arc shape.
  • the gap is formed, and a space 133 is formed between the roller cover flap 131 and the roller cover flap 132, so that when the main roller brush 11 is installed between the brush holder 12 and the roller cover 13, the cleaning portion 111 can be located
  • the first recessed area 121 and the space 133 are formed in the receiving space, and the roller cover flapper 131 and the roller cover flapper 132 are respectively supported from both ends of the cleaning portion 111, and the rotating shaft connecting portion 112 is located in the roller cover
  • the outer side of the plate 131 ie, the right side of FIG.
  • the passive connecting portion 113 are located outside the roller cover flap 132 (ie, the left side of FIG. 7); meanwhile, since the bottom of the roller cover 13 is hollowed out, the cleaning portion 111 It can be in contact with the cleaned surface such as the ground to complete the cleaning function.
  • Fig. 9 shows a partially enlarged schematic view of the first bonding region.
  • the joint in the first bonding region may be the circumferential protrusion 112A, that is, the anti-wrap structure may be located in the circumference.
  • the projection 112A To the projection 112A.
  • one end of the anti-wrap structure 21 may be fixed to the inside of the roller cover 13 (the side facing the main roller brush 11, that is, the upper side shown in FIG. 7), and the other end faces the circumferential direction.
  • the anti-wrap structure 21 is equivalent to forming a barrier between the cleaning portion 111 and the gear box region, and on the other hand
  • the winding structure 21 can be opposite to the rotating circumferential projection 112A Face for sweeping brush, so there will walk to sweep clean objects and accommodated for centralized cleaning the cleaning object.
  • Fig. 10 shows a partially enlarged schematic view of the second bonding region.
  • the joint in the second bonding region may be at the circumferential protrusion 113A, that is, the anti-wrap structure may be located in the circumference.
  • the projection 113A To the projection 113A.
  • one end of the anti-wrap structure 22 may be fixed to the inside of the roller cover 13 (toward the side of the main roller brush 11, that is, as shown in FIG.
  • the circumferential protrusion 113A can be driven to rotate synchronously, and The other end of the anti-wrap structure 22 can contact and abut against the surface of the circumferential projection 113A, so that on the one hand, the anti-wrap structure 22 fills the gap between the main roller brush 11 and the brush holder 12 and the roller cover 13 at the joint ( That is, the gap between the circumferential protrusion 113A and the top side inner wall of the second recessed area 122 and the bottom side inner wall of the outer area of the roller cover flap 132) prevents the cleaning object from traveling from the cleaning portion 111 to the passive connecting portion 113.
  • the anti-wrap structure 22 corresponds to a barrier between the position of the cleaning portion 111 and the end portion of the passive connecting portion 113, and on the other hand
  • the winding structure 22 can sweep the surface of the rotating circumferential protrusion 113A, thereby sweeping and accommodating the cleaning object swam to the place, facilitating centralized cleaning of the cleaning object.
  • At least one circumferentially disposed first anti-wrap groove 112B may be included on the circumferential protrusion 112A.
  • the first anti-wrap groove 112B may be located in the circumferential protrusion 112A near the cleaning in FIG. 9 .
  • One side of the portion 111, that is, the first anti-wrap groove 112B is located between the anti-wrap structure 21 and the cleaning portion 111, so that the cleaning object blocked and concentrated by the anti-wrap structure 21 can be accommodated in the first anti-wrap groove 112B.
  • at least one circumferentially disposed first anti-wrap groove 113B may be included on the circumferential protrusion 113A.
  • the first anti-wrap groove 113B may be located in the circumferential protrusion 113A near the cleaning portion 111 in FIG. One side, that is, the first anti-wrap groove 113B is located between the anti-wrap structure 22 and the cleaning portion 111, thereby achieving storage of the cleaning object, which will not be described herein.
  • At least one circumferentially disposed second anti-wrap groove 112C may be formed at the junction of the cleaning portion 111 and the circumferential protrusion 112A.
  • the second anti-wrap groove 112C may be adjacent to the circumference in FIG. To the left side of the protrusion 112A, the second anti-wrap groove 112C is first brought to the storage and concentration of the cleaning object before the cleaning object enters the first anti-wrap groove 112B, thereby realizing the anti-winding function.
  • at least one circumferentially disposed second anti-wrap groove 113C may be formed at the junction of the cleaning portion 111 and the circumferential protrusion 113A. For example, in FIG.
  • the second anti-wrap groove 113C may be adjacent to the circumferential convex. Starting from the right side of 113A, before the cleaning object enters the first anti-wrap groove 113B, the second anti-wrap groove 113C takes the lead in accommodating and concentrating the cleaning object to realize the anti-winding function, which will not be described herein. .
  • a duct slit is shown as a black thick arrow as shown in FIG. 9, that is, the cross section of the duct slit exhibits a curved shape as shown in FIG. 9, so that the cleaning object is along
  • the curved passage formed by the air passage gap travels to the gear region, a certain blockage is caused by the multiple bending of the air passage gap to achieve an anti-winding effect.
  • the above-mentioned air passage slit can be formed with more curved structures to enhance its anti-wrap effect.
  • a roller shutter baffle 128 corresponding to the end surface side wall 127 of the passive connecting portion 113 may be formed on the brush bar 12, and the end face wall 127 and the brush bar baffle 128 are formed.
  • a duct slit shown by a thick black arrow in the upper direction of FIG. 10 may be formed between the circumferential protrusion 113A and the third recessed area 123, and the anti-winding function is realized by the curved passage of the duct slit. I won't go into details here.
  • the roller cover 13 can also form a similar curved passage with the main roller brush 11 to achieve an anti-wrap function.
  • a roller cover flap 131 corresponding to the end surface 134 of the end surface of the shaft connecting portion 112 may be formed on the roller cover 13, and the end surface 134 and the roller cover flap 131 may be formed.
  • a roller cover flap 132 corresponding to the end surface 136 at the passive connecting portion 113 may be formed on the roller cover 13, and the end surface 136 and the roller cover flap 132 may be formed.
  • a roller cover recessed area 137 for accommodating the corresponding circumferential projection 113A is formed therebetween.
  • a wind channel slit shown by a thick black arrow in the lower part of FIG. 10 may be formed between the circumferential protrusion 113A and the roller cover recessed area 137, and the anti-winding function is realized by the curved passage of the air passage slit. I will not repeat them here.
  • the anti-wrap structure 21 and the anti-wrap structure 22 do not necessarily exist at the same time; for example, in an embodiment, only the anti-wrap structure 21 or the anti-wrap structure 22 may be included, and selection and trade-off may be made according to actual conditions.
  • the anti-wrap structure 21 When the anti-wrap structure 21 is located on the main roller brush 11, one end of the anti-wrap structure 21 is fixed to the circumferential protrusion 112A, and the other end is directed to the radially outer side of the circumferential protrusion 112A, so that when the main roller 11 is along the axis When the rotation is rotated, the anti-wrap structure 21 can be rotated to offset the gap between the main roller brush 11 and the brush housing 12 and the roller cover 13 (i.e., the circumferential protrusion 112A and the top side of the second recessed area 122). The inner wall and the gap between the inner wall of the bottom side of the outer region of the roller cover flap 131 are filled and swept.
  • the brush body may be a side brush 31, which may be an edge brush holder structure 32 at the bottom of the automatic cleaning device.
  • the side brush 31 may include a base 311 and bristles 312 disposed on the base 311.
  • the side brush holder structure 32 defines a side brush accommodating cavity 321 .
  • the bottom of the side brush accommodating cavity 321 is provided with a rotating shaft 322 , and one end of the rotating shaft 322 .
  • the power output end of the driving motor is connected by a gear, and the other end protrudes from the bottom of the side brush accommodating cavity 321 and is connected to the end center area 311A of the base 311, thereby driving the side brush 31 to rotate to realize the cleaning function.
  • Figure 12 is a perspective view of the side brush structure when the side brush is attached to the side brush holder structure 32.
  • the side brush 31 when the side brush 31 is placed in the side brush accommodating cavity 321, there is a certain gap between the base 311 of the side brush 31 and the side brush accommodating cavity 321 (as shown by the black arrow in FIG. 12).
  • the gap is indispensable and avoidable for ensuring the smooth rotation of the side brush 31. Therefore, the anti-wrap structure 313 can be disposed outside the base 311 of the side brush 31, that is, one end of the anti-wrap structure 313 is fixed to the base 311, and another One end faces the inner wall of the side brush accommodating cavity 321 .
  • the other end of the anti-wrap structure 313 can contact and abut against the inner wall of the side brush accommodating cavity 321 to fill the base 311 of the side brush 31 and the side brush accommodating cavity 321 .
  • the gap between them since the side brush holder structure 32 does not rotate relatively, the anti-wrap structure 313 can be synchronously rotated with the side brush 31, so that on the one hand, the gap can be formed to block the hair.
  • the cleaning object enters the end central region 311A of the base 311 by the slit to avoid the winding of the rotating shaft 322 and affect the normal rotation of the side brush 31, thereby preventing damage to the rotating shaft 322 and its associated bearing area. Sweep and concentrate the cleaning objects entering the gap to facilitate cleaning.
  • the junction between the side brush 31 and the side brush holder structure 32 can be located at a gap between the base 311 and the side brush receiving cavity 321 .
  • the anti-wrap structure 313 can be disposed at the inner wall of the side brush accommodating cavity 321 formed by the side brush holder structure 32, in addition to the arrangement of the above embodiment, that is, one end of the anti-wrap structure 313 is fixed to the side brush to accommodate The inner wall and the other end of the cavity 321 are facing the base 311.
  • the other end of the anti-wrap structure 313 can contact and abut against the outer wall of the base 311.
  • the corresponding working principle is similar to that of the above embodiment, and details are not described herein again.
  • the anti-wrap structure 313 can adopt the same soft material as in the above-mentioned "main roller brush structure" embodiment, I will not repeat them here.
  • At least one annular anti-wrap groove 314 may be formed between the central portion 311A, so that even after a small amount of cleaning objects are blocked by the anti-wrap structure 313, they may be concentrated and received in the annular anti-wrap groove 314. In order to avoid further interference and influence on the rotating shaft 322 and the like.
  • the anti-wrap structure 313 can be inserted into the opening 315, so that the inner end of the anti-wrap structure 315 is fixed in the opening 315.
  • the outer end protrudes from the opening 315 to abut against the inner wall of the side brush accommodating cavity 321.

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Abstract

一种自动清洁设备及其清扫组件，该清扫组件可以包括：刷体和安置所述刷体的刷架；防缠绕结构(21，22)，所述防缠绕结构(21，22)位于所述刷体与所述刷架的结合处，且所述防缠绕结构(21，22)可在所述清扫组件处于工作状态时填补所述结合处的缝隙。可以避免清洁对象对刷体的齿轮箱、电机等驱动部件造成缠绕和污染，防止清扫组件发生损坏，有助于提升自动清洁设备的可靠性。

Description

自动清洁设备及其清扫组件
本申请基于申请号为201610232744.5、申请日为2016年4年14日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及智能家居技术领域，尤其涉及一种自动清洁设备及其清扫组件。
背景技术
随着技术的发展，出现了多种多样的自动清洁设备，比如自动扫地机器人、自动拖地机器人等。自动清洁设备可以自动地执行清洁操作，方便用户。以自动扫地机器人为例，是通过直接刷扫、真空吸尘等技术来实现对地方的自动清理。
发明内容
本公开提供一种自动清洁设备及其清扫组件，以解决相关技术中的不足。
根据本公开实施例的第一方面，提供一种自动清洁设备的清扫组件，包括：
刷体和安置所述刷体的刷架；
防缠绕结构，所述防缠绕结构位于所述刷体与所述刷架的结合处，且所述防缠绕结构可在所述清扫组件处于工作状态时填补所述结合处的缝隙。
可选的，所述防缠绕结构为软性材料；其中，所述防缠绕结构的一端固定于所述刷体或所述刷架中任一方、另一端接近或抵于另一方表面。
可选的，所述软性材料包括：至少一簇毛刷。
可选的，当所述刷体为主滚刷、所述刷架为滚刷仓和滚刷盖时，所述防缠绕结构设置于所述主滚刷、所述滚刷仓和所述滚刷盖中至少一方。
可选的，所述主滚刷包括位于中间的清洁部、位于一端的转轴连接部和位于另一端的被动连接部，所述结合处位于以下区域中至少之一：所述清洁部与所述转轴连接部之间的第一结合区域、所述清洁部与所述被动连接部之间的第二结合区域。
可选的，所述主滚刷在所述结合处形成周向凸起，所述防缠绕结构的一端固定于所述滚刷盖内侧、另一端朝向所述周向凸起。
可选的，所述周向凸起上包含至少一条周向设置的第一防缠绕凹槽。
可选的，所述清洁部与所述周向凸起的连接处形成至少一条周向设置的第二防缠绕凹槽。
可选的，
所述滚刷仓上形成与每一端的端面侧壁一一对应的滚刷仓挡板，且每个端面侧壁与相应的滚刷仓挡板之间形成用于容纳相应的周向凸起的滚刷仓凹陷区域；其中，所述端面侧壁和所述滚刷仓挡板的底面均低于所述周向凸起的顶面，使所述周向凸起与相应的滚刷仓凹陷区域的内壁之间形成弯曲通道；
所述滚刷盖上形成与每一端的端面侧壁一一对应的滚刷盖挡板，且每个端面侧壁与相应的滚刷盖挡板之间形成用于容纳相应的周向凸起的滚刷盖凹陷区域；所述周向凸起与相应的滚刷盖凹陷区域的内壁之间形成弯曲通道。
可选的，当所述刷体为侧边刷、所述刷架为自动清洁设备底部的边刷架结构时，所述防缠绕结构设置于所述侧边刷的底座外部或所述边刷架结构形成的边刷容纳腔的内壁处，以填补所述侧边刷的底座与所述边刷容纳腔之间的缝隙。
可选的，所述侧边刷的底座的端部中心区域与所述边刷容纳腔底部的转轴相连、所述侧边刷的底座的端部边沿与所述端部中心区域之间形成至少一条环状防缠绕凹槽。
根据本公开实施例的第二方面，提供一种自动清洁设备，包括：如上述实施例中任一所述的自动清洁设备的清扫组件。
本公开的实施例提供的技术方案可以包括以下有益效果：
由上述实施例可知，本公开通过在刷体与刷架的结合处设置防缠绕结构，可以对刷体与刷架之间的缝隙进行阻挡，防止尤其是毛发等细长的清洁对象由该缝隙进入刷体的齿轮箱、电机等驱动部件处，避免影响刷体转动，有助于降低齿轮箱、电机等驱动部件的损坏率、提升自动清洁部件的可靠性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1-4是根据一示例性实施例示出的一种机器人的结构示意图。
图5是根据一示例性实施例示出的一种主滚刷的立体结构示意图。
图6是根据一示例性实施例示出的一种滚刷仓的立体结构示意图。
图7是根据一示例性实施例示出的一种滚刷盖的立体结构示意图。
图8A是根据一示例性实施例示出的一种主滚刷结构的俯视方向的结构示意图。
图8B是图8A所示主滚刷结构的A-A’方向的剖视图。
图9是图8A所示主滚刷结构的第一结合区域的局部放大示意图。
图10是图8A所示主滚刷结构的第二结合区域的局部放大示意图。
图11是根据一示例性实施例示出的一种侧边刷结构的分解示意图。
图12是图11所示侧边刷结构的立体结构示意图。
图13是图11所示侧边刷结构中侧边刷的底端的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
图1-4是根据一示例性实施例示出的一种机器人的结构示意图，如图1-4所示，机器人100可以为扫地机器人、拖地机器人等自动清洁设备，该机器人100可以包含机器主体110、感知系统120、控制系统130、驱动系统140、清洁系统150、能源系统160和人机交互系统170。其中：
机器主体110包括前向部分111和后向部分112，具有近似圆形形状(前后都为圆形)，也可具有其他形状，包括但不限于前方后圆的近似D形形状。
感知系统120包括位于机器主体110上方的位置确定装置121、位于机器主体110的前向部分111的缓冲器122、悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制系统130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头、激光测距装置(LDS)。
机器主体110的前向部分111可承载缓冲器122，在清洁过程中驱动轮模块141推进机器人在地面行走时，缓冲器122经由传感器系统，例如红外传感器，检测机器人100的行驶路径中的一或多个事件(或对象)，机器人可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮模块141使机器人来对所述事件(或对象)做出响应，例如远离障碍物。
控制系统130设置在机器主体110内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处 理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如SLAM，绘制机器人所在环境中的即时地图。并且结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得机器人的工作更加符合主人的要求，有更好的用户体验。进一步地，控制系统130能基于SLAM绘制的即使地图信息规划最为高效合理的清扫路径和清扫方式，大大提高机器人的清扫效率。
驱动系统140可基于具有距离和角度信息，例如x、y及θ分量，的驱动命令而操纵机器人100跨越地面行驶。驱动系统140包含驱动轮模块141，驱动轮模块141可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动轮模块141分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由主体110界定的横向轴对置。为了机器人能够在地面上更为稳定地运动或者更强的运动能力，机器人可以包括一个或者多个从动轮142，从动轮包括但不限于万向轮。驱动轮模块包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块还可以连接测量驱动电流的电路和里程计。驱动轮模块141可以可拆卸地连接到主体110上，方便拆装和维修。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接，到机器人主体110，且接收向下及远离机器人主体110偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时机器人100的清洁元件也以一定的压力接触地面10。
清洁系统150可为干式清洁系统和/或湿式清洁系统。作为干式清洁系统，主要的清洁功能源于滚刷结构、尘盒结构、风机结构、出风口以及四者之间的连接部件所构成的清扫系统151。与地面具有一定干涉的滚刷结构将地面上的垃圾扫起并卷带到滚刷结构与尘盒结构之间的吸尘口前方，然后被风机结构产生并经过尘盒结构的有吸力的气体吸入尘盒结构。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pick up efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒结构、风机结构、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个负责的系统设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁机器人来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫100平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁系统还可包含具有旋转轴的边刷152，旋 转轴相对于地面成一定角度，以用于将碎屑移动到清洁系统150的滚刷区域中。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
为了更加清楚地描述机器人的行为，进行如下方向定义：机器人100可通过相对于由主体110界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴x、前后轴y及中心垂直轴z。沿着前后轴y的前向驱动方向标示为“前向”，且沿着前后轴y的后向驱动方向标示为“后向”。横向轴x实质上是沿着由驱动轮模块141的中心点界定的轴心在机器人的右轮与左轮之间延伸。其中，机器人100可以绕x轴转动。当机器人100的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当机器人100的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，机器人100可以绕z轴转动。在机器人的前向方向上，当机器人100向Y轴的右侧倾斜为“右转”，当机器人100向y轴的左侧倾斜为“左转”。
其中，清洁系统150执行清洁操作时，清洁对象大致可分重质颗粒与轻质碎屑两类；其中，轻质碎屑包括人和动物的毛发、细绳、线丝、地毯纤维等，其易被拉伸而对清洁系统150中的刷体形成缠绕，且累积的轻质碎屑能以各种方式降低刷体的性能。例如，轻质碎屑可能会覆盖且紧紧地包裹在刷体的刷毛上、与刷毛缠结在一起，从而形成额外的摩擦力而阻碍刷体转动；并且，如果不将这些轻质碎屑及时移除，还可能导致其积聚至刷体与安置该刷体的刷架的结合处并进而卷入齿轮箱等区域，损坏齿轮箱或发生其他非预期的情形；此外，刷体上积聚的轻质碎屑可能引起刷体内部失衡，使其在旋转时产生噪音或振动。
因此，本公开正是通过对自动清洁设备的清扫组件(相当于上述的清洁系统150)进行结构改进，以解决相关技术中存在的上述技术问题。
在本公开的技术方案中，自动清洁设备的清扫组件可以包括：刷体和安置该刷体的 刷架；防缠绕结构，该防缠绕结构位于该刷体与该刷架的结合处，且该防缠绕结构可在该清扫组件处于工作状态时填补该结合处的缝隙。在该实施例中，通过在刷体与刷架的结合处设置防缠绕结构，可以对刷体与刷架之间的缝隙进行阻挡，防止尤其是毛发等细长的清洁对象由该缝隙进入刷体的齿轮箱等驱动部件处，避免影响刷体转动，有助于降低齿轮箱等驱动部件的损坏率、提升自动清洁部件的可靠性。
实际上，自动清洁设备上的刷体可能存在多种类型，那么下面针对每一类型下的刷体、刷架与防缠绕结构之间的配合关系进行详细说明：
1、主滚刷结构
作为一示例性实施例，如图5所示，刷体可以为主滚刷11，该主滚刷11包括位于中间的清洁部111、位于一端的转轴连接部112和位于另一端的被动连接部113。
清洁部111用于执行主滚刷11的清扫功能，可以包括轴心位置的筒状转动部分(图中未标示)和位于该筒状转动部分侧表面上的胶刷件或毛刷件(图中未标示；实际上，在图5所示的实施例中，同时包含胶刷件和毛刷件)。
转轴连接部112配合于驱动电机(图中未示出)，以带动清洁部111进行轴向转动，从而实现清扫操作。同时，转轴连接部112、被动连接部113还需要与自动清洁设备中的其他部件进行配合安装，因而在转轴连接部112处形成周向凸起112A、在被动连接部113处形成周向凸起113A，才能够使清洁部111具备执行清扫操作的外部条件。
需要指出的是：在一些自动清洁设备中，该周向凸起112A、周向凸起113A与清洁部111的筒状转动部分可以为一体结构；而在其他自动清洁设备中，该周向凸起112A、周向凸起113A可以为单独的可拆卸结构，而由于其位于主滚刷11的端部，因而被称为“端盖”。
配合于上述的主滚刷11，在本实施例中的刷架可以为如图6所示的滚刷仓12和如图7所示的滚刷盖13，从而将主滚刷11容纳于滚刷仓12与滚刷盖13提供的空间内。
如图6所示，滚刷仓12的中间区域形成对应于主滚刷11的清洁部111的第一凹陷区域121，用于容纳该清洁部111；在凹陷区域121的两侧，分别形成第二凹陷区域122和第三凹陷区域123，分别用于容纳主滚刷11的转轴连接部112处的周向凸起112A和被动连接部113处的周向凸起113A；并且，由图5-6可知，第一凹陷区域121的凹陷深度大于第二凹陷区域122和第三凹陷区域123，以配合于清洁部111、转轴连接部112和被动连接部113之间的规格差异。
其中，由于第二凹陷区域122对应于转轴连接部112，因而滚刷仓12上对应于第二凹陷区域122一侧的端面上形成一开孔124，以使得转轴连接部122处的转轴可以通过该开孔124连接至驱动电机的动力输出端。
如图7所示，滚刷盖13的两端分别设有滚刷盖挡板131和滚刷盖挡板132，其中滚刷盖挡板131和滚刷盖挡板132上分别形成一弧形缺口，并在滚刷盖挡板131与滚刷盖挡板132之间形成空间133，从而当主滚刷11安装于滚刷仓12与滚刷盖13之间时，可以使得：清洁部111位于第一凹陷区域121与空间133构成的容纳空间内，且滚刷盖挡板131和滚刷盖挡板132可以分别从清洁部111的两端进行支撑，而转轴连接部112位于滚刷盖挡板131外侧(即图7的右侧)、被动连接部113位于滚刷盖挡板132外侧(即图7的左侧)；同时，由于滚刷盖13的底部为镂空结构，因而清洁部111可以与地面等被清洁平面接触，完成清扫功能。
为了便于理解，图8A示出了将主滚刷11安装于滚刷仓12和滚刷盖13(因角度原因，图8A无法观察到滚刷盖13)内部时的俯视图，以及图8B示出了图8A的A-A’方向剖视图。
在上述实施例中，刷体与刷架之间的结合处，即主滚刷11与滚刷仓12、滚刷盖13的结合处，当按照该结合处在主滚刷11上对应的区域来描述时，该结合处可以位于以下区域中至少之一：清洁部111与转轴连接部112之间的第一结合区域、清洁部111与被动连接部113之间的第二结合区域。
图9示出了第一结合区域处的局部放大示意图。如图9所示，当第一结合区域位于清洁部111与转轴连接部112之间时，该第一结合区域内的结合处可以为周向凸起112A处，即防缠绕结构可以位于该周向凸起112A处。举例而言，如图7所示，防缠绕结构21的一端可以固定于滚刷盖13内侧(朝向主滚刷11的一侧，即图7所示的上侧)、另一端朝向该周向凸起112A；那么，当自动清洁设备处于工作状态时，即主滚刷11沿轴向高速转动时，可以带动周向凸起112A随之同步转动，而防缠绕结构21的另一端可以接触并抵于周向凸起112A的表面，从而一方面防缠绕结构21填充了主滚刷11与滚刷仓12、滚刷盖13在该结合处的缝隙(即周向凸起112A与第二凹陷区域122的顶侧内壁、滚刷盖挡板131外侧区域的底侧内壁之间的缝隙，且该缝隙是确保主滚刷11顺利转动所不可缺少和避免的)，以阻止清洁对象由清洁部111向转轴连接部112处游走，避免其进入转轴连接部112端部的齿轮箱区域，即防缠绕结构21相当于形成了清洁部111与齿轮箱区域之间的一道屏障，另一方面防缠绕结构21可以对转动的周向凸起112A的表面进行扫刷，从而将游走至该处的清洁对象进行扫动和收纳，便于对该清洁对象的集中清理。
类似地，图10示出了第二结合区域处的局部放大示意图。如图10所示，当第二结合区域位于清洁部111与被动连接部113之间时，该第二结合区域内的结合处可以为周向凸起113A处，即防缠绕结构可以位于该周向凸起113A处。举例而言，如图7所示，防缠绕结构22的一端可以固定于滚刷盖13内侧(朝向主滚刷11的一侧，即图7所示的 上侧)、另一端朝向该周向凸起113A；那么，当自动清洁设备处于工作状态时，即主滚刷11沿轴向高速转动时，可以带动周向凸起113A随之同步转动，而防缠绕结构22的另一端可以接触并抵于周向凸起113A的表面，从而一方面防缠绕结构22填充了主滚刷11与滚刷仓12、滚刷盖13在该结合处的缝隙(即周向凸起113A与第二凹陷区域122的顶侧内壁、滚刷盖挡板132外侧区域的底侧内壁之间的缝隙)，以阻止清洁对象由清洁部111向被动连接部113处游走，避免其对被动连接部113的端部等位置造成缠绕等，即防缠绕结构22相当于形成了清洁部111与被动连接部113的端部等位置之间的一道屏障，另一方面防缠绕结构22可以对转动的周向凸起113A的表面进行扫刷，从而将游走至该处的清洁对象进行扫动和收纳，便于对该清洁对象的集中清理。
需要说明的是：
1)在图7所示的实施例中，防缠绕结构21(同样适用于防缠绕结构22，此处以防缠绕结构21为例)可以为软性材料，比如图7所示实施例中示出的一簇(或者多簇)毛刷(也可以为海绵块等其他材料)等，可以通过该防缠绕结构21的部分形变，提升防缠绕结构21与周向凸起112A相抵时的紧密贴合程度，从而提升对清洁对象的阻挡和清扫效果。毛刷的方向与滚刷径向有一定夹角，也可与滚刷的径向相同。其中，毛刷的刷毛材料可以为尼龙，也可选择PBT(聚对苯二甲酸丁二醇酯，英文名polybutylene terephthalate(简称PBT)，属于聚酯系列)。
2)可选的，在周向凸起112A上可以包含至少一条周向设置的第一防缠绕凹槽112B，比如图9中该第一防缠绕凹槽112B可以位于周向凸起112A靠近清洁部111的一侧，即第一防缠绕凹槽112B位于防缠绕结构21与清洁部111之间，从而可以将防缠绕结构21阻挡和集中的清洁对象收纳于该第一防缠绕凹槽112B中。类似地，可以在周向凸起113A上可以包含至少一条周向设置的第一防缠绕凹槽113B，比如图10中该第一防缠绕凹槽113B可以位于周向凸起113A靠近清洁部111的一侧，即第一防缠绕凹槽113B位于防缠绕结构22与清洁部111之间，从而实现对清洁对象的收纳，此处不再赘述。
3)可选的，在清洁部111与周向凸起112A的连接处可以形成至少一条周向设置的第二防缠绕凹槽112C，比如图9中该第二防缠绕凹槽112C可以紧邻周向凸起112A的左侧，从而在清洁对象进入第一防缠绕凹槽112B之前，由第二防缠绕凹槽112C率先起到对清洁对象的收纳和集中作用，实现防缠绕功能。类似地，可以在清洁部111与周向凸起113A的连接处可以形成至少一条周向设置的第二防缠绕凹槽113C，比如图10中该第二防缠绕凹槽113C可以紧邻周向凸起113A的右侧，从而在清洁对象进入第一防缠绕凹槽113B之前，由第二防缠绕凹槽113C率先起到对清洁对象的收纳和集中作用，实现防缠绕功能，此处不再赘述。
4)如图9所示，在滚刷仓12上可以形成与转轴连接部112处的端面侧壁125对应的滚刷仓挡板126，且端面侧壁125与该滚刷仓挡板126之间形成用于容纳相应的周向凸起112A的滚刷仓凹陷区域，即上述的第二凹陷区域122。
其中，由于端面侧壁125和滚刷仓挡板126的底面均低于周向凸起112A(即第二凹陷区域122形成对周向凸起112A的部分“包围”)，因而在周向凸起112A与该第二凹陷区域122之间形成一条如图9上方的黑色粗箭头示出的风道缝隙，即该风道缝隙的截面呈现为图9所示的弯曲形状，从而使得清洁对象沿该风道缝隙构成的弯曲通道向齿轮区域游走时，通过该风道间隙的多次弯曲而造成一定的阻挡，以实现防缠绕效果。尤其是，如图9所示，当周向凸起112A上设有第一防缠绕凹槽112B时，可使上述风道缝隙形成更多弯曲结构，以增强其防缠绕效果。
当然，除了图9所示的转轴连接部112之外，上述方案还适用于滚刷仓12的其他端面。比如图10所示，在滚刷仓12上可以形成与被动连接部113处的端面侧壁127对应的滚刷仓挡板128，且端面侧壁127与该滚刷仓挡板128之间形成用于容纳相应的周向凸起113A的滚刷仓凹陷区域，即上述的第三凹陷区域123。类似地，在周向凸起113A与第三凹陷区域123之间可以形成一条如图10上方的黑色粗箭头示出的风道缝隙，并通过该风道缝隙的弯曲通道实现防缠绕功能，此处不再赘述。
此外，滚刷盖13也可以与主滚刷11之间形成类似的弯曲通道，以实现防缠绕功能。比如图9所示，在滚刷盖13上可以形成与转轴连接部112处的端面侧壁134对应的滚刷盖挡板131，且端面侧壁134与该滚刷盖挡板131之间形成用于容纳相应的周向凸起112A的滚刷盖凹陷区域135。因此，可以在周向凸起112A与该滚刷盖凹陷区域135之间形成一条如图9下方的黑色粗箭头示出的风道缝隙，并通过该风道缝隙的弯曲通道实现防缠绕功能，此处不再赘述。
类似的，比如图10所示，在滚刷盖13上可以形成与被动连接部113处的端面侧壁136对应的滚刷盖挡板132，且端面侧壁136与该滚刷盖挡板132之间形成用于容纳相应的周向凸起113A的滚刷盖凹陷区域137。类似地，在周向凸起113A与滚刷盖凹陷区域137之间可以形成一条如图10下方的黑色粗箭头示出的风道缝隙，并通过该风道缝隙的弯曲通道实现防缠绕功能，此处不再赘述。
5)防缠绕结构21和防缠绕结构22并非一定同时存在；比如在一实施例中，可以仅包含防缠绕结构21或防缠绕结构22，可以根据实际情况进行选择和取舍。
6)防缠绕结构21(以防缠绕结构21为例，同样适用于防缠绕结构22)可以设置于主滚刷11、滚刷仓12和滚刷盖13中任一方，也可以设置在两者甚至三者之上。比如当防缠绕结构21位于滚刷仓12时，可以位于第二凹陷区域122的顶侧内壁处，即防缠绕 结构21的一端固定于该第二凹陷区域122的顶侧内壁处、另一端朝向周向凸起112A，比如该防缠绕结构21可以接触并抵于周向凸起112A表面，其工作原理与图7所示的实施例相似，此处不再赘述。
当防缠绕结构21位于主滚刷11上时，该防缠绕结构21的一端固定于周向凸起112A上、另一端朝向该周向凸起112A的径向外侧，从而当主滚刷11沿轴向转动时，该防缠绕结构21可以随之转动，以对主滚刷11与滚刷仓12、滚刷盖13之间的缝隙(即周向凸起112A与第二凹陷区域122的顶侧内壁、滚刷盖挡板131外侧区域的底侧内壁之间的缝隙)进行填充和扫动。
2、侧边刷结构
作为另一示例性实施例，如图11所示，刷体可以为侧边刷31，刷架可以为自动清洁设备底部的边刷架结构32。侧边刷31可以包括底座311和设置于该底座311上的刷毛312；边刷架结构32上形成边刷容纳腔321，该边刷容纳腔321的底部设有转轴322，该转轴322的一端与驱动电机的动力输出端通过齿轮连接、另一端从该边刷容纳腔321的底部伸出后连接至底座311的端部中心区域311A，从而带动侧边刷31进行转动，以实现清扫功能。
图12为侧边刷安装至边刷架结构32时的侧边刷结构的立体图。如图12所示，当侧边刷31置入边刷容纳腔321时，在侧边刷31的底座311与边刷容纳腔321之间存在一定缝隙(如图12中的黑色箭头处)，且该缝隙是确保侧边刷31顺利转动所不可缺少和避免的，因而可以将防缠绕结构313设置于该侧边刷31的底座311外部，即防缠绕结构313的一端固定于底座311、另一端朝向边刷容纳腔321的内壁，例如该防缠绕结构313的另一端可以接触并抵于该边刷容纳腔321的内壁，以填补该侧边刷31的底座311与该边刷容纳腔321之间的缝隙。那么，当侧边刷31高速转动时，由于边刷架结构32相对不转动，因而防缠绕结构313可以随侧边刷31进行同步转动，从而一方面可以形成对上述缝隙的遮挡，以阻止毛发等清洁对象由该缝隙进入底座311的端部中心区域311A，以避免对转轴322造成缠绕而影响侧边刷31的正常转动，防止对转轴322及其相关的轴承区域造成损坏，另一方面可以对进入上述缝隙的清洁对象进行扫动和集中，以便于清理。
换言之，侧边刷31与边刷架结构32之间的结合处可以位于：底座311与边刷容纳腔321之间的缝隙处。那么，防缠绕结构313除了采用上述实施例的设置方式之外，还可以设置于该边刷架结构32形成的边刷容纳腔321的内壁处，即防缠绕结构313的一端固定于边刷容纳腔321的内壁、另一端朝向底座311，例如该防缠绕结构313的另一端可以接触并抵于底座311的外壁，则相应的工作原理与上述实施例相似，此处不再赘述。
同时，防缠绕结构313可以采用与上述“主滚刷结构”实施例中相同的软性材料， 此处不再赘述。
此外，如图13所示，当侧边刷31的底座311的端部中心区域311A与边刷容纳腔321底部的转轴322相连时，侧边刷31的底座311的端部边沿311B与该端部中心区域311A之间可以形成至少一条环状防缠绕凹槽314，那么即便少量清洁对象通过了防缠绕结构313的阻挡后，仍然可以被集中和收纳于该环状防缠绕凹槽314中，以避免其进一步对转轴322等造成干涉和影响。而如图13所示，通过在端部边沿311B处设置开孔315，可以将上述防缠绕结构313插入该开孔315中，从而使得该防缠绕结构315的内端固定于该开孔315中、外端伸出该开孔315，以抵于边刷容纳腔321的内壁。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (12)

  1. 一种自动清洁设备的清扫组件，其特征在于，包括：
    刷体和安置所述刷体的刷架；
    防缠绕结构，所述防缠绕结构位于所述刷体与所述刷架的结合处，且所述防缠绕结构可在所述清扫组件处于工作状态时填补所述结合处的缝隙。
  2. 根据权利要求1所述的清扫组件，其特征在于，所述防缠绕结构为软性材料；其中，所述防缠绕结构的一端固定于所述刷体或所述刷架中任一方、另一端接近或抵于另一方表面。
  3. 根据权利要求2所述的清扫组件，其特征在于，所述软性材料包括：至少一簇毛刷。
  4. 根据权利要求1所述的清扫组件，其特征在于，当所述刷体为主滚刷、所述刷架为滚刷仓和滚刷盖时，所述防缠绕结构设置于所述主滚刷、所述滚刷仓和所述滚刷盖中至少一方。
  5. 根据权利要求4所述的清扫组件，其特征在于，所述主滚刷包括位于中间的清洁部、位于一端的转轴连接部和位于另一端的被动连接部，所述结合处位于以下区域中至少之一：所述清洁部与所述转轴连接部之间的第一结合区域、所述清洁部与所述被动连接部之间的第二结合区域。
  6. 根据权利要求5所述的清扫组件，其特征在于，所述主滚刷在所述结合处形成周向凸起，所述防缠绕结构的一端固定于所述滚刷盖内侧、另一端朝向所述周向凸起。
  7. 根据权利要求6所述的清扫组件，其特征在于，所述周向凸起上包含至少一条周向设置的第一防缠绕凹槽。
  8. 根据权利要求6所述的清扫组件，其特征在于，所述清洁部与所述周向凸起的连接处形成至少一条周向设置的第二防缠绕凹槽。
  9. 根据权利要求6所述的清扫组件，其特征在于，
    所述滚刷仓上形成与每一端的端面侧壁一一对应的滚刷仓挡板，且每个端面侧壁与相应的滚刷仓挡板之间形成用于容纳相应的周向凸起的滚刷仓凹陷区域；所述周向凸起与相应的滚刷仓凹陷区域的内壁之间形成弯曲通道；
    所述滚刷盖上形成与每一端的端面侧壁一一对应的滚刷盖挡板，且每个端面侧壁与相应的滚刷盖挡板之间形成用于容纳相应的周向凸起的滚刷盖凹陷区域；所述周向凸起与相应的滚刷盖凹陷区域的内壁之间形成弯曲通道。
  10. 根据权利要求1所述的清扫组件，其特征在于，当所述刷体为侧边刷、所述刷架为自动清洁设备底部的边刷架结构时，所述防缠绕结构设置于所述侧边刷的底座外部或所述边刷架结构形成的边刷容纳腔的内壁处，以填补所述侧边刷的底座与所述边刷容纳腔之间的缝隙。
  11. 根据权利要求10所述的清扫组件，其特征在于，所述侧边刷的底座的端部中心区域与所述边刷容纳腔底部的转轴相连、所述侧边刷的底座的端部边沿与所述端部中心区域之间形成至少一条环状防缠绕凹槽。
  12. 一种自动清洁设备，其特征在于，包括：如权利要求1-11中任一项所述的自动清洁设备的清扫组件。
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