WO2025146166A1 - 清洁刷组件及清洁机器人 - Google Patents

清洁刷组件及清洁机器人 Download PDF

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Publication number
WO2025146166A1
WO2025146166A1 PCT/CN2025/070553 CN2025070553W WO2025146166A1 WO 2025146166 A1 WO2025146166 A1 WO 2025146166A1 CN 2025070553 W CN2025070553 W CN 2025070553W WO 2025146166 A1 WO2025146166 A1 WO 2025146166A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
shaft
transmission member
transmission
brush
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.)
Pending
Application number
PCT/CN2025/070553
Other languages
English (en)
French (fr)
Inventor
杨澄
吴健生
秦运根
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 Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of WO2025146166A1 publication Critical patent/WO2025146166A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk 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
    • A47L11/40—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
    • A47L11/4069—Driving or transmission means for the 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present disclosure relates to the technical field of cleaning equipment, and in particular to a cleaning brush assembly and a cleaning robot.
  • Automatic cleaning equipment often has a cleaning function.
  • a cleaning brush and a receiving device are provided on the automatic cleaning equipment.
  • the cleaning brush is used to realize automatic cleaning
  • the receiving device is used to collect the cleaning objects cleaned by the cleaning brush.
  • the cleaning brush cleans the cleaning objects by rotating.
  • the rotating cleaning brush is easy to push the cleaning objects away from the receiving device, resulting in poor collection and gathering capabilities of the cleaning objects of the automatic cleaning equipment.
  • the purpose of the present disclosure is to provide a cleaning brush assembly and a cleaning robot, thereby improving the ability of automatic cleaning equipment to gather and collect cleaned objects to at least a certain extent.
  • a cleaning brush assembly comprising:
  • a driving module the driving module is arranged on the bracket, and the driving module has an output shaft;
  • the driving module includes:
  • a drive motor having a drive shaft
  • the second transmission member is connected to the driving motor, and the driving motor can drive the second transmission member to rotate.
  • the output shaft is arranged on the second transmission member, and the output shaft is parallel to the driving shaft.
  • the first transmission member includes a first gear
  • the second transmission member includes a second gear
  • the first gear and the second gear are meshed
  • the gear shaft of the first gear forms the first transmission shaft
  • the gear shaft of the second gear forms the output shaft
  • the first gear is a helical gear
  • the second gear is a spur gear
  • the first gear is a spur gear
  • the second gear is a helical gear
  • the second transmission member further includes:
  • At least one transmission gear is connected to the bracket and is arranged between the second gear and the driving motor.
  • the transmission gear is used to transmit the power output by the driving motor to the second gear, and the gear shaft of the transmission gear is parallel to the gear shaft of the second gear.
  • the bracket includes:
  • a first panel, the first transmission member and the second transmission member are connected to the first panel, and the output shaft and the first panel are vertically arranged.
  • the bracket further includes:
  • a plurality of brush branches are connected to the brush body, and ends of the plurality of brush branches facing away from the brush body are located in the same preset plane, and the preset plane is perpendicular to the first transmission shaft.
  • the end of the brush branch facing away from the brush body has a flexible brush segment.
  • a cleaning robot comprising the cleaning brush assembly described above.
  • the cleaning brush assembly provided in the embodiment of the present disclosure includes a bracket, a drive module and a side brush module.
  • the drive module is arranged on the bracket.
  • the side brush module includes a first transmission member and a side brush.
  • the first transmission member is arranged on the bracket.
  • the side brush is connected to the first transmission member.
  • the drive module drives the first transmission member to drive the side brush to rotate.
  • the first transmission shaft of the first transmission member and the output shaft of the drive module are not parallel, so that when working, the side brush is in an inclined state, and the inclined side brush can gather the cleaned objects in one direction, thereby improving the cleaning robot's ability to gather and collect the cleaned objects.
  • FIG1 is a schematic structural diagram of a cleaning brush assembly provided by an exemplary embodiment of the present disclosure
  • FIG2 is a cross-sectional schematic diagram of a cleaning brush assembly provided by an exemplary embodiment of the present disclosure
  • FIG. 3 is a schematic structural diagram of a cleaning robot provided by an exemplary embodiment of the present disclosure.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; the term “plurality” refers to two or more; the term “and/or” includes any and all combinations of one or more associated listed items.
  • reference to “the/the” object or “an” object is also intended to indicate one of a possible plurality of such objects.
  • connection can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; “connection” can be a direct connection or an indirect connection through an intermediate medium.
  • connection can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; “connection” can be a direct connection or an indirect connection through an intermediate medium.
  • the cleaning brush assembly 100 includes a bracket 10, a drive module 20 and a side brush module 30.
  • the drive module 20 is arranged on the bracket 10, and the drive module 20 has an output shaft 201;
  • the side brush module 30 includes a first transmission member 31 and a side brush 32.
  • the first transmission member 31 is connected to the bracket 10, and the first transmission member 31 cooperates with the drive module 20 to drive the first transmission member 31 through the drive module.
  • the first transmission member 31 has a first transmission shaft 301.
  • the first transmission shaft 301 and the output shaft 201 of the drive module 20 are not parallel.
  • the side brush 32 is connected to the first transmission shaft 301.
  • the cleaning brush assembly 100 provided in the embodiment of the present disclosure includes a bracket 10, a drive module 20 and a side brush module 30.
  • the drive module 20 is arranged on the bracket 10.
  • the side brush module 30 includes a first transmission member 31 and a side brush 32.
  • the first transmission member 31 is arranged on the bracket 10.
  • the side brush 32 is connected to the first transmission member 31.
  • the drive module 20 drives the first transmission member 31 to drive the side brush 32 to rotate.
  • the first transmission shaft 301 of the first transmission member 31 and the output shaft 201 of the drive module 20 are not parallel, so that the side brush 32 is in an inclined state when working.
  • the side brush 32 in an inclined state can gather the cleaned objects in one direction, thereby improving the ability of the cleaning robot to gather and collect the cleaned objects.
  • the side brush module 30 includes a first transmission member 31 and a side brush 32.
  • the first transmission member 31 is connected to the bracket 10.
  • the side brush 32 is connected to the first transmission member 31.
  • the first transmission member 31 cooperates with the driving module 20.
  • the first transmission member 31 is driven to rotate by the driving module 20.
  • the side brush 32 is driven to rotate.
  • the first transmission member 31 has a first transmission shaft 301.
  • the first transmission shaft 301 is penetrated by the bracket 10.
  • the first transmission member 31 rotates along the first transmission shaft 301 under the drive of the driving module 20.
  • the first transmission member 31 includes a first gear 311, and the second transmission member 22 includes a second gear 221.
  • the first gear 311 and the second gear 221 are meshed.
  • the gear shaft of the first gear 311 forms the first transmission shaft 301
  • the gear shaft of the second gear 221 forms the output shaft 201.
  • the gear shaft of the first gear 311 is passed through the bracket 10, and the end of the gear shaft of the first gear 311 is connected to the side brush 32.
  • the second gear 221 is installed on the bracket 10, and the gear shaft of the second gear 221 is connected to the driving shaft of the driving motor 21.
  • the gear shaft of the second gear 221 is connected to the driving shaft of the driving motor 21 through a coupling or the like.
  • the second transmission member 22 may further include at least one transmission gear 222, the transmission gear 222 is connected to the bracket 10, and the transmission gear 222 is arranged between the second gear 221 and the driving motor 21.
  • the transmission gear 222 is used to transmit the power output by the driving motor 21 to the second gear 221.
  • the gear shaft of the transmission gear 222 is parallel to the gear shaft of the second gear 221.
  • the first gear 311 is a helical gear
  • the second gear 221 is a spur gear
  • the gear shaft of the second gear 221 is parallel to the drive shaft of the drive motor 21.
  • the angle between the gear teeth and the gear shaft is also the first preset angle. The first preset angle ensures the meshing of the helical gear and the spur gear, and avoids the first gear 311 and the second gear 221 from interfering with each other.
  • the first gear 311 can rotate relative to the bracket 10.
  • a first mounting hole is provided on the bracket 10, and the gear shaft of the first gear 311 is passed through the first mounting hole, and the first mounting hole is an inclined hole.
  • the second gear 221 can rotate relative to the bracket 10.
  • a second mounting hole is provided on the bracket 10, and the gear shaft of the second gear 221 is passed through the second mounting hole, and the second mounting hole is a straight hole.
  • the first gear 311 is a spur gear
  • the second gear 221 is a helical gear
  • the gear shaft of the second gear 221 is parallel to the drive shaft of the drive motor 21, and there is a first preset angle between the gear shaft of the first gear 311 and the gear shaft of the second gear 221.
  • the angle between the gear teeth and the gear shaft is also the first preset angle. The first preset angle ensures the meshing of the helical gear and the spur gear, and avoids interference between the first gear 311 and the second gear 221.
  • the first gear 311 can rotate relative to the bracket 10.
  • a first mounting hole is provided on the bracket 10, and the gear shaft of the first gear 311 is passed through the first mounting hole, and the first mounting hole is an inclined hole.
  • the second gear 221 can rotate relative to the bracket 10.
  • a second mounting hole is provided on the bracket 10, and the gear shaft of the second gear 221 is passed through the second mounting hole, and the second mounting hole is a straight hole.
  • the transmission gear 222 is a helical gear, and the gear shaft of the transmission gear 222 is parallel to the gear shaft of the second gear 221.
  • the transmission gear 222 is mounted on the bracket 10, and the transmission gear 222 can rotate relative to the bracket 10.
  • a third mounting hole is provided on the bracket 10, and the gear shaft of the transmission gear 222 is penetrated through the third mounting hole, and the third mounting hole is a straight hole.
  • the first gear 311 and the second gear 221 can also be helical gears.
  • the angle between the gear teeth and the gear shaft in the first gear 311 is a first bevel angle
  • the angle between the gear teeth and the gear shaft in the second gear 221 is a second bevel angle
  • the difference between the first bevel angle and the second bevel angle is a first preset angle.
  • the transmission gear 222 is a helical gear
  • the angle between the gear teeth and the gear shaft of the transmission gear 222 is a second bevel angle.
  • the first transmission member 31 and the second transmission member 22 in the embodiment of the present disclosure may also be belt transmission members or chain transmission members, etc.
  • the first transmission member 31 includes a first pulley
  • the second transmission member 22 includes a second pulley.
  • a transmission belt is sleeved on the first pulley and the second pulley, and the drive motor 21 outputs power to drive the second pulley to rotate, and the second pulley transmits power to the first pulley through the transmission belt.
  • the first transmission shaft 301 of the first pulley and the output shaft 201 of the second pulley are not parallel.
  • the first transmission shaft 301 of the first transmission member 31 is an axis passing through the rotation axis of the first transmission member 31.
  • the gear shaft of the first gear 311 is an axis passing through the rotation axis of the first gear 311.
  • the gear shaft in the first gear 311 can be integrally formed with the gear body, or the gear shaft and the gear body are separate structures, and the gear shaft passes through the axis of the gear body.
  • the gear shaft of the second gear 221 is an axis passing through the rotation axis of the second gear 221.
  • the gear shaft in the second gear 221 can be integrally formed with the gear body, or the gear shaft and the gear body are separate structures, and the gear shaft passes through the axis of the gear body.
  • the gear shaft of the transmission gear 222 is an axis passing through the rotation axis of the transmission shaft, and the gear shaft in the transmission gear 222 can be integrally formed with the gear body, or the gear shaft and the gear body are separate structures, and the gear shaft passes through the axis of the gear body.
  • the side brush 32 is connected to the gear shaft of the first gear 311.
  • the gear shaft of the first gear 311 is tilted, so the side brush 32 is also tilted.
  • the tilted side brush 32 forms a preset tilt angle with the ground when cleaning, and the preset tilt angle can improve the ability of the side brush 32 to gather the cleaned objects when cleaning.
  • the side brush 32 may include a brush body 321 and a plurality of brush branches 322.
  • the brush body 321 is connected to the first transmission shaft 301.
  • the plurality of brush branches 322 are connected to the brush body 321, and the ends of the plurality of brush branches 322 away from the brush body 321 are located in the same preset plane, which is perpendicular to the first transmission shaft 301.
  • the ends of the multiple brush branches 322 away from the brush body 321 in the embodiment of the present disclosure are located in the same preset plane, which means that in the initial state, the ends of the multiple brush branches 322 away from the brush body 321 are located in the same preset plane.
  • the side of the brush body 321 away from the first transmission member 31 is perpendicular to the first transmission shaft 301, and the plane where the ends of the multiple brush branches 322 away from the brush body 321 are located is parallel to the side of the brush body 321 away from the first transmission member 31.
  • the first transmission member 31 and the second transmission member 22 are connected to the first panel 11, and the output shaft 201 is arranged perpendicular to the first panel 11.
  • the driving motor 21 is arranged on the side of the second panel 12 away from the first panel 11, and the driving shaft of the driving motor 21 passes through the second panel 12 and extends into the accommodating space, and the driving shaft is perpendicular to the second panel 12.
  • the first mounting hole is provided on the first panel 11, and the first mounting hole is an inclined hole, that is, the axis of the first mounting hole is not perpendicular to the first panel 11.
  • the first transmission shaft 301 of the first transmission member 31 is passed through the first mounting hole, and the first transmission shaft 301 can rotate in the first mounting hole.
  • the first transmission shaft 301 can be directly passed through the first mounting hole, or a bearing can be provided in the first mounting hole, and the first transmission shaft 301 is installed in the bearing.
  • the gear shaft of the first gear 311 is installed in the first mounting hole.
  • the first panel 11 is also provided with a second mounting hole, which is a straight hole, that is, the axis of the second mounting hole is perpendicular to the first panel 11.
  • the output shaft 201 of the second transmission member 22 is passed through the second mounting hole, and the output shaft 201 can rotate in the second mounting hole.
  • the output shaft 201 can be directly passed through the second mounting hole, or a bearing can be provided in the second mounting hole, and the output shaft 201 is installed in the bearing.
  • the second transmission member 22 includes a second gear 221
  • the second gear 221 is installed in the second mounting hole.
  • the first mounting hole is set as an inclined hole
  • the second mounting hole is set as a straight hole.
  • the inclined first mounting hole ensures that the first transmission shaft 301 of the first transmission member 31 is inclined, so that the side brush 32 is inclined, which is conducive to the gathering and collection of the cleaned objects.
  • the inclined second mounting hole reduces the production difficulty and cost (the processing difficulty and cost of processing a straight hole on the first panel 11 are lower than the processing difficulty and cost of processing an inclined hole).
  • the second mounting hole is a straight hole, which can reduce the space occupied by the second transmission member 22 in the vertical direction, which is conducive to improving the rationality of the layout of the cleaning robot.
  • the second transmission member 22 further includes at least one transmission gear 222
  • at least one third mounting hole may be provided on the first panel 11, and the third mounting hole is a straight hole, that is, the third mounting hole is perpendicular to the first panel 11.
  • the gear shaft of the transmission gear 222 is passed through the third mounting hole.
  • the gear shaft of the transmission gear 222 may be directly passed through the third mounting hole, or a bearing may be provided in the third mounting hole, and the gear shaft of the transmission gear 222 is installed in the bearing.
  • the second panel 12 is arranged in parallel with the first panel 11, and a receiving space is formed between the first panel 11 and the second panel 12.
  • the first panel 11 and the second panel 12 can be connected by a connecting arm.
  • One end of the connecting arm is connected to the first panel 11, and the other end of the connecting arm is connected to the second panel 12.
  • the connecting arm is located on one side of the bracket 10, and the other side of the bracket 10 forms an opening.
  • the first panel 11 is embedded in the bottom plate.
  • a receiving area is provided on the bottom plate, and a receiving through hole is provided in the receiving area.
  • the first panel 11 is provided in the receiving through hole, and the first panel 11 is connected to the bottom plate.
  • the first panel 11 and the bottom plate can be snap-connected, or the first panel 11 and the bottom plate are connected by glue.
  • the first panel 11 is arranged in parallel with the bottom plate. In this way, the gear shafts of the second gear 221 and the transmission gear 222 are arranged perpendicular to the bottom plate. Since the size of the gear in the gear shaft direction is small, the second gear 221 and the transmission gear 222 are arranged in this way to reduce the size occupied by the gear in the height direction of the cleaning robot, thereby improving the compactness of the cleaning robot.
  • the exemplary embodiment of the present disclosure further provides a cleaning robot 1000.
  • the cleaning robot 1000 includes a cleaning brush assembly 100.
  • the cleaning brush assembly 100 includes a bracket 10, a drive module 20 and a side brush module 30.
  • the drive module 20 is disposed on the bracket 10.
  • the drive module 20 has an output shaft 201.
  • the side brush module 30 includes a first transmission member 31 and a side brush 32.
  • the first transmission member 31 is connected to the bracket 10, and the first transmission member 31 cooperates with the drive module 20 to drive the first transmission member 31 through the drive module.
  • the first transmission member 31 has a first transmission shaft 301, the first transmission shaft 301 and the output shaft 201 of the drive module 20 are not parallel, and the side brush 32 is connected to the first transmission shaft 301.
  • the cleaning robot provided by the embodiment of the present disclosure includes a cleaning brush assembly 100.
  • the driving module 20 is arranged on the bracket 10.
  • the side brush module 30 includes a first transmission member 31 and a side brush 32.
  • the first transmission member 31 is arranged on the bracket 10.
  • the side brush 32 is connected to the first transmission member 31.
  • the driving module 20 drives the first transmission member 31 to drive the side brush 32 to rotate.
  • the first transmission shaft 301 of the first transmission member 31 and the output shaft 201 of the driving module 20 are not parallel, so that the side brush 32 is in a tilted state when working.
  • the side brush 32 in a tilted state can gather the cleaned objects in one direction, thereby improving the ability of the cleaning robot to gather and collect the cleaned objects.
  • the cleaning robot 1000 provided in the embodiment of the present disclosure may also include a housing, a collection component, a walking component, a mopping component, and a control component.
  • the cleaning brush component 100, the collection component, the walking component, and the control component are installed on the housing, the collection component is used to collect the cleaned objects, the walking component is used to drive the cleaning robot to move, the mopping component is used to mop the floor, and the control component is used to detect and control the operation of the cleaning robot.
  • the housing may include a top plate, a bottom plate and a side plate.
  • the top plate and the bottom plate are arranged opposite to each other, the side plate connects the top plate and the bottom plate, and forms a receiving cavity between the top plate and the bottom plate.
  • the bottom plate faces the bottom surface, the walking assembly, the mopping assembly and the cleaning brush assembly 100 are arranged on the bottom plate, the collecting assembly can be arranged in the receiving cavity in the housing, and the control assembly can be arranged on the top plate or the side plate.
  • the collection assembly may include a dust box and a dust suction unit.
  • the dust box is disposed in the accommodating chamber, and is used to collect the cleaned material.
  • An opening may be provided on the bottom plate, and the opening is connected to the dust box, and the cleaned material enters the dust box through the opening on the bottom plate.
  • the dust suction unit is connected to the dust box, and the dust suction unit is used to suck the cleaned material into the dust box.
  • a filter may be provided between the dust box and the dust suction unit, and the filter is used to prevent foreign matter from entering the dust suction unit.
  • the walking assembly may include a steering wheel and a driven wheel.
  • the steering wheel is mounted on the bottom plate, and is used to drive the cleaning robot to move and control the movement direction of the cleaning robot.
  • the driven wheel is mounted on the bottom plate, and is used to reduce the friction between the cleaning robot and the ground.
  • the walking assembly may also be in other forms.
  • the walking assembly may be a crawler type, etc., and the embodiments of the present disclosure are not limited thereto.
  • the control component may include a control module and a detection module.
  • the detection module may include a radar, a camera, a speed sensor, a photoelectric sensor, a gyroscope, a contact sensor, etc.
  • the detection module detects the environmental scene and the state of the cleaning robot.
  • the control module is used to control the cleaning robot according to the signal detected by the detection module.
  • control component may also include a communication module.
  • the communication module is connected to the control module, and the communication module is used to connect to a network device or a control terminal, etc.
  • the communication module may include a WiFi module, a Bluetooth module, an infrared communication module, or a near field communication module, etc.
  • the cleaning brush assembly 100 is arranged on the housing, and the first panel 11 is parallel to the bottom plate, or the first panel 11 can be embedded in the bottom plate. That is, the first transmission shaft 301 of the first transmission member 31 is arranged obliquely to the bottom plate, and the driving shaft of the driving motor 21 and the output shaft 201 of the second transmission member 22 are arranged vertically to the bottom plate.
  • the first panel 11 is located in the housing, and the first surface is parallel to the bottom plate.
  • a through hole is provided on the bottom plate, and the through hole is used to install the side brush 32.
  • the first transmission shaft 301 is passed through the through hole, and the through hole can be an inclined hole (the through hole is not perpendicular to the first panel 11).
  • the first panel 11 is embedded in the bottom plate.
  • a receiving area is provided on the bottom plate, and a receiving through hole is provided in the receiving area.
  • the first panel 11 is provided in the receiving through hole, and the first panel 11 is connected to the bottom plate.
  • the first panel 11 and the bottom plate can be snap-connected, or the first panel 11 and the bottom plate are connected by glue.
  • the first panel 11 is arranged in parallel with the bottom plate. In this way, the gear shafts of the second gear 221 and the transmission gear 222 are arranged perpendicular to the bottom plate. Since the size of the gear in the gear shaft direction is small, the second gear 221 and the transmission gear 222 are arranged in this way to reduce the size occupied by the gear in the height direction of the cleaning robot, thereby improving the compactness of the cleaning robot.
  • the height of the cleaning robot needs to be effectively controlled due to the limited height of the working environment.
  • the gear shafts of most of the multiple gears can be perpendicular to the bottom plate, the height of the cleaning robot can be reduced to facilitate cleaning.

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  • Cleaning In General (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种清洁刷组件(100)及清洁机器人(1000)，清洁刷组件(100)包括支架(10)、驱动模组(20)和边刷模组(30)，驱动模组(20)设于支架(10)，驱动模组(20)具有输出轴(201)；边刷模组(30)包括第一传动件(31)和边刷(32)，第一传动件(31)连接于支架(10)，且第一传动件(31)和驱动模组(20)配合，以通过驱动模组(20)驱动第一传动件(31)，第一传动件(31)具有第一传动轴(301)，第一传动轴(301)和驱动模组(20)的输出轴(201)不平行，边刷(32)连接于第一传动轴(301)。

Description

清洁刷组件及清洁机器人
相关申请的交叉引用
本公开要求2024年1月5日提交的中国专利申请号202410025267.X的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本公开涉及清洁设备技术领域，具体而言，涉及一种清洁刷组件及清洁机器人。
背景技术
随着技术的发展和进步，自动清洁设备的应用日益广泛。自动清洁设备往往具有清扫功能。自动清洁设备上设置有清洁刷和容置装置。清洁刷用于实现自动清扫，容置装置用于收集清洁刷清扫的清扫物。相关技术中，清洁刷通过转动来对清扫物进行清扫。转动的清洁刷易将清扫物推送至远离容置装置的方向，导致自动清洁设备的清扫物的归拢和收集能力差。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本公开的目的在于提供一种清洁刷组件及清洁机器人，进而至少一定程度上提升自动清洁设备对清扫物归拢和收集的能力。
根据本公开的一个方面，提供一种清洁刷组件，所述清洁刷组件包括：
支架；
驱动模组，所述驱动模组设于所述支架，所述驱动模组具有输出轴；
边刷模组，所述边刷模组包括第一传动件和边刷，所述第一传动件连接于所述支架，且所述第一传动件和所述驱动模组配合，以通过所述驱动模组驱动所述第一传动件，所述第一传动件具有第一传动轴，所述边刷连接于所述第一传动轴。
根据本公开的一实施方式，所述第一传动轴和所述驱动模组的输出轴不平行；或，所述边刷呈倾斜状态。
根据本公开的一实施方式，所述驱动模组包括：
驱动电机，所述驱动电机具有驱动轴；
第二传动件，所述第二传动件和所述驱动电机连接，所述驱动电机能够驱动所述第二传动件转动，所述输出轴设于所述第二传动件，所述输出轴和所述驱动轴平行。
根据本公开的一实施方式，所述第一传动件包括第一齿轮，所述第二传动件包括第二齿轮，所述第一齿轮和所述第二齿轮啮合，所述第一齿轮的齿轮轴形成所述第一传动轴，所述第二齿轮的齿轮轴形成所述输出轴。
根据本公开的一实施方式，所述第一齿轮为斜齿轮，所述第二齿轮为直齿轮；
或者，所述第一齿轮为直齿轮，所述第二齿轮为斜齿轮。
根据本公开的一实施方式，所述第二传动件还包括：
至少一个传动齿轮，所述传动齿轮和所述支架连接，并且所述传动齿轮设于所述第二齿轮和所述驱动电机之间，所述传动齿轮用于将所述驱动电机输出的动力传输至所述第二齿轮，所述传动齿轮的齿轮轴和所述第二齿轮的齿轮轴平行。
根据本公开的一实施方式，所述支架包括：
第一面板，所述第一传动件和所述第二传动件连接于所述第一面板，所述输出轴和所述第一面板垂直设置。
根据本公开的一实施方式，所述支架还包括：
第二面板，所述第二面板和所述第一面板相对设置，且所述第二面板和所述第一面板之间形成容置空间，所述第一传动件和所述第二传动件设于所述容置空间，所述驱动电机设于所述第二面板背离所述第一面板的一侧，所述驱动轴和所述第二面板垂直。
根据本公开的一实施方式，所述边刷包括：
刷体，所述刷体连接于所述第一传动轴；
多个刷枝，所述多个刷枝连接于所述刷体，并且所述多个刷枝背离所述刷体的一端位于同一预设平面，所述预设平面和所述第一传动轴垂直。
根据本公开的一实施方式，所述刷枝背离所述刷体的一端具有柔性刷段。
根据本公开的另一个方面，提供一种清洁机器人，所述清洁机器人包括上述的清洁刷组件。
本公开实施例提供的清洁刷组件包括支架、驱动模组和边刷模组。驱动模组设于支架。边刷模组包括第一传动件和边刷。第一传动件设于支架。边刷和第一传动件连接。驱动模组驱动第一传动件带动边刷转动。第一传动件的第一传动轴和驱动模组的输出轴不平行，从而使得在工作时，边刷呈倾斜状态，倾斜状态的边刷能够将清扫物向一个方向聚拢，从而提升清洁机器人对清扫物聚拢和收集的能力。
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。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开示例性实施例提供的一种清洁刷组件的结构示意图；
图2为本公开示例性实施例提供的一种清洁刷组件的剖视示意图；
图3为本公开示例性实施例提供的一种清洁机器人的结构示意图。
附图标记说明：
100、清洁刷组件；10、支架；11、第一面板；12、第二面板；20、驱动模组；21、驱动电机；22、
第二传动件；221、第二齿轮；222、传动齿轮；201、输出轴；30、边刷模组；31、第一传动件；311、第一齿轮；32、边刷；321、刷体；322、刷枝；301、第一传动轴；1000、清洁机器人。
具体实施方式
下面将结合本公开示例实施例中的附图，对本公开示例实施例中的技术方案进行清楚、完整的描述。本文中的描述的示例实施例仅仅是用于说明的目的，而并非用于限制本公开的保护范围，因此应当理解，在不脱离本公开的保护范围的情况下，可以对示例实施例进行各种修改和改变。
在本公开的描述中，除非另有明确的规定和限定，术语“第一”、“第二”仅用于描述的目的，而不能理解为指示或暗示相对重要性；术语“多个”是指两个或两个以上；术语“和/或”包括一个或多个相关联列出项目的任何组合和所有组合。特别地，提到“该/所述”对象或“一个”对象同样旨在表示可能的多个此类对象中的一个。
除非另有规定或说明，术语“连接”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接，或电连接，或信号连接；“连接”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
进一步地，本公开的描述中，需要理解的是，本公开的示例实施例中所描述的“上”、“下”、“内”、“外”等方位词是以附图所示的角度来进行描述的，不应理解为对本公开的示例实施例的限定。还需要理解的是，在上下文中，当提到一个元件或特征连接在另外元件(一个或多个)“上”、“下”、或者“内”、“外”时，其不仅能够直接连接在另外(一个或多个)元件“上”、“下”或者“内”、“外”，也可以通过中间元件间接连接在另外(一个或多个)元件“上”、“下”或者“内”、“外”。
本公开示例性实施例首先提供一种清洁刷组件100。如图1和图2所示，清洁刷组件100包括支架10、驱动模组20和边刷模组30。驱动模组20设于支架10，驱动模组20具有输出轴201；边刷模组30包括第一传动件31和边刷32。第一传动件31连接于支架10，且第一传动件31和驱动模组20配合，以通过驱动模组驱动第一传动件31。第一传动件31具有第一传动轴301。第一传动轴301和驱动模组20的输出轴201不平行。边刷32连接于第一传动轴301。
本公开实施例提供的清洁刷组件100包括支架10、驱动模组20和边刷模组30。驱动模组20设于支架10。边刷模组30包括第一传动件31和边刷32。第一传动件31设于支架10。边刷32和第一传动件31连接。驱动模组20驱动第一传动件31带动边刷32转动。第一传动件31的第一传动轴301和驱动模组20的输出轴201不平行，从而使得在工作时，边刷32呈倾斜状态。倾斜状态的边刷32能够将清扫物向一个方向聚拢，从而提升清洁机器人对清扫物聚拢和收集的能力。
下面将对本公开实施例提供的清洁刷组件100的各部分进行详细说明：
边刷模组30包括第一传动件31和边刷32。第一传动件31连接于支架10。边刷32连接于第一传动件31。第一传动件31和驱动模组20配合。通过驱动模组20驱动第一传动件31转动。第一传动件31转动时带动边刷32转动。第一传动件31具有第一传动轴301。第一传动轴301穿设于支架10。第一传动件31在驱动模组20的驱动下沿第一传动轴301转动。
驱动模组20包括驱动电机21和第二传动件22。驱动电机21具有驱动轴。第二传动件22和驱动电机21连接。驱动电机21能够驱动第二传动件22转动。输出轴201设于第二传动件22。第二传动件22可以绕输出轴201转动。输出轴201和驱动轴平行。
第一传动件31包括第一齿轮311，第二传动件22包括第二齿轮221。第一齿轮311和第二齿轮221啮合。第一齿轮311的齿轮轴形成第一传动轴301，第二齿轮221的齿轮轴形成输出轴201。第一齿轮311的齿轮轴穿设于支架10，并且第一齿轮311的齿轮轴的末端和边刷32连接。第二齿轮221安装于支架10，并且第二齿轮221的齿轮轴和驱动电机21的驱动轴连接。比如，第二齿轮221的齿轮轴通过联轴器等器件和驱动电机21的驱动轴连接。
可以理解的是，在本公开实施例中，为了有效地控制第一齿轮311的转速，改变传动比，第二传动件22中还可以包括至少一个传动齿轮222，传动齿轮222和支架10连接，并且传动齿轮222设于第二齿轮221和驱动电机21之间。传动齿轮222用于将驱动电机21输出的动力传输至第二齿轮221。传动齿轮222的齿轮轴和第二齿轮221的齿轮轴平行。
示例的，第二传动件22中可以包括一个传动齿轮222。该传动齿轮222为第三齿轮。第三齿轮设于支架10，并且第三齿轮的齿轮轴和驱动电机21的驱动轴连接，第三齿轮和第二齿轮221啮合。或者，第二传动件22可以包括两个传动齿轮222。该两个传动齿轮222可以是第三齿轮和第四齿轮。第三齿轮设于支架10，并且第三齿轮的齿轮轴和驱动电机21的驱动轴连接，第四齿轮设于支架10，第四齿轮分别和第三齿轮及第二齿轮221啮合。
在本公开一可行的实施方式中，第一齿轮311为斜齿轮，第二齿轮221为直齿轮。第二齿轮221的齿轮轴和驱动电机21的驱动轴平行。第一齿轮311的齿轮轴和第二齿轮221的齿轮轴之间具有第一预设角度。在第一齿轮311中，轮齿和齿轮轴的夹角也为第一预设角度。该第一预设角度保证了斜齿轮和直齿轮的啮合，避免第一齿轮311和第二齿轮221相互干涉。
第一齿轮311能够相对于支架10转动。比如，在支架10上设置有第一安装孔，第一齿轮311的齿轮轴穿设于第一安装孔，第一安装孔为倾斜孔。第二齿轮221能够相对于支架10转动。比如，在支架10上设置有第二安装孔，第二齿轮221的齿轮轴穿设于第二安装孔，第二安装孔为直孔。
在此基础上，当第二传动件22还包括传动齿轮222时，传动齿轮222为直齿轮，传动齿轮222的齿轮轴和第二齿轮221的齿轮轴平行。传动齿轮222安装于支架10，并且传动齿轮222能够相对于支架10转动。比如，在支架10上设置有第三安装孔，传动齿轮222的齿轮轴穿设于第三安装孔，第三安装孔为直孔。
在本公开另一可行的实施方式中，第一齿轮311为直齿轮，第二齿轮221为斜齿轮。第二齿轮221的齿轮轴和驱动电机21的驱动轴平行，第一齿轮311的齿轮轴和第二齿轮221的齿轮轴之间具有第一预设角度。在第二齿轮221中，轮齿和齿轮轴的夹角也为第一预设角度。该第一预设角度保证了斜齿轮和直齿轮的啮合，避免第一齿轮311和第二齿轮221相互干涉。
第一齿轮311能够相对于支架10转动。比如，在支架10上设置有第一安装孔，第一齿轮311的齿轮轴穿设于第一安装孔，第一安装孔为倾斜孔。第二齿轮221能够相对于支架10转动。比如，在支架10上设置有第二安装孔，第二齿轮221的齿轮轴穿设于第二安装孔，第二安装孔为直孔。
在此基础上，当第二传动件22还包括传动齿轮222时，传动齿轮222为斜齿轮，传动齿轮222的齿轮轴和第二齿轮221的齿轮轴平行。传动齿轮222安装于支架10，并且传动齿轮222能够相对于支架10转动。比如，在支架10上设置有第三安装孔，传动齿轮222的齿轮轴穿设于第三安装孔，第三安装孔为直孔。
值得注意的是，在本公开另一些可行的实施方式中，第一齿轮311和第二齿轮221也可以均为斜齿轮。第一齿轮311中轮齿和齿轮轴的夹角为第一斜角，第二齿轮221中轮齿和齿轮轴的夹角为第二斜角，第一斜角和第二斜角的差值为第一预设角度。在此基础上，传动齿轮222为斜齿轮，并且传动齿轮222的轮齿和齿轮轴的夹角为第二斜角。
当然在实际应用中，本公开实施例中的第一传动件31和第二传动件22也可以是带传动件或者链传动件等。示例的，第一传动件31包括第一带轮，第二传动件22包括第二带轮。第一带轮和第二带轮上套设有传动带，驱动电机21输出动力驱动第二带轮转动，第二带轮通过传动带将动力传输至第一带轮。第一带轮的第一传动轴301和第二带轮的输出轴201不平行。
在本公开实施例中，第一传动件31的第一传动轴301为过第一传动件31转动轴心的轴。第一齿轮311的齿轮轴为过第一齿轮311转动轴心的轴。第一齿轮311中齿轮轴可以和齿轮本体一体成型，或者齿轮轴和齿轮本体为分体结构，齿轮轴穿设于齿轮本体的轴心。第二齿轮221的齿轮轴为过第二齿轮221转动轴心的轴。第二齿轮221中齿轮轴可以和齿轮本体一体成型，或者齿轮轴和齿轮本体为分体结构，齿轮轴穿设于齿轮本体的轴心。传动齿轮222的齿轮轴为过传动轴转动轴心的轴，传动齿轮222中齿轮轴可以和齿轮本体一体成型，或者齿轮轴和齿轮本体为分体结构，齿轮轴穿设于齿轮本体的轴心。
边刷32连接于第一齿轮311的齿轮轴上，第一齿轮311的齿轮轴倾斜设置，因此边刷32也为倾斜设置。倾斜设置的边刷32在清扫时和地面之间形成预设的倾斜角，该预设的倾斜角能够在边刷32清扫时提升边刷32对于清扫物的聚拢能力。
边刷32可以包括刷体321和多个刷枝322。刷体321连接于第一传动轴301。多个刷枝322连接于刷体321，并且多个刷枝322背离刷体321的一端位于同一预设平面，预设平面和第一传动轴301垂直。
刷体321可以呈圆形或者半球形，多个刷枝322在刷体321上沿圆周分布。多个刷枝322在刷体321上可以是均匀分布，或者多个刷枝322在刷体321上可以是非均匀分布，本公开实施例对此不做具体限定。
刷枝322背离刷体321的一端具有柔性刷段，该柔性刷段用于清扫。比如，刷枝322可以包括连接段和柔性刷段，连接段的一端和刷体321连接，连接段的另一端和柔性刷段连接。
需要说明的是，本公开实施例中所说的多个刷枝322背离刷体321的一端位于同一预设平面，是指在初始状态下多个刷枝322背离刷体321的一端位于同一预设平面。也可以理解为，刷体321背离第一传动件31的一面和第一传动轴301垂直，多个刷枝322背离刷体321的一端所在的平面和刷体321背离第一传动件31的一面平行。
可选的，第一传动轴301和输出轴201之间的夹角可以是6度-8度。在此基础上，多个刷枝322所形成的预设平面和地面的夹角也为6度-8度。通过将第一传动轴301和输出轴201的夹角设置为6度-8度，实现了边刷32和地面的夹角为6度-8度，有利于边刷32聚拢清扫物。
支架10用于安装驱动模组20和边刷模组30。支架10可以包括第一面板11和第二面板12。第一面板11和第二面板12相对设置，并且第一面板11和第二面板12之间形成容置空间。第一传动件31和第二传动件22设于该容置空间内。驱动电机21设于第二面板12背离第一面板11的一侧。
第一传动件31和第二传动件22连接于第一面板11，输出轴201和第一面板11垂直设置。驱动电机21设于第二面板12背离第一面板11的一侧，并且驱动电机21的驱动轴穿过第二面板12，延伸至容置空间内，驱动轴和第二面板12垂直。
第一面板11上设置第一安装孔，第一安装孔为倾斜孔，也即是，第一安装孔的轴线和第一面板11不垂直。第一传动件31的第一传动轴301穿设于第一安装孔，第一传动轴301能够在第一安装孔内转动。第一传动轴301可以直接穿设于第一安装孔，或者可以在第一安装孔内设置有轴承，第一传动轴301安装于轴承中。当第一传动件31包括第一齿轮311时，第一齿轮311的齿轮轴安装于第一安装孔。
第一面板11上还设置有第二安装孔，第二安装孔为直孔，也即是，第二安装孔的轴线和第一面板11垂直。第二传动件22的输出轴201穿设于第二安装孔，输出轴201能够在第二安装孔内转动。输出轴201可以直接穿设于第二安装孔，或者可以在第二安装孔内设置有轴承，输出轴201安装于轴承中。当第二传动件22包括第二齿轮221时，第二齿轮221安装于第二安装孔。
本公开实施例中将第一安装孔设置为倾斜孔，将第二安装孔设置为直孔。通过倾斜的第一安装孔保证了第一传动件31的第一传动轴301倾斜，进而使得边刷32倾斜设置，有利于清扫物的聚拢和收集。通过倾斜的第二安装孔降低了生产难度和成本(在第一面板11上加工直孔的加工难度和成本低于加工倾斜孔的加工难度和成本)。并且第二安装孔为直孔，能够减少第二传动件22在竖直方向所占用的空间，有利于提升清洁机器人的布局合理性。
当第二传动件22还包括至少一个传动齿轮222时，在第一面板11上可以设置有至少一个第三安装孔，第三安装孔为直孔，也即是第三安装孔和第一面板11垂直。传动齿轮222的齿轮轴穿设于第三安装孔。传动齿轮222的齿轮轴可以直接穿设于第三安装孔，或者可以在第三安装孔内设置有轴承，传动齿轮222的齿轮轴安装于轴承中。
通过将第二齿轮221和传动齿轮222的齿轮轴设置为垂直于第一面板11，将第一齿轮311的齿轮轴设置为倾斜轴，使得第一面板11上有且仅有一个倾斜孔，既满足了边刷32的倾斜需求，又有效地保证了第一面板11加工的便利性和清洁机器人内部空间的利用率。
第二面板12和第一面板11平行设置，在第一面板11和第二面板12之间形成了容置空间。第一面板11和第二面板12可以通过连接臂连接。连接臂的一端和第一面板11连接，连接臂的另一端和第二面板12连接。并且连接臂位于支架10的一侧，支架10的另一侧形成开口部。
清洁刷组件100安装于清洁机器人的壳体。壳体具有底板，该底板在清洁机器人工作时朝向地面。第一面板11和底板平行，或者第一面可以嵌于底板。也即是，第一传动件31的第一传动轴301和底板倾斜设置，驱动电机21的驱动轴及第二传动件22的输出轴201和底板垂直设置。
在一可行的实施方式中，第一面板11位于壳体内，且第一面和底板平行。在此基础上，底板上设置有过孔，过孔用于安装边刷32。第一传动轴301穿设于过孔，过孔可以是倾斜孔(过孔不垂直于第一面板11)。
在另一可行的实施方式中，第一面板11嵌于底板。在底板上设置有容置区，容置区设置有容置通孔，第一面板11设于容置通孔内，且第一面板11和底板连接。比如，第一面板11和底板可以是卡接，或者第一面板11和底板通过胶连接的方式连接。
第一面板11和底板平行设置。如此，第二齿轮221和传动齿轮222的齿轮轴都垂直于底板设置。由于齿轮在齿轮轴方向的尺寸小，因此第二齿轮221和传动齿轮222如此设置能够减少齿轮在清洁机器人高度方向上所占用的尺寸，进而提升清洁机器人的紧凑性。
本公开实施例提供的清洁刷组件100包括支架10、驱动模组20和边刷模组30。驱动模组20设于支架10。边刷模组30包括第一传动件31和边刷32。第一传动件31设于支架10。边刷32和第一传动件31连接。驱动模组20驱动第一传动件31带动边刷32转动。第一传动件31的第一传动轴301和驱动模组20的输出轴201不平行，从而使得在工作时，边刷32呈倾斜状态，倾斜状态的边刷32能够将清扫物向一个方向聚拢，从而提升清洁机器人对清扫物聚拢和收集的能力。
本公开示例性实施例还提供一种清洁机器人1000。如图3所示，清洁机器人1000包括清洁刷组件100。
清洁刷组件100包括支架10、驱动模组20和边刷模组30。驱动模组20设于支架10。驱动模组20具有输出轴201。边刷模组30包括第一传动件31和边刷32。第一传动件31连接于支架10，且第一传动件31和驱动模组20配合，以通过驱动模组驱动第一传动件31。第一传动件31具有第一传动轴301，第一传动轴301和驱动模组20的输出轴201不平行，边刷32连接于第一传动轴301。
本公开实施例提供的清洁机器人包括清洁刷组件100。在清洁刷组件100中，驱动模组20设于支架10。边刷模组30包括第一传动件31和边刷32。第一传动件31设于支架10。边刷32和第一传动件31连接。驱动模组20驱动第一传动件31带动边刷32转动。第一传动件31的第一传动轴301和驱动模组20的输出轴201不平行，从而使得在工作时，边刷32呈倾斜状态。倾斜状态的边刷32能够将清扫物向一个方向聚拢，从而提升清洁机器人对清扫物聚拢和收集的能力。
进一步的，本公开实施例提供的清洁机器人1000还可以包括壳体、收集组件、行走组件、拖地组件和控制组件等。清洁刷组件100、收集组件、行走组件和控制组件安装于壳体，收集组件用于收集清扫物，行走组件用于驱动清洁机器人运动，拖地组件用于拖地，控制组件用于检测和控制清洁机器人工作。
壳体可以包括顶板、底板和侧板。顶板和底板相对设置，侧板连接顶板和底板，并在顶板和底板之间围成容置腔。在清洁机器人工作时，底板朝向底面，行走组件、拖地组件和清洁刷组件100设于底板，收集组件可以设于壳体内的容置腔内，控制组件可以设于顶板或者侧板。
收集组件可以包括集尘盒和吸尘部。集尘盒设于容置腔内，集尘盒用于收集清扫物。在底板上可以开设有开口，该开口和集尘盒连通，清扫物通过底板上的开口进入集尘盒。吸尘部和集尘盒连通，吸尘部用于将清扫物吸入集尘盒。在集尘盒和吸尘部之间可以设置有过滤网，该过滤网用于防止异物进入吸尘部。
行走组件可以包括转向轮和从动轮等。转向轮安装于底板，转向轮用于带动清洁机器人运动，并控制清洁机器人的运动方向。从动轮安装于底板，从动轮用于减少清洁机器人和地面的摩擦力。当然在实际应用中，行走组件也可以是其他形式。比如，行走组件可以是履带式等，本公开实施例并不以此为限。
控制组件可以包括控制模块和检测模块。检测模块可以包括雷达、摄像头、速度传感器、光电传感器、陀螺仪和接触传感器等。通过检测模块检测环境场景和清洁机器人的自身状态。控制模块用于根据检测模块检测到的信号，控制清洁机器人。
进一步的，控制组件还可以包括通信模块。通信模块和控制模块连接，通信模块用于连接网络设备或者控制终端等。通信模块可以包括WiFi模块、蓝牙模块、红外通信模块或者近场通信模块等。
清洁刷组件100设于壳体，第一面板11和底板平行，或者第一面可以嵌于底板。也即是，第一传动件31的第一传动轴301和底板倾斜设置，驱动电机21的驱动轴及第二传动件22的输出轴201和底板垂直设置。
在一可行的实施方式中，第一面板11位于壳体内，且第一面和底板平行。在此基础上，底板上设置有过孔，过孔用于安装边刷32。第一传动轴301穿设于过孔，过孔可以是倾斜孔(过孔不垂直于第一面板11)。
在另一可行的实施方式中，第一面板11嵌于底板。在底板上设置有容置区，容置区设置有容置通孔，第一面板11设于容置通孔内，且第一面板11和底板连接。比如，第一面板11和底板可以是卡接，或者第一面板11和底板通过胶连接的方式连接。
第一面板11和底板平行设置。如此，第二齿轮221和传动齿轮222的齿轮轴都垂直于底板设置。由于齿轮在齿轮轴方向的尺寸小，因此第二齿轮221和传动齿轮222如此设置能够减少齿轮在清洁机器人高度方向上所占用的尺寸，进而提升清洁机器人的紧凑性。
在一些应用场景下(比如，清洁床底、柜底时)，由于工作环境高度有限，因此需要有效地控制清洁机器人的高度。本公开实施例中通过将多个齿轮中的多数齿轮的齿轮轴设置为和底板垂直，能够减小清洁机器人的高度，便于清扫。
本公开实施例提供的清洁机器人1000包括清洁刷组件100。在清洁刷组件100中，驱动模组20设于支架10。边刷模组30包括第一传动件31和边刷32。第一传动件31设于支架10。边刷32和第一传动件31连接。驱动模组20驱动第一传动件31带动边刷32转动。第一传动件31的第一传动轴301和驱动模组20的输出轴201不平行，从而使得在工作时，边刷32呈倾斜状态，倾斜状态的边刷32能够将清扫物向一个方向聚拢，从而提升清洁机器人1000对清扫物聚拢和收集的能力。
本领域技术人员在考虑说明书及实践这里公开的发明后，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所附的权利要求指出。

Claims (11)

  1. 一种清洁刷组件，包括：
    支架；
    驱动模组，所述驱动模组设于所述支架，所述驱动模组具有输出轴；
    边刷模组，所述边刷模组包括第一传动件和边刷，所述第一传动件连接于所述支架，且所述第一传动件和所述驱动模组配合，以通过所述驱动模组驱动所述第一传动件，所述第一传动件具有第一传动轴，所述边刷连接于所述第一传动轴。
  2. 如权利要求1所述的清洁刷组件，其中
    所述第一传动轴和所述驱动模组的输出轴不平行；或，所述的边刷呈倾斜状态。
  3. 如权利要求1或2所述的清洁刷组件，所述驱动模组包括：
    驱动电机，所述驱动电机具有驱动轴；
    第二传动件，所述第二传动件和所述驱动电机连接，所述驱动电机能够驱动所述第二传动件转动，所述输出轴设于所述第二传动件，所述输出轴和所述驱动轴平行。
  4. 如权利要求3所述的清洁刷组件，其中所述第一传动件包括第一齿轮，所述第二传动件包括第二齿轮，所述第一齿轮和所述第二齿轮啮合，所述第一齿轮的齿轮轴形成所述第一传动轴，所述第二齿轮的齿轮轴形成所述输出轴。
  5. 如权利要求4所述的清洁刷组件，其中所述第一齿轮为斜齿轮，所述第二齿轮为直齿轮；
    或者，所述第一齿轮为直齿轮，所述第二齿轮为斜齿轮。
  6. 如权利要求4所述的清洁刷组件，其中所述第二传动件还包括：
    至少一个传动齿轮，所述传动齿轮和所述支架连接，并且所述传动齿轮设于所述第二齿轮和所述驱动电机之间，所述传动齿轮用于将所述驱动电机输出的动力传输至所述第二齿轮，所述传动齿轮的齿轮轴和所述第二齿轮的齿轮轴平行。
  7. 如权利要求3所述的清洁刷组件，其中所述支架包括：
    第一面板，所述第一传动件和所述第二传动件连接于所述第一面板，所述输出轴和所述第一面板垂直设置。
  8. 如权利要求7所述的清洁刷组件，其中所述支架还包括：
    第二面板，所述第二面板和所述第一面板相对设置，且所述第二面板和所述第一面板之间形成容置空间，所述第一传动件和所述第二传动件设于所述容置空间，所述驱动电机设于所述第二面板背离所述第一面板的一侧，所述驱动轴和所述第二面板垂直。
  9. 如权利要求1或2所述的清洁刷组件，其中所述边刷包括：
    刷体，所述刷体连接于所述第一传动轴；
    多个刷枝，多个所述刷枝连接于所述刷体，并且多个所述刷枝背离所述刷体的一端位于同一预设平面，所述预设平面和所述第一传动轴垂直。
  10. 如权利要求9所述的清洁刷组件，其中所述刷枝背离所述刷体的一端具有柔性刷段。
  11. 一种清洁机器人，其中所述清洁机器人包括权利要求1至10中任一项所述的清洁刷组件。
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CN115153351A (zh) * 2022-07-21 2022-10-11 深圳市优纪元科技有限公司 边刷结构及清洁机器人
CN115137250A (zh) * 2022-07-23 2022-10-04 珠海格力电器股份有限公司 地刷及吸尘器
CN219331535U (zh) * 2022-11-14 2023-07-14 苏州宝时得电动工具有限公司 清洁机器人
CN117958701A (zh) * 2024-01-05 2024-05-03 北京石头世纪科技股份有限公司 清洁刷组件及清洁机器人

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