WO2024124405A1 - 清洁机器人及清洁机器人*** - Google Patents

清洁机器人及清洁机器人*** Download PDF

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Publication number
WO2024124405A1
WO2024124405A1 PCT/CN2022/138749 CN2022138749W WO2024124405A1 WO 2024124405 A1 WO2024124405 A1 WO 2024124405A1 CN 2022138749 W CN2022138749 W CN 2022138749W WO 2024124405 A1 WO2024124405 A1 WO 2024124405A1
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WO
WIPO (PCT)
Prior art keywords
assembly
roller brush
cleaning robot
brush
dust
Prior art date
Application number
PCT/CN2022/138749
Other languages
English (en)
French (fr)
Inventor
马子洋
刘艺
Original Assignee
深圳市闪至科技有限公司
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 深圳市闪至科技有限公司 filed Critical 深圳市闪至科技有限公司
Priority to PCT/CN2022/138749 priority Critical patent/WO2024124405A1/zh
Publication of WO2024124405A1 publication Critical patent/WO2024124405A1/zh

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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
    • A47L11/24—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

Definitions

  • the present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot and a cleaning robot system.
  • the bottom of the cleaning robot is provided with a roller brush mechanism, which sweeps up dust and debris on the ground while the cleaning robot is moving, and the dust box assembly inside the cleaning robot sucks the dust and debris swept up by the roller brush mechanism into the dust box assembly.
  • a roller brush mechanism which sweeps up dust and debris on the ground while the cleaning robot is moving, and the dust box assembly inside the cleaning robot sucks the dust and debris swept up by the roller brush mechanism into the dust box assembly.
  • the present application proposes a cleaning robot and a cleaning robot system.
  • the cleaning robot proposed in the first aspect of the present application comprises:
  • a host assembly having an opening at the bottom
  • a dust box assembly is disposed inside the host assembly and is used to suck dust and debris
  • the roller brush mechanism comprises a shell assembly, a drive assembly and a roller brush assembly, wherein the shell assembly is arranged at the opening, the shell assembly has an inner cavity and a dust inlet and a dust outlet connected to the inner cavity, the dust inlet is open toward the bottom of the host assembly, the dust outlet is connected to the dust box assembly, the roller brush assembly is arranged in the inner cavity of the shell assembly, the roller brush assembly comprises a connecting end and a free end, the connecting end is connected to the drive assembly, and the free end is in a cantilever state;
  • the dust outlet is located at the outer shell component close to the free end.
  • the cleaning robot system proposed in the second aspect of the present application includes a maintenance station and a cleaning robot, wherein the cleaning robot includes:
  • a host assembly having an opening at the bottom
  • a dust box assembly is disposed inside the host assembly and is used to suck dust and debris
  • the roller brush mechanism comprises a shell assembly, a drive assembly and a roller brush assembly, wherein the shell assembly is arranged at the opening, the shell assembly has an inner cavity and a dust inlet and a dust outlet connected to the inner cavity, the dust inlet is open toward the bottom of the host assembly, the dust outlet is connected to the dust box assembly, the roller brush assembly is arranged in the inner cavity of the shell assembly, the roller brush assembly comprises a connecting end and a free end, the connecting end is connected to the drive assembly, and the free end is in a cantilever state;
  • the dust outlet is located at the outer shell component close to the free end.
  • the cleaning robot proposed in the first aspect of the present application by setting the free end of the roller brush to be in a cantilever state, the dust outlet of the outer shell assembly is located at the free end of the outer shell assembly close to the roller brush.
  • the suction force formed by the dust box assembly at the dust outlet will suck the filament to move toward the free end of the roller brush, and finally suck the filament into the dust box assembly, thereby preventing the filament from moving to the connecting end of the roller brush and causing the roller brush to get stuck.
  • FIG1 is a schematic diagram of the structure of a cleaning robot from a bottom perspective according to an embodiment of the present application
  • FIG2 is a schematic structural diagram of a roller brush mechanism from a first perspective according to an embodiment of the present application
  • FIG3 is a structural schematic diagram of a roller brush mechanism from a second viewing angle according to an embodiment of the present application
  • FIG4 is an exploded schematic diagram of a roller brush mechanism according to an embodiment of the present application.
  • FIG5 is a schematic structural diagram of a roller brush assembly according to an embodiment of the present application.
  • FIG6 is an exploded schematic diagram of a roller brush assembly according to an embodiment of the present application.
  • FIG7 is a cross-sectional schematic diagram of a roller brush assembly provided in an embodiment of the present application.
  • FIG8 is a partial enlarged schematic diagram of point A in FIG4;
  • FIG9 is a partial enlarged schematic diagram of point B in FIG4;
  • FIG10 is a schematic structural diagram of a first roller brush assembly according to an embodiment of the present application.
  • Fig. 11 is a schematic diagram of the R-R cross section in Fig. 10;
  • FIG12 is a schematic structural diagram of a second roller brush assembly proposed in an embodiment of the present application.
  • Fig. 13 is a schematic diagram of the P-P cross section in Fig. 12;
  • FIG14 is a schematic structural diagram of a roller brush mechanism from a third viewing angle according to an embodiment of the present application.
  • FIG15 is a schematic diagram of the structure of a suspension assembly according to an embodiment of the present application.
  • FIG16 is a schematic structural diagram of a roller brush mechanism proposed in another embodiment of the present application.
  • FIG17 is an exploded schematic diagram of the roller brush mechanism shown in FIG16;
  • FIG18 is a schematic cross-sectional view of a protrusion according to an embodiment of the present application.
  • FIG. 19 is a schematic diagram of the structure of a side brush according to an embodiment of the present application.
  • the cleaning robot 100 includes a main assembly 10, a dust box assembly 20 and a roller brush mechanism 30.
  • the main assembly 10 is provided with an opening 11 at the bottom.
  • the dust box assembly 20 is arranged inside the main assembly 10.
  • the dust box assembly 20 is used to suck dust and debris.
  • the roller brush mechanism 30 includes a shell assembly 31, a drive assembly 32 and a roller brush assembly 33.
  • the shell assembly 31 is arranged at the opening 11.
  • the shell assembly 31 has an inner cavity and a dust inlet C1 and a dust outlet C2 connected to the inner cavity.
  • the dust inlet C1 is open toward the bottom of the main assembly 10.
  • the dust outlet C2 is connected to the dust box assembly 20.
  • the roller brush assembly 33 is arranged in the inner cavity of the shell assembly 31.
  • the roller brush assembly 33 includes a connecting end 33a and a free end 33b.
  • the connecting end 33a is connected to the drive assembly 32, and the free end 33b is in a cantilever state.
  • the dust outlet C2 is located near the free end 33b of the shell assembly 31.
  • the dust outlet C2 is located at the outer shell component 31 near the free end 33b.
  • the dust outlet C2 may be opposite to the free end 33b, or opposite to any position between the midpoint between the connecting end 33a and the free end 33b and the free end 33b.
  • the dust box assembly 20 When in use, the dust box assembly 20 operates to form suction at the dust inlet C1, and the roller brush mechanism 30 operates to sweep up dust and debris on the ground, and the swept dust and debris enter the dust box assembly 20 through the dust inlet C1.
  • the filaments When there are filaments on the ground, the filaments are rolled up by the roller brush and move to the free end 33b of the roller brush assembly 33 under the action of the suction force generated by the dust box assembly 20, and finally enter the dust box assembly 20 through the dust outlet C2.
  • the cleaning robot 100 proposed in the embodiment of the present application sets the free end 33b of the roller brush in a cantilever state, and the dust outlet C2 of the outer shell component 31 is located at the outer shell component 31 near the free end 33b of the roller brush.
  • the suction force formed by the dust box component 20 at the dust outlet C2 will suck the filament to move toward the free end 33b of the roller brush, and finally suck the filament into the dust box component 20, so as to prevent the filament from moving to the connecting end 33a of the roller brush and causing the roller brush to get stuck.
  • the number of the driving components 32 is two, and the two driving components 32 are respectively a first driving component 321 and a second driving component 322.
  • the first driving component 321 is arranged on one side of the housing component 31, and the second driving component 322 is arranged on the other side of the housing component 31.
  • the number of the roller brush components 33 is two, and the two roller brush components 33 are respectively a first roller brush component 331 and a second roller brush component 332.
  • the first roller brush component 331 is connected to the first driving component 321, and the second roller brush component 332 is connected to the second driving component 322.
  • the free end 33b of the first roller brush component 331 and the free end 33b of the second roller brush component 332 are arranged opposite to each other.
  • the roller brush assembly 33 is provided with a receiving space D near the connecting end 33a, and the receiving space D is used to receive the filaments moved to the connecting end 33a.
  • the receiving space D is used to receive the filaments moved to the connecting end 33a.
  • the roller brush assembly 33 includes a roller brush 333, a shaft assembly 334, and a filament collector 335.
  • One end of the shaft assembly 334 is connected to the driving assembly 32, and the other end of the shaft assembly 334 is inserted into the roller brush 333.
  • the shaft assembly 334 is spaced apart from the inner side wall of the roller brush 333.
  • the filament collector 335 is annularly arranged on the shaft assembly 334, and the filament collector 335 partially abuts against the inner side wall of the roller brush 333.
  • the roller brush 333, the shaft assembly 334, and the filament collector 335 enclose a receiving space D.
  • the filament collecting member 335 includes a sleeve 336 and a blocking member 337.
  • the sleeve 336 is disposed around the outer wall of the shaft assembly 334, and the blocking member 337 is disposed around the outer wall of the sleeve 336 and abuts against the inner wall of the roller brush 333.
  • the sleeve 336, the blocking member 337 and the roller brush 333 enclose a receiving space D.
  • the blocking member 337 includes a connecting portion 3371 and a blocking portion 3372.
  • the connecting portion 3371 is arranged on the outer wall of the sleeve 336, and the blocking portion 3372 is arranged on the connecting portion 3371 and extends in an arc shape toward the connecting end 33a.
  • the blocking portion 3372 abuts against the inner wall of the roller brush 333.
  • the outer wall of the shaft sleeve 336 is provided with an embedding groove 3361 extending along the circumference of the shaft sleeve 336 , and the connecting portion 3371 is embedded in the embedding groove 3361 .
  • the shaft assembly 334 includes a transmission shaft 3341, a bearing 3342 and a bearing seat 3343, the bearing seat 3343 is installed on the housing assembly 31, the bearing 3342 is sleeved on the transmission shaft 3341 and installed on the bearing seat 3343, one end of the transmission shaft 3341 is passed through the roller brush 333 and is relatively fixed to the roller brush 333, that is, the transmission shaft 3341 and the roller brush 333 cannot rotate relative to each other, the other end of the transmission shaft 3341 is connected to the driving assembly 32, and the filament collecting member 335 is ringed on the bearing seat 3343.
  • the blocking member 337 is a blocking member 337 made of a flexible material. In this embodiment, it is possible to avoid the blocking portion 3372 and the roller brush 333 getting stuck, the roller brush 333 being unable to rotate, and the drive assembly 32 being burned out. It is understandable that in some usage scenarios, there may be some large debris on the ground, such as melon seed shells, which are stuck between the blocking portion 3372 and the roller brush 333. If the blocking portion 3372 is made of a hard material, the roller brush 333 will not be able to rotate, and then the transmission shaft 3341 will not be able to rotate, and the drive assembly 32 will be at risk of burning out.
  • the bearing seat 3343 includes a seat body 3344 and an annular shielding portion 3345, the annular shielding portion 3345 is disposed around the outer wall of the seat body 3344, the annular shielding portion 3345 is spaced apart from the end of the roller brush 333, and the filament enters the receiving space D from the gap between the annular shielding portion 3345 and the end of the roller brush 333.
  • the annular shielding portion 3345 can block the filament from moving toward the drive assembly 32, thereby preventing the filament from winding around the drive assembly 32 and causing the drive assembly 32 to become stuck.
  • a foolproof structure is provided between the first roller brush assembly 331 and the housing assembly 31.
  • the first roller brush assembly 331 and the second roller brush assembly 332 can be prevented from being installed in the wrong position.
  • the outer wall of the bearing seat 3343 of the first roller brush assembly 331 is at least partially in an arc shape E1
  • the portion where the outer shell assembly 31 cooperates with the bearing seat 3343 is at least partially in an arc shape E1
  • the two cooperate to form the fool-proof structure.
  • a foolproof structure is provided between the second roller brush assembly 332 and the housing assembly 31.
  • the first roller brush assembly 331 and the second roller brush assembly 332 can be prevented from being installed in the wrong position.
  • the outer wall of the bearing seat 3343 of the second roller brush assembly 332 is at least partially polygonal in shape E2 and the portion where the outer shell assembly 31 cooperates with the bearing seat 3343 is at least partially polygonal in shape E2, and the two cooperate to form the fool-proof structure.
  • the first roller brush assembly 331 includes a first roller brush 3311 and a first shaft assembly 3312 connected to the first roller brush 3311.
  • a foolproof structure is provided between the first roller brush 3311 and the first shaft assembly 3312. With this embodiment, assembly errors between the first roller brush 3311, the first shaft assembly 3312, the second roller brush 3321, and the second shaft assembly 3322 can be avoided.
  • the outer side wall of the first shaft assembly 3312 is provided with three axially extending first ribs 3313
  • the first roller brush 3311 is provided with three axially extending first long grooves 3314
  • the first ribs 3313 and the first long grooves 3314 cooperate to form the fool-proof structure.
  • the second roller brush assembly 332 includes a second roller brush 3321 and a second shaft assembly 3322 connected to the second roller brush 3321, and a foolproof structure is provided between the second roller brush 3321 and the second shaft assembly 3322.
  • assembly errors among the first roller brush 3311, the first shaft assembly 3312, the second roller brush 3321, and the second shaft assembly 3322 can be avoided.
  • the outer side wall of the second shaft assembly 3322 is provided with two axially extending second ribs 3323, and the second roller brush 3321 is provided with two axially extending second long grooves 3324, and the second ribs 3323 and the second long grooves 3324 cooperate to form the anti-fool structure.
  • the cleaning robot 100 further includes a suspension assembly 40, which connects the main assembly 10 and the roller brush mechanism 30, so that the roller brush mechanism 30 can float up and down relative to the main assembly 10.
  • the roller brush mechanism 30 can move up and down, so that the cleaning robot 100 has a better obstacle crossing function.
  • the suspension assembly 40 includes a first connecting member 41, a second connecting member 42 and a connecting rod assembly 43, wherein the first connecting member 41 is connected to the host assembly 10, and the second connecting member 42 is connected to the roller brush assembly 33.
  • One end of the connecting rod assembly 43 is rotatably connected to the first connecting member 41, and the other end of the connecting rod assembly 43 is rotatably connected to the roller brush assembly 33.
  • the connecting rod assembly 43 includes a first connecting rod 431 and a second connecting rod 432.
  • One end of the first connecting rod 431 is rotatably connected to the first connecting member 41, and the other end of the first connecting rod 431 is rotatably connected to the roller brush assembly 33.
  • One end of the second connecting rod 432 is rotatably connected to the first connecting member 41, and the other end of the second connecting rod 432 is rotatably connected to the roller brush assembly 33.
  • the first connecting rod 431 and the second connecting rod 432 are arranged in parallel.
  • connecting rod assembly 43 is not limited to being configured to include the first connecting rod 431 and the second connecting rod 432. In some other embodiments, the connecting rod assembly 43 may be configured to include only the first connecting rod 431, as long as the suspension assembly 40 enables the roller brush mechanism 30 to float up and down.
  • the housing assembly 31 includes an upper housing assembly 311, a lower housing assembly 312, and a support member 313.
  • the upper housing assembly 311 is provided with a dust outlet C2
  • the lower housing assembly 312 is provided with a dust inlet C1
  • the upper housing assembly 311 and the lower housing assembly 312 are enclosed to form an inner cavity.
  • the support member 313 is provided between the upper housing assembly 311 and the lower housing assembly 312, and the support member 313 cooperates with the upper housing assembly 311 to lock the connecting end 33a of the roller brush assembly 33.
  • the support member 313 is first connected to the upper housing assembly 311 to clamp the connecting end 33a of the roller brush assembly 33, and then the lower housing assembly 312 is assembled and fixed to the upper housing assembly 311.
  • one end of the support member 313 is rotatably connected to the upper shell assembly 311, and the other end of the support member 313 is snap-connected to the upper shell assembly 311.
  • the connecting end 33a of the roller brush assembly 33 is disposed between the upper shell assembly 311 and the support member 313, and then the support member 313 is rotated until the supporting member 313 and the upper shell assembly 311 are snap-connected, thus completing the fixing of the connecting end 33a of the roller brush assembly 33.
  • the installation of the roller brush assembly 33 is very convenient.
  • the support member 313 is provided with a first limiting portion 3131
  • the connecting end 33a is provided with a second limiting portion 33a1
  • the first limiting portion 3131 cooperates with the second limiting portion 33a1 to limit the movement of the roller brush assembly 33 relative to the support member 313.
  • the roller brush assembly 33 can be prevented from shaking after being installed on the housing assembly 31, so that the roller brush assembly 33 can operate stably.
  • the first limiting portion 3131 includes a protrusion provided on the support member 313, and the second limiting portion 33a1 is a through hole provided on the connecting end 33a, and the protrusion is embedded in the through hole to limit the movement of the roller brush assembly 33 relative to the support member 313.
  • the first limiting portion 3131 and the second limiting portion 33a1 are not limited to the matching mode of the protrusion and the through hole, and can also be the matching mode of the protrusion and the slot, which can be determined according to actual design needs.
  • the lower shell assembly 312 includes a lower shell 3121 and a protective shell 3122, the lower shell 3121 is connected to the upper shell assembly 311, and the protective shell 3122 is detachably connected to the lower shell 3121.
  • the lower shell 3121 and the upper shell assembly 311 are fixed by bolts.
  • the lower shell assembly 312 further includes a hook member 3123 and an elastic member 3124
  • the lower shell 3121 includes a first side F1 and a second side F2 opposite to the first side F1, the first side F1 faces the upper shell assembly 311
  • the lower shell 3121 is provided with an assembly hole 3125 extending from the first side F1 to the second side F2
  • the hook member 3123 is movably mounted on the lower shell 3121
  • the hook member 3123 is partially penetrated through the assembly hole 3125 and hooks the first side F1 of the lower shell 3121
  • the elastic member 3124 is used to provide elastic force so that the hook member 3123 remains hooked on the first side F1 of the lower shell 3121.
  • the hook member 3123 is toggled to move the buckle member into the range of the assembly hole 3125, and then the protective shell 3122 can be removed.
  • the dust inlet C1 includes a front side G1 and a rear side G2 opposite to the front side G1, and the direction from the rear side G2 toward the front side G1 is the forward direction of the cleaning robot 100.
  • the roller brush mechanism 30 also includes a scraper bar 34, which is mounted on the lower shell assembly 312 and located at the rear side G2 of the dust inlet C1, and the scraper bar 34 is used to abut against the ground to prevent dust and debris from leaking from the rear of the cleaning robot 100.
  • the scraper bar 34 prevents dust and debris from leaking from the rear of the cleaning robot 100, so that the cleaning robot 100 can achieve a better cleaning effect.
  • the scraper strip 34 is sandwiched between the lower shell 3121 and the protective shell 3122 , which facilitates the disassembly, assembly and replacement of the scraper strip 34 .
  • the host assembly 10 includes a chassis 12, the chassis 12 is provided with an opening 11, and the housing assembly 31 is provided with an overlap portion 314, and the overlap portion 314 overlaps the chassis 12 to limit the height of the roller brush assembly 33 relative to the ground.
  • the height of the roller brush assembly 33 and the ground can be well controlled, so that the roller brush assembly 33 has a better cleaning effect while avoiding the situation where the roller brush assembly 33 contacts the ground in large quantities, resulting in a large travel resistance of the cleaning robot 100.
  • the outer shell component 31 is made of a flexible material at least around the dust outlet C2.
  • the outer shell component 31 and the dust box component 20 are softly connected, so that the roller brush mechanism 30 has space to float up and down.
  • the proposed roller brush mechanism 30 of the cleaning robot 100 is not limited to the above-mentioned method including two drive components 32 and two roller brush components 33.
  • the roller brush mechanism 30 only includes one drive component 32 and one roller brush component 33.
  • the connecting end 33a of the roller brush component 33 is connected to the drive component 32, the free end 33b of the roller brush component 33 is in a cantilever state, and the dust outlet C2 is located near the free end 33b of the housing component 31.
  • the suction force formed by the dust box component 20 at the dust outlet C2 will suck the filament to move toward the free end 33b of the roller brush 333, and finally suck the filament into the dust box component 20, so as to avoid the filament moving to the connecting end 33a of the roller brush 333 and causing the roller brush 333 to get stuck.
  • the roller brush assembly 33 includes a roller brush 333, which includes a body 3331 and a plurality of brush strips 3332, wherein the plurality of brush strips 3332 are disposed on the outer side wall of the body 3331 and extend in the length direction of the body 3331, wherein the brush strips 3332 are provided with steps 3333, and the steps 3333 are used to prevent the filaments on the roller brush 333 from moving from the free end 33b toward the connecting end 33a.
  • the steps 3333 by providing the steps 3333, the filaments wound on the roller brush 333 are further prevented from moving toward the connecting end 33a, thereby reducing the possibility of the roller brush mechanism 30 being stuck.
  • the brush strip 3332 extending in the length direction of the main body 3331 does not necessarily extend in a straight line along the axial direction of the main body 3331 , but may also extend in a spiral shape along the main body 3331 .
  • the outer diameter of the roller brush 333 gradually decreases from the connecting end 33a toward the free end 33b. In this embodiment, since the outer diameter of the roller brush 333 gradually decreases, the filament will become loose during the movement toward the free end 33b, which facilitates the movement of the filament toward the free end 33b.
  • the roller brush 333 has a rotation axis L, and the angle between the side wall of the roller brush 333 and the rotation axis L is 0°-10°.
  • the roller brush assembly 33 includes a roller brush 333
  • the driving assembly 32 includes a motor 323 and a gearbox 324
  • the motor 323 is mounted on the host assembly 10
  • the gearbox 324 is connected to the motor 323
  • the shaft extending from the gearbox 324 is connected to the roller brush 333.
  • the roller brush 333 is connected to the shaft extending from the gearbox 324 for a larger portion, which can improve the rigidity of the roller brush 333.
  • the motor 323 is rotatably connected to the main assembly 10, so that the roller brush mechanism 30 can be rotated out of the opening 11 as a whole.
  • the roller brush 333 can be easily disassembled and assembled.
  • the roller brush assembly 33 includes a roller brush 333 and a shaft assembly 334
  • the drive assembly 32 includes a motor 323, a gearbox 324 and a coupling 325
  • the motor 323 is installed on the main assembly 10
  • the gearbox 324 is connected to the motor 323, one end of the shaft assembly 334 is connected to the roller brush 333
  • the other end of the shaft assembly 334 is connected to the gearbox 324 through the coupling 325.
  • the cleaning robot 100 further includes a side brush 50, which is rotatably mounted on the bottom of the main assembly 10.
  • the side brush 50 is used to clean dust and debris to the dust inlet C1, and the side brush 50 rotates to form an annular cleaning area.
  • a protrusion 13 is provided at the bottom of the main assembly 10, and the protrusion 13 is located in the annular cleaning area.
  • the protrusion 13 is used to block the side brush 50 so that the side brush 50 is deformed and the dust and debris stuck to it are thrown out when it is restored.
  • the protrusion 13 can clean the dust and debris stuck to the side brush 50, so that the side brush 50 can regain a better cleaning effect.
  • the dust inlet C1 is located between the two side brushes 50 .
  • the protrusion 13 includes a protrusion body 131 and comb teeth 132 .
  • the comb teeth 132 are disposed on the side wall of the protrusion body 131 , and the comb teeth 132 are used to remove filaments entangled on the side brush 50 .
  • the comb teeth 132 include a first end and a second end, the first end is connected to the protruding body 131, and the second end is provided with a hook-shaped portion 1321.
  • the hook-shaped portion 1321 can have a better cleaning effect on the filaments.
  • the side brush 50 includes a mounting portion 51, a support leg 52, and bristles 53, wherein the mounting portion 51 is rotatably mounted on the bottom of the main assembly 10, and the support leg 52 is disposed around the mounting portion 51.
  • the bristles 53 are mounted on the support leg 52, wherein the bristles 53 rotate to form an annular cleaning area.
  • An embodiment of the present application further provides a cleaning robot system, which includes a maintenance station and the cleaning robot 100 described above.
  • the maintenance station includes at least one of the functions of charging the cleaning robot 100 , filling water into a water tank of the cleaning robot 100 , and sucking out dust and debris inside the dust box assembly 20 .

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Abstract

一种清洁机器人(100)及清洁机器人***，其中，清洁机器人(100)包括主机组件(10)、尘盒组件(20)和滚刷机构(30)，主机组件(10)底部设有开口(11)，尘盒组件(20)设于主机组件(10)内部，尘盒组件(20)用于抽吸灰尘碎屑，滚刷机构(30)包括外壳组件(31)、驱动组件(32)和滚刷组件(33)，外壳组件(31)设于开口(11)处，外壳组件(31)具有内腔和连通内腔的进尘口(C1)、出尘口(C2)，进尘口(C1)朝向主机组件(10)的底部敞开，出尘口(C2)与尘盒组件(20)连通，滚刷组件(33)设于外壳组件(31)的内腔，滚刷组件(33)包括连接端(33a)和自由端(33b)，连接端(33a)与驱动组件(32)连接，自由端(33b)为悬臂状态，其中，出尘口(C2)位于外壳组件(31)靠近自由端(33b)处。

Description

清洁机器人及清洁机器人*** 技术领域
本申请涉及清洁设备技术领域，尤其涉及清洁机器人及清洁机器人***。
背景技术
清洁机器人的底部设有滚刷机构，滚刷机构在清洁机器人行进的过程中将地面的灰尘碎屑扫起，设于清洁机器人内部的尘盒组件将滚刷机构扫起的灰尘碎屑吸入到尘盒组件内部。在一些清扫场景中，如果地面有头发等丝状物，丝状物容易卷入到滚刷组件造成滚刷组件卡死，导致清洁机器人不能正常运行。
发明内容
有鉴于此，本申请提出了清洁机器人及清洁机器人***。
本申请第一方面提出的清洁机器人，包括：
主机组件，底部设有开口；
尘盒组件，设于所述主机组件内部，所述尘盒组件用于抽吸灰尘碎屑；
滚刷机构，包括外壳组件、驱动组件和滚刷组件，所述外壳组件设于所述开口处，所述外壳组件具有内腔和连通所述内腔的进尘口、出尘口，所述进尘口朝向所述主机组件的底部敞开，所述出尘口与所述尘盒组件连通，所述滚刷组件设于所述外壳组件的内腔，所述滚刷组件包括连接端和自由端，所述连接端与所述驱动组件连接，所述自由端为悬臂状态；
其中，所述出尘口位于所述外壳组件靠近所述自由端处。
本申请第二方面提出的清洁机器人***，包括维护站和清洁机器人，所述清洁机器人包括：
主机组件，底部设有开口；
尘盒组件，设于所述主机组件内部，所述尘盒组件用于抽吸灰尘碎屑；
滚刷机构，包括外壳组件、驱动组件和滚刷组件，所述外壳组件设于所述开口处，所述外壳组件具有内腔和连通所述内腔的进尘口、出尘口，所述进尘口朝向所述主机组件的底部敞开，所述出尘口与所述尘盒组件连通，所述滚刷组件设于所述外壳组件的内腔，所述滚刷组件包括连接端和自由端，所述连接端与所述驱动组件连接，所述自由端为悬臂状态；
其中，所述出尘口位于所述外壳组件靠近所述自由端处。
从上述的技术方案可以看出，本申请第一方面提出的清洁机器人，通过设置滚刷的自由端为悬臂状态，外壳组件的出尘口位于外壳组件靠近滚刷的自由端处，如此，当有丝状物缠绕到滚刷，尘盒组件在出尘口处形成的吸力会吸住丝状物往滚刷的自由端移动，最终将丝状物吸进尘盒组件，避免丝状物移动到滚刷的连接端导致出现滚刷卡死的情况。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，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是本申请一实施例提出的清洁机器人的底部视角的结构示意图；
图2是本申请一实施例提出的滚刷机构的第一视角的结构示意图；
图3是本申请一实施例提出的滚刷机构的第二视角的结构示意图；
图4是本申请一实施例提出的滚刷机构的***示意图；
图5是本申请一实施例提出的滚刷组件的结构示意图；
图6是本申请一实施例提出的滚刷组件的***示意图；
图7是本申请一实施例提出的滚刷组件的剖视示意图；
图8是图4中A处的局部放大示意图；
图9是图4中B处的局部放大示意图；
图10是本申请一实施例提出的第一滚刷组件的结构示意图；
图11是图10中R-R截面示意图；
图12是本申请一实施例提出的第二滚刷组件的结构示意图；
图13是图12中P-P截面示意图；
图14是本申请一实施例提出的滚刷机构的第三视角的结构示意图；
图15是本申请一实施例提出的悬挂组件的结构示意图；
图16是本申请另一实施例提出的滚刷机构的结构示意图；
图17是图16所示滚刷机构的***示意图；
图18是本申请一实施例提出的凸起的截面示意图；
图19是本申请一实施例提出的边刷的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1至图3所示，本申请的实施例提出一种清洁机器人100，提出的清洁机器人100包括主机组件10、尘盒组件20和滚刷机构30，主机组件10底部设有开口11，尘盒组件20设于主机组件10内部，尘盒组件20用于抽吸灰尘碎屑。滚刷机构30包括外壳组件31、驱动组件32和滚刷组件33，外壳组件31设于开口11处，外壳组件31具有内腔和连通内腔的进尘口C1、出尘口C2，进尘口C1朝向主机组件10的底部敞开，出尘口C2与尘盒组件20连通，滚刷组件33设于外壳组件31的内腔，滚刷组件33包括连接端33a和自由端33b，连接端33a与驱动组件32连接，自由端33b为悬臂状态。其中，出尘口C2位于外壳组件31靠近自由端33b处。所述的出尘口C2位于外壳组件31靠近自由端33b处，可以是出尘口C2与自由端33b相对，也可以是出尘口C2与连接端33a和自由端33b的中点到自由端33b之间的任意位置相对。
使用时，尘盒组件20运行在进尘口C1处形成吸力，滚刷机构30运行将地面的灰尘碎屑扫起，扫起的灰尘碎屑通过进尘口C1进入尘盒组件20。当地面有丝状物时，丝状物被滚刷卷起并在尘盒组件20产生的抽吸力的作用下移动到滚刷组件33的自由端33b，最终通过出尘口C2进入到尘盒组件20内部。
本申请实施例提出的清洁机器人100，通过设置滚刷的自由端33b为悬臂状态，外壳组件31的出尘口C2位于外壳组件31靠近滚刷的自由端33b处，如此，当有丝状物缠绕到滚刷，尘盒组件20在出尘口C2处形成的吸力会吸住丝状物往滚刷的自由端33b移动，最终将丝状物吸进尘盒组件20，避免丝状物移动到滚刷的连接端33a导致出现滚刷卡死的情况。
如图4所示，在一些实施例中，驱动组件32的数量为两个，两个驱动组件32分别为第一驱动组件321和第二驱动组件322，第一驱动组件321设于外壳组件31的一侧，第二驱动组件322设于外壳组件31的另一侧。滚刷组件33的数量为两个，两个滚刷组件33分别为第一滚刷组件331和第二滚刷组件332， 第一滚刷组件331与第一驱动组件321连接，第二滚刷组件332与第二驱动组件322连接，第一滚刷组件331的自由端33b和第二滚刷组件332的自由端33b相对设置。
如图5至图7所示，在一些实施例中，滚刷组件33靠近连接端33a处设有收容空间D，收容空间D用于收容移动到连接端33a的丝状物。以该实施方式，可以避免少量的丝状物移动到滚刷的连接端33a缠绕到滚刷组件33的转轴，使得驱动组件32不能转动出现损坏的情况。
如图5至图7所示，在一些实施例中，滚刷组件33包括滚刷333、轴组件334和丝状物收集件335，轴组件334的一端与驱动组件32连接，轴组件334的另一端穿设于滚刷333内部，轴组件334与滚刷333的内侧壁间隔设置。丝状物收集件335环设于轴组件334，丝状物收集件335部分抵接滚刷333的内侧壁，滚刷333、轴组件334和丝状物收集件335围合形成收容空间D。
如图5至图7所示，在一些实施例中，丝状物收集件335包括轴套336和阻挡件337，轴套336环设于轴组件334的外侧壁，阻挡件337环设于轴套336的外侧壁并抵接滚刷333的内侧壁。轴套336、阻挡件337和滚刷333围合形成收容空间D。
如图7所示，在一些实施例中，阻挡件337包括连接部3371和阻挡部3372，连接部3371环设于轴套336的外侧壁，阻挡部3372环设于连接部3371并朝向连接端33a呈弧形延伸，阻挡部3372抵接滚刷333的内侧壁。
如图7所示，在一些实施例中，轴套336的外侧壁设有沿轴套336周向延伸的嵌入槽3361，连接部3371嵌于嵌入槽3361。
如图6和图7所示，在一些实施例中，轴组件334包括传动轴3341、轴承3342和轴承座3343，轴承座3343安装于外壳组件31，轴承3342套设于传动轴3341并安装于轴承座3343，传动轴3341的一端穿设于滚刷333并与滚刷333相对固定，即传动轴3341与滚刷333之间不能发生相对转动，传动轴3341的另一端与驱动组件32连接，丝状物收集件335环设于轴承座3343。
在一些实施例中，阻挡件337为采用柔性材料制成的阻挡件337。以该实施方式，可以避免阻挡部3372和滚刷333卡住，滚刷333不能转动导致驱动组件32烧坏的情况。可以理解地，在一些使用场景中，地面上可能有一些较大的碎屑，例如瓜子壳，瓜子壳卡在阻挡部3372和滚刷333之间，如果阻挡部3372采用硬质材料制成，会导致滚刷333不能转动，继而使得传动轴3341不能发生 转动，驱动组件32有烧坏的风险。
如图7所示，在一些实施例中，轴承座3343包括座体3344和环形遮挡部3345，环形遮挡部3345环设于座体3344的外侧壁，环形遮挡部3345与滚刷333的端部间隔设置，丝状物从环形遮挡部3345与滚刷333的端部之间的间隙进入收容空间D。以该实施方式，环形遮挡部3345可以阻挡丝状物向驱动组件32移动，避免丝状物缠绕驱动组件32，导致驱动组件32出现卡死的情况。
如图8所示，在一些实施例中，第一滚刷组件331与外壳组件31之间设有防呆结构。以该实施方式，可以避免第一滚刷组件331和第二滚刷组件332位置安装错误。
示例性地，第一滚刷组件331的轴承座3343的外侧壁至少部分呈圆弧状E1，外壳组件31与轴承座3343配合的部分至少部分呈圆弧状E1，两者之间配合形成所述防呆结构。
如图9所示，在一些实施例中，第二滚刷组件332与外壳组件31之间设有防呆结构。以该实施方式，可以避免第一滚刷组件331和第二滚刷组件332位置安装错误。
示例性地，第二滚刷组件332的轴承座3343的外侧壁至少部分呈多边形状E2，外壳组件31与轴承座3343配合的部分至少部分呈多边形状E2，两者之间配合形成所述防呆结构。
如图10和图11所示，在一些实施例中，第一滚刷组件331包括第一滚刷3311和与第一滚刷3311连接的第一轴组件3312。其中，第一滚刷3311与第一轴组件3312之间设有防呆结构。以该实施方式，可以避免第一滚刷3311、第一轴组件3312、第二滚刷3321、第二轴组件3322之间装配错误。
示例性地，第一轴组件3312的外侧壁设有三个轴向延伸的第一筋条3313，第一滚刷3311设有三个轴向延伸的第一长槽3314，第一筋条3313与第一长槽3314配合形成所述防呆结构。
如图12和图13所示，在一些实施例中，第二滚刷组件332包括第二滚刷3321和与第二滚刷3321连接的第二轴组件3322，第二滚刷3321与第二轴组件3322之间设有防呆结构。以该实施方式，可以避免第一滚刷3311、第一轴组件3312、第二滚刷3321、第二轴组件3322之间装配错误。
示例性地，第二轴组件3322的外侧壁设有两个轴向延伸的第二筋条3323，第二滚刷3321设有两个轴向延伸的第二长槽3324，第二筋条3323与第二长槽 3324配合形成所述防呆结构。
如图14和图15所示，在一些实施例中，清洁机器人100还包括悬挂组件40，悬挂组件40连接主机组件10和滚刷机构30，使得滚刷机构30相对于主机组件10可上下浮动。以该实施方式，通过设置悬挂组件40，使得滚刷机构30可以上下移动，使得清洁机器人100具有较好的越障功能。
在一些实施例中，悬挂组件40包括第一连接件41、第二连接件42和连杆组件43，第一连接件41与主机组件10连接，第二连接件42与滚刷组件33连接。连杆组件43的一端与第一连接件41可转动连接，连杆组件43的另一端与滚刷组件33可转动连接。
在一些实施例中，连杆组件43包括第一连杆431和第二连杆432，第一连杆431的一端与第一连接件41可转动连接，第一连杆431的另一端与滚刷组件33可转动连接。第二连杆432的一端与第一连接件41可转动连接，第二连杆432的另一端与滚刷组件33可转动连接。其中，第一连杆431与第二连杆432平行设置。
需要说明的是，连杆组件43不局限于设置为包括第一连杆431和第二连杆432，在其他一些实施例中，连杆组件43设置为只包括第一连杆431也是可以的，只要悬挂组件40使得滚刷机构30能够上下浮动即可。
如图4所示，在一些实施例中，外壳组件31包括上壳组件311、下壳组件312和支撑件313，上壳组件311设有出尘口C2，下壳组件312设有进尘口C1，上壳组件311和下壳组件312围合形成内腔。支撑件313设于上壳组件311与下壳组件312之间，支撑件313与上壳组件311配合以锁紧滚刷组件33的连接端33a。装配时，先将支撑件313与上壳组件311连接以夹紧滚刷组件33的连接端33a，然后将下壳组件312与上壳组件311组装固定。
在一些实施例中，支撑件313的一端与上壳组件311转动连接，支撑件313的另一端与上壳组件311卡扣连接。组装时，将滚刷组件33的连接端33a设于上壳组件311和支撑件313之间，然后转动支撑件313直至支撑件313与上壳组件311之间卡扣，即完成滚刷组件33的连接端33a的固定。以该实施方式，非常方便滚刷组件33的安装。
如图4和图9所示，在一些实施例中，支撑件313设有第一限位部3131，连接端33a设有第二限位部33a1，第一限位部3131与第二限位部33a1配合以限制滚刷组件33相对于支撑件313移动。以该实施方式，通过第一限位部3131 和第二限位部33a1的限位作用，可以避免滚刷组件33安装至外壳组件31后发生晃动，使得滚刷组件33可以稳定地运行。
示例性地，第一限位部3131包括设于支撑件313的凸起，第二限位部33a1为设于连接端33a的通孔，凸起嵌于通孔内以限制滚刷组件33相对于支撑件313移动。当然，第一限位部3131和第二限位部33a1不局限于凸起和通孔的配合方式，也可以是凸起与卡槽的配合方式，具体可以根据实际设计需要而定。
如图4所示，在一些实施例中，下壳组件312包括下壳体3121和保护壳3122，下壳体3121与上壳组件311连接，保护壳3122与下壳体3121可拆卸连接。可选地，下壳体3121与上壳组件311之间采用螺栓固定。
如图4所示，示例性地，下壳组件312还包括卡勾件3123和弹性件3124，下壳体3121包括第一侧F1和与第一侧F1相对的第二侧F2，第一侧F1朝向上壳组件311，下壳体3121设有从第一侧F1延伸到第二侧F2的装配孔3125，卡勾件3123活动安装于下壳体3121，卡勾件3123部分穿设于装配孔3125并勾住下壳体3121的第一侧F1，弹性件3124用于提供弹力，使得卡勾件3123保持勾住下壳体3121的第一侧F1。当需要将保护壳3122拆下时，拨动卡勾件3123使得卡扣件移动到装配孔3125的范围内，然后将保护壳3122取下即可。
如图1和图4所示，在一些实施例中，进尘口C1包括前侧G1和与前侧G1相对的后侧G2，从后侧G2朝向前侧G1的方向为清洁机器人100的前进方向。滚刷机构30还包括刮条34，刮条34安装于下壳组件312且位于进尘口C1的后侧G2，刮条34用于抵接地面以阻挡灰尘碎屑从清洁机器人100的后方漏出。以该实施方式，刮条34避免了灰尘碎屑从清洁机器人100的后方漏出，使得清洁机器人100可以起到较佳的清洁效果。
在一些实施例中，刮条34夹设在下壳体3121和保护壳3122之间，有利于刮条34的拆装更换。
如图1和图4所示，在一些实施例中，主机组件10包括底盘12，底盘12设有开口11，外壳组件31设有搭接部314，搭接部314搭接底盘12以限定滚刷组件33相对于地面的高度。以该实施方式，可以较好地控制滚刷组件33与地面的高度，使得滚刷组件33在具有较佳清扫效果的同时，又避免出现滚刷组件33与地面大量接触导致清洁机器人100行进阻力大的情况。
在一些实施例中，外壳组件31至少在出尘口C2四周采用柔性材料制成。以该实施方式，外壳组件31与尘盒组件20之间为软连接，使得滚刷机构30具 有上下浮动的空间。
需要说明的是，提出的清洁机器人100的滚刷机构30不局限于采用上述的包括两个驱动组件32和两个滚刷组件33的方式，例如，在其他一些实施例中，如图16和图17所示，滚刷机构30只包括一个驱动组件32和一个滚刷组件33，同样地，本实施例中，滚刷组件33的连接端33a与驱动组件32连接，滚刷组件33的自由端33b呈悬臂状态，出尘口C2位于外壳组件31靠近自由端33b处。同样地，当有丝状物缠绕到滚刷333，尘盒组件20在出尘口C2处形成的吸力会吸住丝状物往滚刷333的自由端33b移动，最终将丝状物吸进尘盒组件20，避免丝状物移动到滚刷333的连接端33a导致出现滚刷333卡死的情况。
在一些实施例中，滚刷组件33包括滚刷333，滚刷333包括本体3331和多个刷条3332，多个刷条3332设于本体3331的外侧壁并朝向本体3331的长度方向延伸，其中，刷条3332设有台阶3333，台阶3333用于阻挡滚刷333上的丝状物从自由端33b朝向连接端33a移动。以该实施方式，通过设置台阶3333，进一步避免缠绕在滚刷333上的丝状物朝向连接端33a移动，减少滚刷机构30出现卡死的情况。
需要说明的是，刷条3332朝向本体3331的长度方向延伸并不一定是沿着本体3331的轴向呈直线状延伸，也可以是沿着本体3331呈螺旋状延伸。
在一些实施例中，从连接端33a朝向自由端33b的方向，滚刷333的外径逐渐减少。以该实施方式，由于滚刷333的外径逐渐减小，丝状物在朝向自由端33b移动的过程中会出现松动，便于丝状物朝向自由端33b移动。
在一些实施例中，滚刷333具有旋转轴L，滚刷333的侧壁与旋转轴L的夹角为0°-10°。
在一些实施例中，滚刷组件33包括滚刷333，驱动组件32包括电机323和变速箱324，电机323安装于主机组件10，变速箱324与电机323连接，变速箱324伸出的轴与滚刷333连接。以该实施方式，滚刷333与变速箱324伸出的轴连接的部分更多，可以提高滚刷333的刚度。
在一些实施例中，电机323与主机组件10可转动连接，使得滚刷机构30可整体从开口11转出。以该实施方式，方便滚刷333的拆装。
在一些实施例中，滚刷组件33包括滚刷333和轴组件334，驱动组件32包括电机323、变速箱324和联轴器325，电机323安装于主机组件10，变速箱324与电机323连接，轴组件334的一端与滚刷333连接，轴组件334的另一端 通过联轴器325与变速箱324连接。
如图1所示，在一些实施例中，清洁机器人100还包括边刷50，边刷50可转动安装于主机组件10的底部，边刷50用于将灰尘碎屑清扫到进尘口C1处，边刷50旋转形成环形清扫区。主机组件10的底部设有凸起13，凸起13位于环形清扫区内，凸起13用于对边刷50形成阻挡，以使边刷50发生形变并在复原时将粘连的灰尘碎屑甩出。以该实施方式，凸起13可以对边刷50上粘连的灰尘碎屑起到清理作用，使得边刷50重新获得较好的清扫效果。
在一些实施例中，边刷50数量为两个，进尘口C1位于两个边刷50之间。
如图18所示，在一些实施例中，凸起13包括凸起本体131和梳齿132，梳齿132设于凸起本体131的侧壁，梳齿132用于清除边刷50上缠绕的丝状物。
在一些实施例中，梳齿132包括第一端和第二端，第一端与凸起本体131连接，第二端设有钩状部1321。以该实施方式，钩状部1321可以对丝状物起到较佳的清理效果。
如图19所示，在一些实施例中，边刷50包括安装部51、支脚52和刷毛53，安装部51可转动安装于主机组件10的底部，支脚52设于安装部51的四周。刷毛53安装于支脚52，其中，刷毛53旋转形成环形清扫区。
本申请的实施例还提出一种清洁机器人***，提出的清洁机器人***包括维护站和上述的清洁机器人100。
可选地，维护站至少包括给清洁机器人100充电、向清洁机器人100的水箱注水和抽吸出尘盒组件20内部的灰尘碎屑中的一种功能。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (60)

  1. 一种清洁机器人，其特征在于，包括：
    主机组件，底部设有开口；
    尘盒组件，设于所述主机组件内部，所述尘盒组件用于抽吸灰尘碎屑；
    滚刷机构，包括外壳组件、驱动组件和滚刷组件，所述外壳组件设于所述开口处，所述外壳组件具有内腔和连通所述内腔的进尘口、出尘口，所述进尘口朝向所述主机组件的底部敞开，所述出尘口与所述尘盒组件连通，所述滚刷组件设于所述外壳组件的内腔，所述滚刷组件包括连接端和自由端，所述连接端与所述驱动组件连接，所述自由端为悬臂状态；
    其中，所述出尘口位于所述外壳组件靠近所述自由端处。
  2. 如权利要求1所述的清洁机器人，其特征在于，从所述连接端朝向所述自由端的方向，所述滚刷的外径逐渐减少。
  3. 如权利要求2所述的清洁机器人，其特征在于，所述滚刷具有旋转轴，所述滚刷的侧壁与所述旋转轴的夹角为α，其中，α＝0°-10°。
  4. 如权利要求1所述的清洁机器人，其特征在于，所述滚刷组件靠近所述连接端处设有收容空间，所述收容空间用于收容移动到所述连接端的丝状物。
  5. 如权利要求4所述的清洁机器人，其特征在于，所述滚刷组件包括：
    滚刷；
    轴组件，一端与所述驱动组件连接，另一端穿设于所述滚刷内部，所述轴组件与所述滚刷的内侧壁间隔设置；
    丝状物收集件，环设于所述轴组件，所述丝状物收集件部分抵接所述滚刷的内侧壁，所述滚刷、所述轴组件和所述丝状物收集件围合形成所述收容空间。
  6. 如权利要求5所述的清洁机器人，其特征在于，所述丝状物收集件包括：
    轴套，环设于所述轴组件的外侧壁；
    阻挡件，环设于所述轴套的外侧壁并抵接所述滚刷的内侧壁。
  7. 如权利要求6所述的清洁机器人，其特征在于，所述阻挡件包括：
    连接部，环设于所述轴套的外侧壁；
    阻挡部，环设于所述连接部并朝向所述连接端呈弧形延伸，所述阻挡部抵接所述滚刷的内侧壁。
  8. 如权利要求6所述的清洁机器人，其特征在于，所述阻挡件为采用柔性材料制成的阻挡件。
  9. 如权利要求1所述的清洁机器人，其特征在于，所述滚刷组件包括滚刷，所述滚刷包括：
    本体；
    多个刷条，设于所述本体的外侧壁并朝向所述本体的长度方向延伸；
    其中，所述刷条设有台阶，所述台阶用于阻挡所述滚刷上的丝状物从所述自由端朝向所述连接端移动。
  10. 如权利要求1所述的清洁机器人，其特征在于，所述驱动组件的数量为两个，两个所述驱动组件分别为第一驱动组件和第二驱动组件，所述第一驱动组件设于所述外壳组件的一侧，所述第二驱动组件设于所述外壳组件的另一侧；
    所述滚刷组件的数量为两个，两个所述滚刷组件分别为第一滚刷组件和第二滚刷组件，所述第一滚刷组件与所述第一驱动组件连接，所述第二滚刷组件与所述第二驱动组件连接，所述第一滚刷组件的自由端和所述第二滚刷组件的自由端相对设置。
  11. 如权利要求10所述的清洁机器人，其特征在于，所述第一滚刷组件与所述外壳组件之间和/或所述第二滚刷组件与所述外壳组件之间设有防呆结构。
  12. 如权利要求10所述的清洁机器人，其特征在于，所述第一滚刷组件包括第一滚刷和与所述第一滚刷连接的第一轴组件，所述第二滚刷组件包括第二滚刷和与所述第二滚刷连接的第二轴组件；
    其中，所述第一滚刷与所述第一轴组件之间和/或所述第二滚刷与所述第二轴组件之间设有防呆结构。
  13. 如权利要求1所述的清洁机器人，其特征在于，所述外壳组件包括：
    上壳组件，设有所述出尘口；
    下壳组件，设有所述进尘口，所述上壳组件和所述下壳组件围合形成所述内腔；
    支撑件，设于所述上壳组件与所述下壳组件之间，所述支撑件与所述上壳组件配合以锁紧所述滚刷组件的连接端。
  14. 如权利要求13所述的清洁机器人，其特征在于，所述支撑件设有第一限位部，所述连接端设有第二限位部，所述第一限位部与所述第二限位部配合以限制所述滚刷组件相对于所述支撑件移动。
  15. 如权利要求13所述的清洁机器人，其特征在于，所述支撑件的一端与所述上壳组件转动连接，所述支撑件的另一端与所述上壳组件卡扣连接。
  16. 如权利要求13所述的清洁机器人，其特征在于，所述下壳组件包括：
    下壳体，与所述上壳组件连接；
    保护壳，所述保护壳与所述下壳体可拆卸连接。
  17. 如权利要求16所述的清洁机器人，其特征在于，所述进尘口包括前侧和与所述前侧相对的后侧，从所述后侧朝向所述前侧的方向为所述清洁机器人的前进方向；
    所述滚刷机构还包括刮条，所述刮条安装于所述下壳组件且位于所述进尘口的后侧，所述刮条用于抵接地面以阻挡灰尘碎屑从清洁机器人的后方漏出。
  18. 如权利要求1所述的清洁机器人，其特征在于，所述主机组件包括底盘，所述底盘设有所述开口，所述外壳组件设有搭接部，所述搭接部搭接所述底盘以限定所述滚刷组件相对于地面的高度。
  19. 如权利要求1所述的清洁机器人，其特征在于，所述外壳组件至少在所述出尘口四周采用柔性材料制成。
  20. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：
    悬挂组件，连接所述主机组件和所述滚刷机构，使得所述滚刷机构相对于所述主机组件可上下浮动。
  21. 如权利要求20所述的清洁机器人，其特征在于，所述悬挂组件包括：
    第一连接件，与所述主机组件连接；
    第二连接件，与所述滚刷组件连接；
    连杆组件，一端与所述第一连接件可转动连接，另一端与所述滚刷组件可转动连接。
  22. 如权利要求21所述的清洁机器人，其特征在于，所述连杆组件包括：
    第一连杆，一端与所述第一连接件可转动连接，另一端与所述滚刷组件可转动连接；
    第二连杆，一端与所述第一连接件可转动连接，另一端与所述滚刷组件可转动连接；
    其中，所述第一连杆与所述第二连杆平行设置。
  23. 如权利要求1所述的清洁机器人，其特征在于，所述滚刷组件包括滚刷，所述驱动组件包括：
    电机，安装于所述主机组件；
    变速箱，与所述电机连接，所述变速箱伸出的轴与所述滚刷连接。
  24. 如权利要求23所述的清洁机器人，其特征在于，所述电机与所述主机组件可转动连接，使得所述滚刷机构可整体从所述开口转出。
  25. 如权利要求1所述的清洁机器人，其特征在于，所述滚刷组件包括滚刷和轴组件，所述驱动组件包括：
    电机，安装于所述主机组件；
    变速箱，与电机连接；
    联轴器，所述轴组件的一端与所述滚刷连接，所述轴组件的另一端通过所述联轴器与所述变速箱连接。
  26. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括边刷，所述边刷可转动安装于所述主机组件的底部，所述边刷用于将灰尘碎屑清扫到所述进尘口处，所述边刷旋转形成环形清扫区；
    所述主机组件的底部设有凸起，所述凸起位于所述环形清扫区内，所述凸起用于对所述边刷形成阻挡，以使所述边刷发生形变并在复原时将粘连的灰尘碎屑甩出。
  27. 如权利要求26所述的清洁机器人，其特征在于，所述边刷数量为两个，所述进尘口位于两个所述边刷之间。
  28. 如权利要求26所述的清洁机器人，其特征在于，所述凸起包括凸起本体和梳齿，所述梳齿设于所述凸起本体的侧壁，所述梳齿用于清除所述边刷上缠绕的丝状物。
  29. 如权利要求28所述的清洁机器人，其特征在于，所述梳齿包括第一端和第二端，所述第一端与所述凸起本体连接，所述第二端设有钩状部。
  30. 如权利要求26所述的清洁机器人，其特征在于，所述边刷包括：
    安装部，可转动安装于所述主机组件的底部；
    支脚，设于所述安装部的四周；
    刷毛，安装于所述支脚；
    其中，所述刷毛旋转形成所述环形清扫区。
  31. 一种清洁机器人***，其特征在于，包括维护站和清洁机器人，所述清洁机器人包括：
    主机组件，底部设有开口；
    尘盒组件，设于所述主机组件内部，所述尘盒组件用于抽吸灰尘碎屑；
    滚刷机构，包括外壳组件、驱动组件和滚刷组件，所述外壳组件设于所述 开口处，所述外壳组件具有内腔和连通所述内腔的进尘口、出尘口，所述进尘口朝向所述主机组件的底部敞开，所述出尘口与所述尘盒组件连通，所述滚刷组件设于所述外壳组件的内腔，所述滚刷组件包括连接端和自由端，所述连接端与所述驱动组件连接，所述自由端为悬臂状态；
    其中，所述出尘口位于所述外壳组件靠近所述自由端处。
  32. 如权利要求31所述的清洁机器人***，其特征在于，从所述连接端朝向所述自由端的方向，所述滚刷的外径逐渐减少。
  33. 如权利要求32所述的清洁机器人***，其特征在于，所述滚刷具有旋转轴，所述滚刷的侧壁与所述旋转轴的夹角为α，其中，α＝0°-10°。
  34. 如权利要求31所述的清洁机器人***，其特征在于，所述滚刷组件靠近所述连接端处设有收容空间，所述收容空间用于收容移动到所述连接端的丝状物。
  35. 如权利要求34所述的清洁机器人***，其特征在于，所述滚刷组件包括：
    滚刷；
    轴组件，一端与所述驱动组件连接，另一端穿设于所述滚刷内部，所述轴组件与所述滚刷的内侧壁间隔设置；
    丝状物收集件，环设于所述轴组件，所述丝状物收集件部分抵接所述滚刷的内侧壁，所述滚刷、所述轴组件和所述丝状物收集件围合形成所述收容空间。
  36. 如权利要求35所述的清洁机器人***，其特征在于，所述丝状物收集件包括：
    轴套，环设于所述轴组件的外侧壁；
    阻挡件，环设于所述轴套的外侧壁并抵接所述滚刷的内侧壁。
  37. 如权利要求36所述的清洁机器人***，其特征在于，所述阻挡件包括：
    连接部，环设于所述轴套的外侧壁；
    阻挡部，环设于所述连接部并朝向所述连接端呈弧形延伸，所述阻挡部抵接所述滚刷的内侧壁。
  38. 如权利要求36所述的清洁机器人***，其特征在于，所述阻挡件为采用柔性材料制成的阻挡件。
  39. 如权利要求31所述的清洁机器人***，其特征在于，所述滚刷组件包括滚刷，所述滚刷包括：
    本体；
    多个刷条，设于所述本体的外侧壁并朝向所述本体的长度方向延伸；
    其中，所述刷条设有台阶，所述台阶用于阻挡所述滚刷上的丝状物从所述自由端朝向所述连接端移动。
  40. 如权利要求31所述的清洁机器人***，其特征在于，所述驱动组件的数量为两个，两个所述驱动组件分别为第一驱动组件和第二驱动组件，所述第一驱动组件设于所述外壳组件的一侧，所述第二驱动组件设于所述外壳组件的另一侧；
    所述滚刷组件的数量为两个，两个所述滚刷组件分别为第一滚刷组件和第二滚刷组件，所述第一滚刷组件与所述第一驱动组件连接，所述第二滚刷组件与所述第二驱动组件连接，所述第一滚刷组件的自由端和所述第二滚刷组件的自由端相对设置。
  41. 如权利要求40所述的清洁机器人***，其特征在于，所述第一滚刷组件与所述外壳组件之间和/或所述第二滚刷组件与所述外壳组件之间设有防呆结构。
  42. 如权利要求40所述的清洁机器人***，其特征在于，所述第一滚刷组件包括第一滚刷和与所述第一滚刷连接的第一轴组件，所述第二滚刷组件包括第二滚刷和与所述第二滚刷连接的第二轴组件；
    其中，所述第一滚刷与所述第一轴组件之间和/或所述第二滚刷与所述第二轴组件之间设有防呆结构。
  43. 如权利要求31所述的清洁机器人***，其特征在于，所述外壳组件包括：
    上壳组件，设有所述出尘口；
    下壳组件，设有所述进尘口，所述上壳组件和所述下壳组件围合形成所述内腔；
    支撑件，设于所述上壳组件与所述下壳组件之间，所述支撑件与所述上壳组件配合以锁紧所述滚刷组件的连接端。
  44. 如权利要求43所述的清洁机器人***，其特征在于，所述支撑件设有第一限位部，所述连接端设有第二限位部，所述第一限位部与所述第二限位部配合以限制所述滚刷组件相对于所述支撑件移动。
  45. 如权利要求43所述的清洁机器人***，其特征在于，所述支撑件的一 端与所述上壳组件转动连接，所述支撑件的另一端与所述上壳组件卡扣连接。
  46. 如权利要求43所述的清洁机器人***，其特征在于，所述下壳组件包括：
    下壳体，与所述上壳组件连接；
    保护壳，所述保护壳与所述下壳体可拆卸连接。
  47. 如权利要求46所述的清洁机器人***，其特征在于，所述进尘口包括前侧和与所述前侧相对的后侧，从所述后侧朝向所述前侧的方向为所述清洁机器人的前进方向；
    所述滚刷机构还包括刮条，所述刮条安装于所述下壳组件且位于所述进尘口的后侧，所述刮条用于抵接地面以阻挡灰尘碎屑从清洁机器人的后方漏出。
  48. 如权利要求31所述的清洁机器人***，其特征在于，所述主机组件包括底盘，所述底盘设有所述开口，所述外壳组件设有搭接部，所述搭接部搭接所述底盘以限定所述滚刷组件相对于地面的高度。
  49. 如权利要求31所述的清洁机器人***，其特征在于，所述外壳组件至少在所述出尘口四周采用柔性材料制成。
  50. 如权利要求31所述的清洁机器人***，其特征在于，所述清洁机器人还包括：
    悬挂组件，连接所述主机组件和所述滚刷机构，使得所述滚刷机构相对于所述主机组件可上下浮动。
  51. 如权利要求50所述的清洁机器人***，其特征在于，所述悬挂组件包括：
    第一连接件，与所述主机组件连接；
    第二连接件，与所述滚刷组件连接；
    连杆组件，一端与所述第一连接件可转动连接，另一端与所述滚刷组件可转动连接。
  52. 如权利要求51所述的清洁机器人***，其特征在于，所述连杆组件包括：
    第一连杆，一端与所述第一连接件可转动连接，另一端与所述滚刷组件可转动连接；
    第二连杆，一端与所述第一连接件可转动连接，另一端与所述滚刷组件可转动连接；
    其中，所述第一连杆与所述第二连杆平行设置。
  53. 如权利要求31所述的清洁机器人***，其特征在于，所述滚刷组件包括滚刷，所述驱动组件包括：
    电机，安装于所述主机组件；
    变速箱，与所述电机连接，所述变速箱伸出的轴与所述滚刷连接。
  54. 如权利要求53所述的清洁机器人***，其特征在于，所述电机与所述主机组件可转动连接，使得所述滚刷机构可整体从所述开口转出。
  55. 如权利要求31所述的清洁机器人***，其特征在于，所述滚刷组件包括滚刷和轴组件，所述驱动组件包括：
    电机，安装于所述主机组件；
    变速箱，与电机连接；
    联轴器，所述轴组件的一端与所述滚刷连接，所述轴组件的另一端通过所述联轴器与所述变速箱连接。
  56. 如权利要求31所述的清洁机器人***，其特征在于，所述清洁机器人还包括边刷，所述边刷可转动安装于所述主机组件的底部，所述边刷用于将灰尘碎屑清扫到所述进尘口处，所述边刷旋转形成环形清扫区；
    所述主机组件的底部设有凸起，所述凸起位于所述环形清扫区内，所述凸起用于对所述边刷形成阻挡，以使所述边刷发生形变并在复原时将粘连的灰尘碎屑甩出。
  57. 如权利要求56所述的清洁机器人***，其特征在于，所述边刷数量为两个，所述进尘口位于两个所述边刷之间。
  58. 如权利要求56所述的清洁机器人***，其特征在于，所述凸起包括凸起本体和梳齿，所述梳齿设于所述凸起本体的侧壁，所述梳齿用于清除所述边刷上缠绕的丝状物。
  59. 如权利要求58所述的清洁机器人***，其特征在于，所述梳齿包括第一端和第二端，所述第一端与所述凸起本体连接，所述第二端设有钩状部。
  60. 如权利要求56所述的清洁机器人***，其特征在于，所述边刷包括：
    安装部，可转动安装于所述主机组件的底部；
    支脚，设于所述安装部的四周；
    刷毛，安装于所述支脚；
    其中，所述刷毛旋转形成所述环形清扫区。
PCT/CN2022/138749 2022-12-13 2022-12-13 清洁机器人及清洁机器人*** WO2024124405A1 (zh)

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