Cleaning roller mountable on a cleaning robot and autonomous cleaning robot

Abstract

A cleaning roller mountable on a cleaning robot and an autonomous cleaning robot. The cleaning roller includes a sheath including an outer surface tapering toward a center of the cleaning roller, a core extending along a rotational axis of the cleaning roller from a first end of the core to a second end of the core, the cleaning roller mountable to the cleaning robot to rotate about the rotational axis, and an air gap between an inner surface of the sheath and an outer surface of the core, the air gap extending from a portion of the core between the first end of the core and the second end of the core longitudinally along the rotational axis toward the first end of the core or the second end of the core.

Description

[0001] This application is a divisional application of Chinese invention patent application filed on July 24, 2018, entitled "Cleaning Roller Mountable on Cleaning Robot and Automatic Cleaning Robot", application number 202110389686.8. Technical Field

[0002] This application relates to cleaning rollers, and more particularly to cleaning rollers for use in cleaning robots. Background Technology

[0003] Automated cleaning robots can traverse floor surfaces and avoid obstacles, simultaneously vacuuming the floor and operating a rotating component carried by the robot to pick up debris from the floor surface. As the robot moves across the floor surface, it can rotate the rotating component, which attracts debris and directs it into the vacuum airflow generated by the robot. Therefore, the rotating component and the vacuum airflow work together to enable the robot to pick up debris. Summary of the Invention

[0004] On one hand, this application describes a cleaning roller that can be mounted on a cleaning robot. The cleaning roller includes a sheath and a core, the sheath including a housing, and the core extending from a first end to a second end along a rotational axis of the cleaning roller. The outer diameter of the housing tapers gradually from the first and second ends of the sheath toward the center of the cleaning roller. The first and second ends of the core are mountable to the cleaning robot for rotation about the rotational axis. The core includes a central portion interlocked with the sheath to rotatably couple the core to the sheath and suppress relative translation between the sheath and the core along the rotational axis. An inner surface of the sheath and an outer surface of the core define an air gap therebetween, the air gap extending longitudinally from the central portion of the core along the rotational axis toward the first or second end.

[0005] On the other hand, an automated cleaning robot includes a body, a drive operable to move the body on a floor surface, and a cleaning assembly including a cleaning roller rotatable about a rotation axis. The cleaning roller includes a sheath and a core, the sheath including a housing, and the core extending along the rotation axis from a first end to a second end. The outer diameter of the housing tapers gradually from the first and second ends of the sheath toward the center of the cleaning roller. The core includes a central portion interlocking with the sheath to rotatably couple the core to the sheath and suppress relative translation between the sheath and the core along the rotation axis. An inner surface of the sheath and an outer surface of the core define an air gap therebetween, the air gap extending longitudinally from the central portion of the core along the rotation axis toward either the first or second end.

[0006] In some embodiments, the cleaning roller further includes a first circular member and a second circular member, the first circular member being near a first end of the core and extending radially outward from the outer surface of the core toward the inner surface of the sheath, and the second circular member being near a second end of the core and extending radially outward from the outer surface of the core toward the inner surface of the sheath. The core may extend along the axis of rotation through the center of the first and second circular members.

[0007] In some cases, the first and second circular members are configured to contact the inner surface of the sheath to radially support it. In some cases, the thickness of the first and second circular members is between 2.5 and 7.5 mm. In some cases, the distance between the center of the first circular member and the center of the cleaning roller is between 60 and 100 mm, and the distance between the center of the second circular member and the center of the cleaning roller is between 60 and 100 mm. In some cases, the first and second circular members each include an outer ring, an inner ring coupled to the core, and a plurality of elongated members extending between the outer and inner rings. In some cases, each of the plurality of elongated members extends outward at a non-zero angle relative to the radial axis.

[0008] In some cases, the core includes a first locking member and a second locking member. The first locking member abuts the first circular member in a first longitudinal direction and a second longitudinal direction to restrict relative longitudinal translation between the core and the first circular member. The second locking member abuts the second circular member in both the first and second longitudinal directions to restrict relative longitudinal translation between the core and the second circular member. In some cases, the surfaces of the first circular member near the inner surface of the sheath and the surfaces of the second circular member near the inner surface of the sheath are inclined toward the center of the cleaning roller. In some cases, the distance between the center of the first circular member and the cleaning roller is 25% to 45% of the length of the cleaning roller, and the distance between the center of the second circular member and the cleaning roller is 25% to 45% of the length of the cleaning roller.

[0009] In some embodiments, the central portion of the core includes one or more locking members extending radially outward from the axial portion of the core. The sheath may include locking members extending radially inward from the inner surface of the housing. The locking members of the sheath abut against one or more locking members of the central portion of the core in a first longitudinal direction and a second longitudinal direction. In some cases, one or more locking members of the central portion of the core include a surface facing a second end of the core. This surface forms a non-perpendicular angle with the axis of rotation. In some cases, one or more locking members of the sheath abut against one or more locking members of the central portion of the core in the direction of rotation of the cleaning roller.

[0010] In some embodiments, the length of the air gap is at least 25% of the length of the cleaning roller.

[0011] In some embodiments, the sheath includes blades and a plurality of small blocks. The blades extend radially outward from the outer surface of the housing along a first path, wherein the first path runs along the outer surface of the housing. The plurality of small blocks project radially outward from the outer surface of the housing and are spaced apart from each other along the outer surface of the housing. Each of the small blocks runs along a portion of a second path, wherein the second path is circumferentially offset from the first path along the outer surface of the housing. A first portion of the small block extends longitudinally from a first end of the sheath toward the center of the cleaning roller along 15% to 35% of the length of the cleaning roller, and a second portion of the small block extends longitudinally from a second end of the sheath toward the center of the cleaning roller along 15% to 35% of the length of the cleaning roller.

[0012] In some cases, the height of the blades relative to the axis of rotation remains consistent along the length of the cleaning roller. The height of the small blocks relative to the axis of rotation remains consistent along a portion of the second path, and the height of the blades is 0.5 to 1.5 mm greater than the height of the small blocks.

[0013] In some embodiments, the sheath includes a first blade and a second blade, the first blade extending radially outward from the outer surface of the housing along a first path, wherein the first path aligns with the outer surface of the housing, and the second blade extending radially outward from the outer surface of the housing along a second path, wherein the second path aligns with the outer surface of the housing. The second path may be circumferentially offset from the first path along the outer surface of the housing. The sheath also includes a plurality of small blocks projecting radially outward from the outer surface of the housing and spaced apart from each other along the outer surface of the housing. Each of the small blocks aligns with a portion of a third path, wherein the third path circumferentially offset from the first and second paths along the outer surface of the housing. The third path lies between the first and second paths along the outer surface of the housing.

[0014] The aforementioned advantages include, but are not limited to, those described below and elsewhere herein. With the cleaning roller sheath and core interlocked at the center of the core, torque applied to the core can be easily transmitted to the sheath, allowing the sheath to rotate in response to the core's rotation and draw debris into the robot. Compared to a sheath and core interlocked over a large portion of the cleaning roller's total length, such as 50% or more, this interlocking mechanism between the sheath and core can use less material.

[0015] Furthermore, the circular members supporting the radially extended sheath can have a relatively small thickness compared to the total length of the cleaning roller. The circular members can thus provide radial support for the sheath without significantly increasing the overall mass of the cleaning roller. Between the locations where the sheath is radially supported, the sheath's elasticity allows it to deform radially inward in response to contact with debris and other objects, and elastically return to its undeformed state when the debris or other objects are no longer in contact with the sheath. Therefore, the core does not need to support the sheath along its entire length, thus reducing the total amount of material used to support the sheath. Reducing the total material used in the cleaning roller (e.g., through the use of interlocking mechanisms and circular members) reduces vibration caused by the rotation of the cleaning roller and lowers the risk of lateral deflection of the cleaning roller due to centripetal forces. This improves the stability of the cleaning roller during rotation while also reducing the amount of noise generated when the cleaning roller impacts objects such as debris or floor surfaces.

[0016] The cleaning roller may also include features that make it easier to manufacture and assemble. For example, locking features such as locking members provide coupling mechanisms between the components of the cleaning roller (e.g., sheath, core, and circular members) without requiring fasteners or adhesives. These locking features may also incorporate foolproof designs, reducing the risk of incorrect assembly or manufacturing of the cleaning roller.

[0017] Details of one or more embodiments of the subject matter described herein are set forth in the accompanying drawings and the following description. Other potential features, aspects, and advantages will be apparent from the description, drawings, and claims. Attached Figure Description

[0018] Figure 1A This is a cross-sectional side view of the cleaning robot during a cleaning operation;

[0019] Figure 1B It is along Figure 1A The cross-sectional bottom view of the robot's cleaning roller, taken from section 1B-1B, is shown in the figure.

[0020] Figure 1C yes Figure 1A A top-down view of the robot's cleaning head during a cleaning operation;

[0021] Figure 2A and 2B They are Figure 1A Top view and bottom perspective exploded view of the robot;

[0022] Figures 3A-3D These are the front perspective view, the exploded front perspective view, the front perspective view, and the front cross-sectional view of the cleaning roller.

[0023] Figure 4A and 4B They are Figure 3A Front perspective view and front view of the core of the cleaning roller;

[0024] Figure 5A and 5B They are Figure 3A Partial sectional view and front sectional view of the sheath of the cleaning roller;

[0025] Figure 5C yes Figure 5A A spliced ​​diagram formed by splicing the side view of the middle sheath along section 5C-5C and the side view of the sheath;

[0026] Figure 5D yes Figure 5A Front view of a portion of the sheath;

[0027] Figure 5E yes Figure 5A Side view of the sheath;

[0028] Figure 6 yes Figure 3A A schematic diagram of the cleaning roller;

[0029] Figure 7A , 8A 9A and 9A are side views of an example of a supporting member. Figure 7B ,8B 9B and 9B are front views of an example of a support member;

[0030] Figure 10A , 10B 10C are perspective, front, and side views of examples of cleaning rollers.

[0031] The same reference numerals and names in the various figures denote the same elements. Detailed Implementation

[0032] refer to Figure 1A As shown, the cleaning head 100 for the cleaning robot 102 includes rotatable components, such as cleaning rollers 104a and 104b, which are positioned to attract debris 106 from the floor surface 10. The robot 102 moves around the floor surface 10 while rotating the cleaning rollers 104a and 104b and operating the vacuum assembly 118 to extract debris 106 from the floor surface 10. During the cleaning operation, the cleaning rollers 104a and 104b rotate to lift the debris 106 from the floor surface 10 into the robot 102 while the robot 102 moves around the floor surface 10. The rotation of the cleaning rollers 104a and 104b facilitates the movement of the debris 106 toward the interior of the robot 102. The outer surfaces of the cleaning rollers 104a and 104b contact and attract the debris 106, then guide the debris 106 toward the interior of the robot 102. The contact between the cleaning rollers 104a and 104b and the debris 106 further agitates the debris 106, making it easier for the debris 106 to be sucked into the robot 102.

[0033] like Figure 1B and 1C As shown, a gap 108 and an air opening 109 are defined between cleaning rollers 104a and 104b. The gap 108 corresponds to the housings 222a and 222b of the cleaning rollers 104a and 104b. Figure 1BThe spacing between the cleaning rollers 104a and 104b is shown in the diagram. Spacing 108 varies along the length of the cleaning rollers 104a and 104b and facilitates the upward movement of debris 106 towards the interior of the robot 102 caused by the cleaning rollers 104a and 104b, allowing the debris 106 to be picked up by the robot 102. The housings 222a and 222b are spaced apart by spacing 108, rather than being uniformly spaced along the length of the cleaning rollers 104a and 104b, where spacing 108 varies in width along the length of the cleaning rollers 104a and 104b. Air opening 109 allows airflow generated by the vacuum assembly 118 to be generated near the cleaning rollers 104a and 104b (e.g., below the cleaning rollers 104a and 104b near the floor surface 10 and along the outer surfaces of the cleaning rollers 104a and 104b). The width of air opening 109 corresponds to the distance between the outer diameters of the cleaning rollers 104a and 104b. The air opening 109 is sized to accommodate debris 106 moved by the cleaning rollers 104a and 104b as they rotate. The width of the air opening 109 varies with the rotation of the cleaning rollers 104a and 104b due to the change in the geometry of the surfaces facing each other as they rotate.

[0034] like Figure 1BAs shown, a longitudinal section of cleaning rollers 104a and 104b is illustrated, with air gaps 242a, 242b, 244a, and 244b spanning the internal portions of cleaning rollers 104a and 104b. The air gaps 242a, 242b, 244a, and 244b span portions of cleaning rollers 104a and 104b in which the sheaths 220a and 220b of cleaning rollers 104a and 104b do not laterally or radially contact the support structures 226a and 226b. The support structures 226a and 226b are circumferentially surrounded by the sheaths 220a and 220b and coaxially aligned with the longitudinal axes 126a and 126b of the cleaning rollers 104a and 104b. When debris 106 is picked up by cleaning rollers 104a and 104b, air gaps 242a, 242b, 244a, and 244b cause the outer surfaces of cleaning rollers 104a and 104b to deflect inward, for example, elastically towards the longitudinal axes 126a and 126b of cleaning rollers 104a and 104b. This makes it easier to pick up larger pieces of debris 106. Furthermore, due to the presence of air gaps 242a, 242b, 244a, and 244b, cleaning rollers 104a and 104b are formed from less material and have a smaller mass compared to solid cleaning rollers without internal air gaps. Because they are formed from less material, cleaning rollers 104a and 104b can be manufactured more easily, and in particular, can be manufactured with a smaller radial runout, for example, a circular, semi-circular, or arc geometry that is off-center relative to the axis of rotation of cleaning rollers 104a and 104b due to manufacturing errors. As a result, cleaning rollers 104a and 104b are less prone to vibration during rotation compared to cleaning rollers with larger radial runout. Furthermore, the smaller mass of cleaning rollers 104a and 104b reduces the centripetal force on them, thereby reducing lateral deflection during rotation. The air gaps 242 and 244 of cleaning rollers 104a and 104b can thus improve their stability during rotation and reduce the noise they generate.

[0035] Cleaning robot example

[0036] Robot 102 is an autonomous cleaning robot that automatically traverses the floor surface 10, simultaneously collecting debris 106 from different parts of the floor surface 10. Figure 1A and 2AIn the described example, robot 102 includes a body 200 movable on floor surface 10. In some cases, body 200 includes multiple connected structures on which movable parts of robot 102 are mounted. For example, the connected structures forming body 200 include a housing for covering internal components of robot 102, a chassis with drive wheels 210a, 210b and cleaning rollers 104a, 104b, a bumper mounted to the housing, a lid for internal cleaning compartments of robot 102, etc.

[0037] The main body 200 includes a front portion 202a having a generally rectangular shape and a rear portion 202b having a generally semi-circular shape. The front portion 202a refers, for example, the front third to the front half of the robot 102, while the rear portion 202b refers to the rear half to two-thirds of the robot 102. Figure 2A As shown, the front portion 202a includes two sides 204a and 204b, which are substantially perpendicular to the front edge 206 of the front portion 202a. In some embodiments, the width W1 of the robot 102 (e.g., the distance between the two sides 204a and 204b) is between 20 cm and 60 cm, such as between 20 cm and 40 cm, 30 cm and 50 cm, 40 cm and 60 cm, etc.

[0038] Robot 102 includes a drive system comprising actuators 208a, 208b (e.g., motors) operable with drive wheels 210a, 210b. Actuators 208a, 208b are mounted in a body 200 and operatively connected to the drive wheels 210a, 210b, which are rotatably mounted to the body 200. The drive wheels 210a, 210b support the body 200 above a floor surface 10. When driven, actuators 208a, 208b rotate drive wheels 210a, 210b to enable robot 102 to move autonomously on the floor surface 10.

[0039] Robot 102 includes a controller 212 that operates actuators 208a and 208b to autonomously drive robot 102 around floor surface 10 during cleaning operations. Actuators 208a and 208b are operable in a forward drive direction 116 (… Figure 1A (As shown in the diagram) Drive robot 102 and rotating robot 102. In some embodiments, robot 102 includes casters 211 that support the body 200 above the floor surface 10. For example, casters 211 support the rear 202b of the body 200 above the floor surface 10, and drive wheels 210a, 210b support the front 202a of the body 200 above the floor surface 10.

[0040] like Figure 1A and 2A As shown, the vacuum assembly 118 is installed within the body 200 of the robot 102, for example, in the rear portion 202b of the body 200. Specifically, as Figure 2A As shown, controller 212 operates vacuum assembly 118 to generate airflow 120, which flows through air openings 109 near cleaning rollers 104a, 104b, through body 200, and out of body 200. For example, vacuum assembly 118 includes an impeller that generates airflow 120 when rotating. As cleaning rollers 104a, 104b rotate, vacuum assembly 118 generates airflow 120 to ingest debris 106 into robot 102. Cleaning tank 122, mounted in body 200, is configured to store debris 106 ingested by robot 102. Filter 123 within body 200 separates debris 106 from airflow 120 before it enters vacuum assembly 118 and exits body 200. In this respect, debris 106 is simultaneously trapped in cleaning tank 122 and filter 123 before airflow 120 exits body 200.

[0041] like Figure 2A As shown, the cleaning head 100 and cleaning rollers 104a, 104b are located in the front portion 202a of the main body 200 between the sides 204a, 204b. The cleaning rollers 104a, 104b are operatively connected to the actuation mechanism of the robot 102. Specifically, the cleaning rollers 104a, 104b are operatively connected to the actuation mechanism, which includes a drive mechanism connected to an actuator 214 of the robot 102, such that torque generated by the actuator 214 can be transmitted to drive the cleaning rollers 104a, 104b. The cleaning head 100 and cleaning rollers 104a, 104b are located in front of a cleaning chamber 122, which is located in front of a vacuum assembly 118. Figure 2A , 2B In the example of the robot 102 described, the generally rectangular shape of the front portion 202a of the body 200 makes the cleaning rollers 104a, 104b longer than those used for cleaning robots with, for example, circular bodies.

[0042] Cleaning rollers 104a and 104b are mounted to the housing 124 of the cleaning head 100 (also in Figure 1A and 1C(As shown in the diagram), and mounted (e.g., indirectly or directly) to the body 200 of robot 102. Specifically, cleaning rollers 104a and 104b are mounted to the underside of the front portion 202a of the body 200, such that during cleaning operations, when the underside of the front portion 202a faces the floor surface 10, cleaning rollers 104a and 104b attract debris 106 from the floor surface 10. In some embodiments, the housing 124 of the cleaning head 100 is mounted to the body 200 of robot 102. In this regard, cleaning rollers 104a and 104b are also mounted to the body 200 of robot 102, for example, indirectly via the housing 124. Optionally or additionally, the cleaning head 100 is a detachable component of robot 102, wherein the housing 124, on which cleaning rollers 104a and 104b are mounted, is detachably mounted to the body 200 of robot 102. The housing 124 and rollers 104a, 104b can be removed from the body 200 as a unit, making the cleaning head 100 easily interchangeable with a replacement cleaning head.

[0043] In some embodiments, the housing 124 of the cleaning head 100 is not detachably mounted to the body 200, but is a component inseparable from the body 200 and corresponds to an integral part of the body 200 of the robot 102. Cleaning rollers 104a and 104b are mounted on the body 200 of the robot 102, for example, directly on an integral part of the body 200. Each of the cleaning rollers 104a and 104b can be independently removed from the housing 124 of the cleaning head 100 and / or from the body 200 of the robot 102, so that the cleaning rollers 104a and 104b can be easily cleaned or replaced with replacement cleaning rollers. As described herein, the cleaning rollers 104a and 104b may include a collection well for filament debris, allowing the user to easily access and clean the filament debris when the cleaning rollers 104a and 104b are removed from the housing 124.

[0044] Cleaning rollers 104a and 104b are rotatable relative to the housing 124 of the cleaning head 100 and relative to the body 200 of the robot 102. For example... Figure 1A , 1C As shown in Figure 2A, cleaning rollers 104a and 104b are rotatable about longitudinal axes 126a and 126b parallel to the floor surface 10. Axes 126a and 126b are parallel to each other and correspond to the longitudinal axes of cleaning rollers 104a and 104b, respectively. In some cases, the longitudinal axes 126a and 126b are perpendicular to the forward drive direction 116 of the robot 102. Figure 1B and 1CAs shown, the centers 114a and 114b of cleaning rollers 104a and 104b are positioned along the longitudinal axes 126a and 126b, respectively, and correspond to the midpoints of the lengths of cleaning rollers 104a and 104b. In this respect, the centers 114a and 114b are positioned along the rotation axes of cleaning rollers 104a and 104b. The length L1 of one or both of the cleaning rollers 104a and 104b is... Figure 1B (As shown) the length is, for example, between 10 cm and 50 cm, such as between 10 cm and 30 cm, 20 cm and 40 cm, 30 cm and 50 cm, 20 cm and 30 cm, 22 cm and 26 cm, 23 cm and 25 cm, or approximately 24 cm. The length L1 is, for example, 70% to 90% of the total width W1 of robot 102, such as 70% to 80%, 75% to 85%, and 80% to 90%, etc.

[0045] like Figure 2B The exploded view of the cleaning head 100 shown includes cleaning rollers 104a and 104b, each comprising sheaths 220a and 220b and support structures 226a and 226b. Each sheath 220a and 220b includes a housing 222a and 222b and blades 224a and 224b (also shown in the figure). Figure 1C (As shown in the figure). Each support structure 226a, 226b includes cores 228a, 228b, first support members 230a, 230b and second support members 232a, 232b.

[0046] In some embodiments, the sheaths 220a, 220b are single molded parts formed of one or more elastomeric materials. For example, cleaning rollers 104a, 104b are elastic rollers characterized by a pattern of mountain-shaped blades 224a, 224b distributed along the outer surface of the cleaning rollers 104a, 104b. The blades 224a, 224b of at least one of the cleaning rollers 104a, 104b (e.g., cleaning roller 104a) contact the floor surface 10 along the length of the cleaning roller 104a, 104b and are subjected to a continuously applied frictional force during rotation, which, along with a brush with soft bristles, is not shown. The high surface friction of the sheaths 220a, 220b enables them to attract debris 106 and guide it into the interior of the robot 102, for example, through an air duct 128 leading into the robot 102. Figure 1A (as shown in the image).

[0047] Furthermore, similar to cleaning rollers having different bristles extending radially from the rod member, cleaning rollers 104a and 104b have radially outwardly extending blades 224a and 224b. However, blades 224a and 224b also extend longitudinally along the outer surface of rollers 104a and 104b. Blades 224a and 224b extend circumferentially along the outer surface of cleaning rollers 104a and 104b, thereby defining a V-shaped path along the outer surface of cleaning rollers 104a and 104b, as described herein. However, other suitable configurations may also be considered. For example, in some embodiments, at least one of the rear cleaning roller 104a and the front cleaning roller 104b may include bristles and / or elongated flexible flaps for agitation on the floor surface as an addition to or alternative to the blades 224a and 224b.

[0048] For each cleaning roller 104a, 104b, the housing 222a, 222b and its corresponding blades 224a, 224b are part of a single molded component. The housings 222a, 222b are radially supported at multiple discrete locations along the length of the cleaning rollers 104a, 104b by support structures 226a, 226b, and are unsupported between these discrete locations. For example, as described herein, the housings 222a, 222b are supported at the central portions 233a, 233b of the cores 228a, 228b by first support members 230a, 230b and second support members 232a, 232b. The first support members 230a, 230b and the second support members 232a, 232b are members with a circular outer perimeter that contact a circumferential section of the inner surface of the sheaths 220a, 220b. Support members 230a, 230b, 232a, and 232b therefore radially or laterally support the sheath 220a, for example, restricting the sheath 220a from oriented toward the longitudinal axes 126a and 126b. Figure 1B and 1C The deflection (shown in the diagram) is a force corresponding to the transverse longitudinal axes 126a, 126b. When supported by the support members 230a, 230b, 232a, 232b or the central portions 233a, 233b of the cores 228a, 228b, the radial inward deflection of the sheaths 220a, 220b is limited, for example, in response to contact with objects such as the floor surface 10 or debris collected from the floor surface 10. Furthermore, the support members 230a, 230b, 232a, 232b and the central portions 233a, 233b of the cores 228a, 228b maintain the external circular shape of the housings 222a, 222b.

[0049] Between each support member 230a, 232a, 230b, 232b and the central portions 233a, 233b of the cores 228a, 228b, the sheaths 220a, 220b are unsupported. For example, support structures 226a, 226b do not contact the sheaths 220a, 220b between the support members 230a, 232a, 230b, 232b and the central portions 233a, 233b of the cores 228a, 228b. As described herein, air gaps 242a, 242b, 244a, 244b span these unsupported portions and provide space for the sheaths 220a, 220b to deflect radially inward, for example, toward the longitudinal axes 126a, 126b.

[0050] The cleaning rollers 104a and 104b also include rod members 234a and 234b, which are rotatably coupled to mounting devices 218a and 218b and rotatably coupled to support structures 226a and 226b. The mounting devices 218a and 218b are mounted to the robot body 200 and / or the cleaning head housing 124, such that the mounting devices 218a and 218b are rotatably fixed to the robot body 200 and / or the cleaning head housing 124. In this respect, when the cleaning rollers 104a and 104b are driven to rotate, the rod members 234a and 234b and the cores 228a and 228b rotate relative to the mounting devices 218a and 218b.

[0051] Rod members 234a and 234b are embedded molded components separate from support structures 226a and 226b. For example, rod members 234a and 234b are formed of metal and rotatably coupled to mounting devices 218a and 218b, which are in turn rotatably fixed to the body 200 of robot 102 and the housing 124 of cleaning head 100. Alternatively, rod members 234a and 234b are integrally formed with support structures 226a and 226b.

[0052] The cleaning rollers 104a and 104b also include elongated portions 236a and 236b, which are operably connected to the actuator 214 of the robot 102 when the cleaning rollers 104a and 104b are mounted to the body 200 of the robot 102 or the housing 124 of the cleaning head 100. Figure 2A(Schematic shown in the diagram). Elongated portions 236a and 236b are rotatably fixed to the engagement portion (not shown) of the actuation system of the robot 102, thereby rotatably coupling the cleaning rollers 104a and 104b to the actuator 214. The elongated portions 236a and 236b can also rotatably mount the cleaning rollers 104a and 104b to the body of the robot 102 and the housing 124 of the cleaning head 100, such that the cleaning rollers 104a and 104b rotate relative to the body 200 and the housing 124 during cleaning operations.

[0053] like Figure 1C As shown, cleaning rollers 104a and 104b are spaced apart from each other, such that the longitudinal axis 126a of cleaning roller 104a and the longitudinal axis 126b of cleaning roller 104b define a distance S1. The distance S1 is, for example, between 2 and 6 cm, such as between 2 and 4 cm, or between 4 and 6 cm.

[0054] Cleaning rollers 104a and 104b are mounted such that the housing 222a of cleaning roller 104a and the housing 222b of cleaning roller 104b define a gap 108, and blades 224a, 224b define an air opening 109. Both the gap 108 and the air opening 109 extend from a first outer end portion 110a of cleaning roller 104a to a second outer end portion 112a of cleaning roller 104a, or from a first outer end portion 110b of cleaning roller 104b to a second outer end portion 112b of cleaning roller 104b. As described herein, the gap 108 corresponds to the distance between cleaning rollers 104a, 104b where there are no blades 224a, 224b (and in some embodiments described herein, no small pieces), while the width of the air opening 109 corresponds to the distance between cleaning rollers 104a, 104b where there are blades 224a, 224b. Although the width of the air opening 109 may vary during the rotation of the cleaning rollers 104a and 104b, the gap 108 has a constant width during the rotation of the cleaning rollers 104a and 104b.

[0055] The width of the gap 108 decreases toward the ends 110a and 112a of the cleaning roller 104a. This configuration of the gap 108 improves the debris pickup capability of the cleaning rollers 104a and 104b (e.g., the rear cleaning roller 104a and the front cleaning roller 104b) while reducing the likelihood that fine debris picked up by the cleaning rollers 104a and 104b will obstruct their operation. The gap 108 is located between the housing 222a of the rear cleaning roller 104a and the housing 222b of the front cleaning roller 104b, and extends longitudinally along the housings 222a and 222b. Specifically, the outer surfaces of the housings 222b of the front cleaning roller 104b and the rear cleaning roller 104a are separated by the gap 108, the width of which varies along the longitudinal axes 126a and 126b of the cleaning rollers 104a and 104b. The spacing 108 gradually tapers toward the center 114a of the cleaning roller 104a, for example, toward a plane passing through the center of the two cleaning rollers 104a, 104b and perpendicular to the longitudinal axes 126a, 126b. The size of the spacing 108 increases toward the center 114a of the length L1 of the cleaning roller 104a.

[0056] The width between the outer surface of the housing 222a of the cleaning roller 104a and the outer surface of the housing 222b of the front cleaning roller 104b is measured by the interval 108. In some cases, the width of the interval 108 is measured by the shortest distance between the housings 222a and 222b at various points along the longitudinal axis 126a and along a plane extending through the two longitudinal axes 126a, 126b. In this respect, the width variation makes the distance S3 between the centers of the cleaning rollers 104a, 104b greater than the distance S2 between their ends.

[0057] See Figure 1C In illustration 132a, the length S2 of the spacing 108 near the first end 110a of the cleaning roller 104a is between 2 and 10 mm, for example, between 2 mm and 6 mm, 4 mm and 8 mm, 6 mm and 10 mm, etc. For example, the length S2 of the spacing 108 corresponds to the minimum length of the spacing 108 along the length L1 of the cleaning roller 104a. (See reference...) Figure 1A In illustration 132b, the length S3 of the interval 108 near the center 114a of the cleaning roller 104a is, for example, between 5 mm and 30 mm, such as between 5 mm and 20 mm, 10 mm and 25 mm, or 15 mm and 30 mm. The length S3 is, for example, 3 to 15 times the length S2, such as 3 to 5 times, 5 to 10 times, or 10 to 15 times the length S2. For example, the length S3 of the interval 108 corresponds to the maximum length of the interval 108 along the length L1 of the cleaning roller 104a. In some cases, the interval 108 increases linearly from the center 114a of the cleaning roller 104a toward the ends 110a, 110b.

[0058] The air opening 109 between cleaning rollers 104a and 104b is defined such that its width corresponds to the distance between the free tips of the blades 224a and 224b on the opposing cleaning rollers 104a and 104b (in Figure 1C (As shown in illustration 132b). In some examples, the distance varies depending on the arrangement of the blades 224a, 224b during rotation. The air opening 109 between the sheaths 220a, 220b of the cleaning rollers 104a, 104b varies along the longitudinal axes 126a, 126b of the cleaning rollers 104a, 104b. In particular, the width of the air opening 109 varies depending on the relative position of the blades 224a, 224b of the cleaning rollers 104a, 104b. When the blades 224a, 224b face each other during rotation of the cleaning rollers 104a, 104b, the width of the air opening 109 is defined by the distance between the outer peripheries of the sheaths 220a, 220b, for example, by the blades 224a, 224b. When the blades 224a, 224b of the two cleaning rollers 104a, 104b are not facing the other cleaning roller, the width of the air opening 109 is defined by the distance between the outer peripheries of the housings 222a, 222b. In this respect, although the outer peripheries of the cleaning rollers 104a, 104b are constant along the length of the cleaning rollers 104a, 104b as described herein, the width of the air opening 109 between the cleaning rollers 104a, 104b varies with the rotation of the cleaning rollers 104a, 104b. Specifically, although the interval 108 has a constant length during the rotation of the opposing cleaning rollers 104a, 104b, the distance defining the air opening 109 varies during the rotation of the cleaning rollers 104a, 104b due to the relative movement of the blades 224a, 224b of the cleaning rollers 104a, 104b. The width of the air opening 109 varies from a minimum width of 1 mm to 10 mm (when the blades 224a and 224b face each other) to a maximum width of 5 mm to 30 mm (when the blades 224a and 224b are not aligned). The maximum width corresponds, for example, to the length S3 of the gap 108 at the center of the cleaning rollers 104a and 104b, while the minimum width corresponds to the length of the gap 108 minus the height of the blades 224a and 224b at the center of the cleaning rollers 104a and 104b.

[0059] refer to Figure 2AAs shown, in some embodiments, in order to sweep debris 106 toward cleaning rollers 104a, 104b, robot 102 includes a brush 233 that rotates about a non-horizontal axis (e.g., an axis forming an angle of 75 to 90 degrees with the floor surface). The non-horizontal axis, for example, forms an angle of 75 to 90 degrees with the longitudinal axes 126a, 126b of cleaning rollers 104a, 104b. Robot 102 includes an actuator 235 operatively connected to brush 233. Brush 233 extends beyond the periphery of body 200, enabling it to attract debris 106 from portions of floor surface 10 that are typically inaccessible to cleaning rollers 104a, 104b.

[0060] exist Figure 1A During the cleaning operation shown, when controller 212 operates actuators 208a, 208b to drive robot 102 across floor surface 10, if brush 233 is present, controller 212 operates actuator 235 to rotate brush 233 about a non-horizontal axis to attract debris 106 that cleaning rollers 104a, 104b cannot reach. Specifically, brush 233 is capable of attracting debris 106 near walls in the environment and brushing the debris 106 towards cleaning rollers 104a, 104b. Brush 233 sweeps debris 106 towards cleaning rollers 104a, 104b such that debris 106 can be sucked in through the gap 108 between cleaning rollers 104a, 104b.

[0061] The controller 212 operates the actuator 214 to rotate the cleaning rollers 104a and 104b about the shafts 126a and 126b. As they rotate, the cleaning rollers 104a and 104b attract debris 106 from the floor surface 10 and move the debris 106 toward the air duct 128. Figure 1A As shown, cleaning rollers 104a and 104b rotate in opposite directions relative to each other to facilitate the movement of debris 106 through the gap 108 and toward the air duct 128. For example, cleaning roller 104a rotates clockwise 130a while cleaning roller 104b rotates counterclockwise 130b.

[0062] The controller 212 also operates the vacuum assembly 118 to generate an airflow 120. The vacuum assembly 118 is operated to generate an airflow 120 passing through interval 108, such that the airflow 120 can move debris 106 retrieved by cleaning rollers 104a, 104b. The airflow 120 transports the debris 106 to a cleaning chamber 122, which collects the debris 106 transported by the airflow 120. In this respect, both the vacuum assembly 118 and the cleaning rollers 104a, 104b facilitate the absorption of debris 106 from the floor surface 10. An air duct 128 receives the airflow 120 containing debris 106 and directs the airflow 120 into the cleaning chamber 122. The debris 106 is stored in the cleaning chamber 122. During the rotation of the cleaning rollers 104a, 104b, the cleaning rollers 104a, 104b apply force to the floor surface 10 to agitate any debris on the floor surface 10. Agitating the debris 106 causes it to fall off the floor surface 10, allowing the cleaning rollers 104a and 104b to have greater contact with the debris 106. This facilitates the airflow 120 generated by the vacuum assembly 118, which in turn more easily transports the debris 106 into the robot 102. As described herein, the deflectability of the housings 222a and 222b of the cleaning rollers 104a and 104b allows them to deflect in response to larger debris, making it easier for the debris to be ingested into the robot 102.

[0063] Cleaning roller example

[0064] about Figure 2B Examples of the described cleaning rollers 104a, 104b may include, as per [reference to...] Figure 3A-10B The additional configuration described. Figure 3A and 3B An example of a cleaning roller 300 including an outer sheath 302 and an internal support structure 304 is shown. The cleaning roller 300, for example, corresponds to... Figure 1A , 1B The post-cleaning roller 104a is described in 2A and 2B. The sheath 302 and support structure 304 are similar to the sheath 220a and support structure 226a of the post-cleaning roller 104a. Figure 3C As shown, the total length of the cleaning roller 300 is similar to the total length described with respect to cleaning rollers 104a and 104b. For example, the cleaning roller 300 has a length L1. Similar to cleaning roller 104a, the cleaning roller 300 can be mounted on the robot 102 and can be part of the cleaning head 100.

[0065] refer to Figure 3B As shown, the support structure 304 includes an elongated core 306, which has a first outer end 308 and a second outer end 310. Figure 4A and 4BAs shown, the core 306 extends from the first end 308 to the second end 310 along the longitudinal axis 312 (e.g., the longitudinal axis 126a around which the cleaning roller 104a rotates).

[0066] The shaft portion 314 of the core 306 extends from the first end 308 to the second end 310 and has an outer diameter D1 between 5 mm and 15 mm. Figure 4B (as shown in the diagram), for example, between 5 and 10 mm, between 7.5 and 12.5 mm, or between 10 and 15 mm. At least a portion of the outer surface of the shaft portion 314 between the first end 308 and the second end 310 is a generally cylindrical portion of the core 306. As described herein, features are arranged circumferentially around this portion of the outer surface of the shaft portion 314 so that the core 306 can interlock with the sheath 302.

[0067] The first end 308 and the second end 310 of the core 306 are configured to be mounted to a cleaning robot, such as robot 102, so that the cleaning roller 300 can rotate about a longitudinal axis 312 relative to the body 200 of robot 102. The second end 310 is an elongated member that can engage with the actuation system of robot 102, for example, so that the actuator 214 of robot 102 can be used to drive the cleaning roller 300. The second end 310 has a non-circular cross section to mate with the engagement portion of the drive mechanism driven by the actuator 214 of robot 102. For example, the cross section of the second end 310 has a prism cross section with a square, rectangular, hexagonal, pentagonal, other polygonal cross section shape, Luro polygonal cross section shape, or other non-circular cross section shape. The second end 310 is driven by the actuator of robot 102 so that the core 306 rotates relative to the body 200 of robot 102 and the housing 124 of cleaning head 100. Specifically, the core 306 rotatably couples the cleaning roller 300 to the actuator 214 of the robot 102. As described herein, the sheath 302 is rotatably coupled to the core 306 such that the sheath 302 rotates relative to the floor surface 10 in response to rotation of the core 306. The sheath 302, defining the outer surface of the cleaning roller 300, contacts debris on the floor surface 10 and rotates to draw the debris into the robot 102.

[0068] See again Figure 3B and 3C As shown, mounting device 316 (similar to mounting device 218a) is located on the first end 308 of core 306. Mounting device 316 is rotatably coupled to the first end 308 of core 306. For example, the first end 308 of core 306 includes a rod member 318 (such as...). Figure 3BAs shown, for example, similar to rod member 234a), rod member 318 is rotatably coupled to mounting device 316. In some embodiments, core 306 and rod member 318 are fixed together by an insert molding process, in which core 306 is bonded to rod member 318. During rotation of cleaning roller 300, mounting device 316 is rotatably fixed to body 200 of robot 102 or housing 124 of cleaning head 100, while rod member 318 rotates relative to mounting device 316. Mounting device 316 serves as a support surface to allow core 306 and rod member 318 to rotate about their longitudinal axis 312 with relatively low friction generated by the contact between rod member 318 and mounting device 316.

[0069] The core 306 is rotatably coupled to the sheath 302, so that the rotation of the core 306 drives the rotation of the sheath 302. Figure 3B and 3D As shown, at the central portion 320 of the core 306, the core 306 is rotatably coupled to the sheath 302. The central portion 320 includes features for transmitting torque from the core 306 to the sheath 302. The central portion 320 is interlocked with the sheath 302 to rotatably couple the core 306 to the sheath 302.

[0070] In some embodiments, the central portion 320 includes one or more locking members arranged around the shaft portion 314 of the core 306. See also Figure 4A and Figure 4B As shown in illustration 330a, the locking member 322 is a protrusion extending radially outward from the shaft portion 314 of the core 306. The outer diameter D2 of the locking member 322 ( Figure 4B (As shown) corresponds to twice the distance between the outermost point of the locking member 322 and the longitudinal axis 312, and is between 10 mm and 20 mm, for example, between 10 mm and 15 mm, between 12.5 mm and 17.5 mm, or between 15 mm and 20 mm. For example, the outer diameter D2 is 30% to 60% larger than the outer diameter D1 of the shaft portion 314, for example, 35% to 55% or 40% to 50% larger than the outer diameter D1. Figure 4B As shown, the locking member 322 extends longitudinally along the shaft portion 314, and its length L2 is between 10 mm and 30 mm, for example, between 10 mm and 20 mm, between 15 mm and 25 mm, or between 20 mm and 30 mm. For example, the length L2 is 2.5% to 15% of the length L1 of the cleaning roller 300, for example, 2.5% to 7.5%, 5% to 10%, 7.5% to 12.5%, or 10% to 15% of the length L1 of the cleaning roller 300.

[0071] refer to Figure 5A In illustration 331, a locking member 322 of the core 306 abuts a corresponding locking member 324 of the sheath 302. The locking members 324 of the sheath 302 extend radially inward from the inner surface of the housing 350 of the sheath 302 toward the core 306. A central portion 323 of the sheath 302 includes locking members 324. These locking members 324 allow the central portion 323 of the sheath 302 to interlock with the central portion 320 of the core 306. The locking members 324 of the sheath 302 interlock with the locking members 322 of the core 306 such that the locking members 322 of the core 306 are circumferentially positioned between adjacent locking members 324 of the sheath 302. The locking members 322 and 324 are abutting each other in the circumferential direction, for example, in the rotational direction of the cleaning roller 300, thereby rotatably coupling the core 306 to the sheath 302. Similarly, the locking member 324 of the sheath 302 is circumferentially located between adjacent locking members 322 of the core 306. In this regard, the length L2 of the locking member 322 corresponds to the length of the circumferential engagement between the locking member 322 and the locking member 324.

[0072] refer to Figure 5C As shown, the locking member 324 of the sheath 302 has an inner diameter D3, for example, the distance between the innermost point of the locking member 324 and the longitudinal axis 312. The inner diameter D3 is shorter than the outer diameter D2 of the locking member 322 of the core 306. For example, the diameter D2 is between 5 mm and 15 mm, such as between 5 and 10 mm, 7.5 mm and 12.5 mm, or 10 mm and 15 mm. Figure 5B As shown, the locking member 324 extends longitudinally along the housing 350, and its length L3 is between 5 mm and 25 mm, for example, between 5 mm and 15 mm, between 10 mm and 20 mm, or between 15 mm and 25 mm. For example, the length L3 is 2.5% to 15% of the length L1 of the cleaning roller 300, for example, between 2.5% and 7.5%, 5% to 10%, 7.5% to 12.5%, or between 10% and 15% of the length L1 of the cleaning roller 300.

[0073] In addition to having the feature of rotatably coupling the core 306 to the sheath 302, the support structure 304 also includes features that radially support the sheath 302. For example, large debris on the floor surface 10 may cause the sheath 302 to deform inward, and the radial support features can limit the deformation at one or more locations along the length of the sheath 302. The radial support features limit the radially inward deformation of the sheath 302 at multiple discrete locations along the length of the sheath 302. Figure 3D As illustrated in the example, the radial support feature provides support at three different and separate locations along the length of the sheath 302.

[0074] For example, the radial support feature of the support structure 304 includes one or more portions of the core 306. The central portion 320 of the core 306 radially abuts the sheath 302 at the center 325 of the cleaning roller 300. In some embodiments, the outer tip of the locking member 322 of the core 304 abuts the inner surface of the sheath 302 at the center 325 of the cleaning roller 300.

[0075] In addition, such as Figure 3B and 3D As shown, the radial support features of the support structure 304 include support members 326a and 326b mounted to the core 306. The support members 326a and 326b are discs formed of a deformable material (e.g., an elastomer or rubber material). The support members 326a and 326b radially support portions of the sheath 302 to maintain the cross-section of the housing 350 of the sheath 302 in a circular or substantially circular shape.

[0076] like Figure 3D As shown, support member 326a is located near or on the first end 308 of core 306, and support member 326b is located near or on the second end 310 of core 306. Support members 326a and 326b are mounted to core 306 by pressing them onto the outer surface of core 306. Support members 326a and 326b are each located near the opposite longitudinal ends of sheath 302, at a distance L4 from the center 325 of cleaning roller 300. The distance L4 is between 60 mm and 100 mm, for example, between 60 mm and 80 mm, 60 mm and 70 mm, 70 mm and 80 mm, 80 mm and 100 mm, 80 mm and 90 mm, 85 mm and 95 mm, or 90 mm and 100 mm. In some embodiments, the distance L4 is 30% to 45% of the total length L1 of the cleaning roller 300, for example, between 32.5% to 42.5% or 35% to 40% of the total length L1 of the cleaning roller 300. The first support structure and the second support members 326a, 326b are located at a distance L5 from the first end and the second end 348a, 348b of the sheath 302, respectively. The distance L5 is between 20 mm and 40 mm, for example, between 20 mm and 30 mm, between 25 mm and 35 mm, or between 30 mm and 40 mm. For example, the distance L5 is 5% to 20% of the total length L1 of the cleaning roller 300, for example, between 5% to 15% or 10% to 20% of the length L1 of the cleaning roller 300.

[0077] Support members 326a and 326b extend radially outward from the outer surface of the core 306 (e.g., the outer surface of the shaft portion 314) to approach the inner surface of the sheath 302. When the sheath 302 deforms inward toward the longitudinal axis 312, the support members 326a and 326b contact or are configured to contact the inner surface of the sheath 302. The support members 326a and 326b radially support the sheath 302 to limit radial inward deformation of the sheath 302 along the position of the sheath 302 near the support members 326a and 326b to exceed a certain amount.

[0078] The outer surfaces 328a and 328b of the support members 326a and 326b follow the shape of the inner surface of the sheath 302. In this respect, the outer surfaces 328a and 328b are substantially circular and maintain the circular cross-sectional shape of the inner surface of the sheath 302 at the positions of the support members 326a and 326b. The longitudinal axis 312 coincides with the center of the circular shape defined by the outer surfaces 328a and 328b, for example, with the central axis of the support members 326a and 326b. The outer surfaces 328a and 328b contact the inner surface of the sheath 302 to radially support the sheath 302.

[0079] Support members 326a and 326b are disc-shaped members whose diameter matches the diameter of the inner surface of the sheath 302 at its longitudinal position. The thickness T1 of the support members 326a and 326b (e.g., the width of the support members 326a and 326b along the longitudinal axis 312) is between 2.5 mm and 7.5 mm, such as between 3.5 mm and 6.5 mm, 4 mm and 6 mm, or 4.5 mm and 5.5 mm. For example, the thickness T1 is 0.5% to 3% of the length L1 of the cleaning roller 300, such as 0.5% to 2%, 1% to 2.5%, or 1.5% to 3% of the length L1 of the cleaning roller 300. In some embodiments, the outer surfaces 328a and 328b of the support members 326a and 326b are inclined toward the center 325 of the cleaning roller 300 to match the taper of the outer diameter of the housing 350 of the sheath 302 described herein.

[0080] The core 306 also includes features for maintaining the relative positions of the sheath 302 and the core 306 along the longitudinal axis 312, and the relative positions of the support members 326, 326b and the core 306 along the longitudinal axis 312. For example, the core 306 includes one or more locking members adjacent to the sheath 302 to restrict movement of the sheath 302 along the longitudinal axis 312 in a first longitudinal direction 312a, and one or more locking members adjacent to the sheath 302 to restrict movement of the sheath 302 along the longitudinal axis 312 in a second opposite longitudinal direction 312b.

[0081] refer to Figure 4AAs shown in illustration 330a, a locking member 332 on the core 306 is positioned in the central portion 320 of the core 306. The locking member 332 extends radially outward from the shaft portion 314. The locking member 332 abuts the sheath 302, for example, abutting the locking member 324 of the sheath 302, to restrict movement of the sheath 302 relative to the core 306 along the longitudinal axis 312 in a second direction 312b. The locking member 332 extends radially outward from the shaft portion 314 of the core 306. In some embodiments, the locking member 332 is a continuous ring of material positioned around the shaft portion 314.

[0082] A locking member 334, located in the central portion 320 of the core 306, extends radially outward from the shaft portion 314. The locking member 334 abuts the sheath 302, for example, adjacent to the locking member 324 of the sheath 302, to restrict movement of the sheath 302 relative to the core 306 along the longitudinal axis 312 in a first direction 312a. The first direction 312a is opposite to a second direction 312b, wherein movement of the sheath 302 is restricted by the locking member 332. Figure 4A As shown in illustration 330a, each locking member 334 includes an abutting surface 334a that contacts one of the different locking members 324 of the sheath 302. The abutting surface 334a faces the second end 310 of the core 306. Each locking member 334 also includes an inclined surface 334b, for example, inclined toward the center 325 of the cleaning roller 300. The inclined surface 334b ​​faces the first end portion 308 of the core 306. During the assembly of the cleaning roller 300, the inclined surface 334b ​​can improve the manufacturability of the cleaning roller 300 by allowing the sheath 302, and in particular the locking members 324 of the sheath 302, to be easily slid on the locking members 334 and subsequently contact the locking members 332.

[0083] Locking members 332 and 334 cooperate to define the longitudinal position of the sheath 302 above the core 306. When the sheath 302 is above the core 306, the abutment surface 334a of the locking member 334 contacts the first longitudinal end 324a, and the locking member 332 contacts the second longitudinal end 324b of the locking member 324 of the sheath 302 (e.g., ...). Figure 5B (As shown).

[0084] The features for maintaining the relative positions of support members 326a, 326b and core 306 along the longitudinal axis 312 include one or more locking members adjacent to the support members 326a, 326b to restrict movement of the support members 326a, 326b along the longitudinal axis 312 in a first direction 312a, and one or more locking members adjacent to the support members 326a, 326b to restrict movement of the support members 326a, 326b along the longitudinal axis 312 in a second direction 312a. (See reference) Figure 4A The insert 330b shown, the locking member 336 on the core 306 Figure 4A (Only one shown) extends radially outward from the shaft portion 314. A locking member 336 abuts against a support member 326a to restrict movement of the support member 326a relative to the core 306 in the second direction 312b. Specifically, the abutting surface 336a of the locking member 336 abuts against the support member 326a to restrict movement of the support member 326a in the second direction 312b. The abutting surface 336a faces the first end 308 of the core 306. The inclined surface 336b of the locking member 336 (e.g., inclined towards the center 325 of the cleaning roller 300) allows the support member 326a to slide easily on the locking member 336 to position the support member 326a between the locking member 336 and the locking member 338. The inclined surface 336b faces the second end 310 of the core 306. In this regard, during assembly, the support member 326a slides on the second end 310 of the core 306, passes over the inclined surface 336b, and enters the area between the locking member 336 and the locking member 338.

[0085] A locking member 338 on the core 306 extends radially outward from the shaft portion 314. The locking member 338 abuts the support member 326a to restrict movement of the support member 326a relative to the core 306 in the second direction 312b. In some embodiments, the locking member 338 is a continuous ring of material positioned around the shaft portion 314.

[0086] Locking members 336 and 338 cooperate to define the longitudinal position of the support member 326a above the core 306. When the support member 326a is positioned above the core 306, the locking member 332 contacts the first longitudinal end of the support member 326a, and the adjacent surface 334a of the locking member 334 contacts the second opposing longitudinal end of the support member 326a.

[0087] refer to Figure 4AIn the illustration 330c, locking members 340 and 342 on the core 306 abut against the support member 326b to restrict movement of the support member 326a relative to the core 306 in the second direction 312b and the first direction 312a, respectively. The locking member 340, its abutting surface 340a, and its inclined surface 340b are similar to those of the locking members 336, 336a, and 336b, respectively, allowing the support member 326b to easily slide on the locking member 340 and abut against the locking member 342. The abutting surface 340a differs from the abutting surface 336a in that it faces the second end 310 of the core 306, and the inclined surface 340b differs from the inclined surface 336b in that it faces the first end 308 of the core 306. In this regard, the support member 326b slides on the first end 308 of the core 306 so that the support member 326b is located in the region between the locking member 340 and the locking member 342.

[0088] In some embodiments, locking member 342 differs from locking member 338 in that locking member 342 is not formed by a continuous ring of material protruding from shaft portion 314, but rather by different protrusions extending from shaft portion 314. The circumferential spacing between locking member 342 and locking member 340 allows sheath 302 and its locking member 324 to easily slide over locking members 340, 342 in the first direction 312a during assembly of cleaning roller 300.

[0089] Locking members 332, 334, 336, 338, 340, and 342 are each positioned around the shaft portion 314, and each can be integrally molded to the core 306, such that the shaft portion 314 and the locking members 332, 334, 336, 338, 340, and 342 form a single component, such as a single plastic component. To position the sheath 302 and the support members 326a and 326b on the core 306, the locking members 332, 334, 336, 338, 340, and 342 can have similar characteristics to... Figure 4B The diameter D4 is shown in the figure. In some embodiments, the outer diameter D4 is between 10 and 20 mm, such as between 10 and 15 mm, 12.5 and 17.5 mm, or 15 and 20 mm. For example, the outer diameter D4 is equal to the outer diameter D2 of the locking member 322 on the core 306. The outer diameter D4 is 1 to 5 mm larger than the diameter D1 of the shaft 314, such as 1 to 3 mm, 2 to 4 mm, or 3 to 5 mm larger than the diameter D1 of the shaft 314.

[0090] Although the support structure 304 supports the sheath 302 and interlocks with the sheath 302 at one or more portions of the sheath 302, the sheath 302 is radially unsupported and circumferentially unsupported along some portions of the sheath 302. Figure 3D As shown, support members 326a, 326b and the central portion 320 of core 306 form a support system that radially supports sheath 302 at three different portions 344a, 344b, 344c. The inner surface of sheath 302 is directly radially or laterally supported at support portions 344a, 344b, 344c. For example, support portion 344a and support member 326a form a cylindrical joint, allowing relative sliding along and about the longitudinal axis 312 while restricting other modes of motion. Support portion 344c and support member 326b also form a cylindrical joint. Relative movement along or about the longitudinal axis 312 is accompanied by friction between the supported portions 344a, 344b and the support members 326a, 326b. The supported portion 344b and the central portion 320 of the core 306 form a rigid joint, wherein relative translation and relative rotation between the supported portion 344b and the central portion 320 are restricted.

[0091] The sheath 302 is unsupported at portions 346a, 346b, 346c, and 346d. The unsupported portion 346a corresponds to the portion of the sheath 302 between the first end 348a and the supporting portion 344a, for example, between the first end 348a and the supporting member 326a. The unsupported portion 346b corresponds to the portion of the sheath 302 between the supported portions 344a and 344b, for example, between the supporting member 326a and the center 325 of the cleaning roller 300. The unsupported portion 346c corresponds to the portion of the sheath 302 between the supported portions 344b and 344c, for example, between the center 325 of the cleaning roller 300 and the supporting member 326b. The unsupported portion 346d corresponds to the portion of the sheath 302 between the support portion 344b and the second end 348b of the sheath 302, for example, between the support member 326b and the second end 348b of the sheath 302.

[0092] Unsupported portions 346b and 346c cover the internal air gaps 352a and 352b defined by the sheath 302 and the support structure 304. Air gap 352a of the cleaning roller 300 corresponds to the space between the outer surface of the core 306, the support member 326a, and the inner surface of the sheath 302; air gap 352b corresponds to the space between the outer surface of the core 306, the support member 326b, and the inner surface of the sheath 302. Air gaps 352a and 352b extend from the center portion 320 of the core 306 to the support members 326a and 326b along the entire longitudinal length of the unsupported portions 346b and 346c. Air gaps 352a and 352b separate the support structure 304 from the sheath 302 along the unsupported portions 346b and 346c. These air gaps 352a, 352b allow the sheath 302 to deform inward toward the longitudinal axis 312 into the air gaps 352a, 352b, for example, due to contact with debris on the floor surface during cleaning operations.

[0093] When the sheath 302 of the cleaning roller 300 contacts an object (e.g., floor surface 10 and debris on floor surface 10), the deformation of the supported portions 344a, 344b, and 344c is relatively smaller than that of the unsupported portions 346a, 346b, 346c, and 346d. In some cases, the unsupported portions 346a, 346b, 346c, and 346d of the sheath 302 deflect in response to contact with the floor surface 10, while the supported portions 344a, 344b, and 344c are radially compressed, which has a small inward deflection compared to the inward deflection of the unsupported portions 346a, 346b, 346c, and 346d. The radial compression of the supported portions 344a, 344b, and 344c is less than the radial deflection of the unsupported portions 346a, 346b, 346c, and 346d because the supported portions 344a, 344b, and 344c are supported by material extending radially toward the shaft portion 314, for example by support members 326a, 326b and the central portion 320 of the core 306.

[0094] The length L5 of the unsupported portions 346a and 346d is between 15 and 25 mm, for example, between 15 mm and 20 mm, between 17.5 mm and 22.5 mm, or between 20 mm and 25 mm. Each length L5 is 5% to 25% of the length L1 of the cleaning roller 300, for example, 5% to 15%, 10% and 20%, or 15% to 25% of the length L1 of the cleaning roller 300.

[0095] In some embodiments, the sheath 302 contacts the core 306 only at the center 325 of the cleaning roller 300. Lengths L6 and L7 correspond to the lengths of the air gaps 352a and 352b, for example, the distance between the center 325 of the cleaning roller 300 and either of the support members 326a or 326b, the distance between the first longitudinal end 324a of the locking member 324 and the first support member 326a, or the distance between the second longitudinal end 324b of the locking member and the second support member 326b. Lengths L6 and L7 are between 80 mm and 100 mm, such as between 80 mm and 90 mm, 85 mm and 95 mm, or 90 mm and 100 mm. For example, lengths L6 and L7 are equal to the distance L4 between one of the support members 326a or 326b and the center 325. Each of lengths L6 and L7 is 25% to 45% of the length L1 of the cleaning roller 300, for example, 25% to 35%, 30% to 40%, or 35% to 45% of the length L1 of the cleaning roller 300. Each of lengths L6 and L7 is at least 25% of the length L1 of the cleaning roller 300, for example, at least 30%, at least 35%, at least 40%, or at least 45% of the length L1 of the cleaning roller 300. A combined value of lengths L6 and L7 is at least 50% of the length L1 of the cleaning roller 300, for example, at least 60%, at least 70%, at least 80%, or at least 90% of the length L1 of the cleaning roller 300. In some embodiments, the sheath 302 contacts the core 306 at only one point, for example, at the center 325 of the cleaning roller 300, while in other embodiments, the sheath 302 and the core 306 contact each other along a line extending 25% to 100% of the length of the central portion 320 of the core 306.

[0096] As described herein, in addition to providing radial support to the sheath 302, the core 306 also provides circumferential support, particularly by circumferentially abutting the sheath 302 against the central portion 320. For example, the circumferential support provided by the central portion 320 enables the core 306 to rotate, thereby causing the sheath 302 to rotate. Furthermore, when a torsional force is applied to the sheath 302 due to contact with an object, the sheath 302 does not substantially rotate relative to the core 306 at the central portion 320. This is because the sheath 302 is rotatably fixed to the core 306 at the central portion 320. In some embodiments, the only location where the sheath 302 is rotatably supported is the supported portion 344b of the sheath 302. In this respect, other portions of the sheath 302 can be rotatably deformed relative to the supported portion 344b, thereby rotating relative to the core 306.

[0097] In some embodiments, support members 326a, 326b provide circumferential support by generating a frictional reaction force between the support members 326a, 326b and the sheath 302. When torque is applied to the core 306 and thus to the support members 326a, 326b, which are rotationally coupled to the core 306, a portion of the torque can be transmitted to the sheath 302. Similarly, when torque is applied to the sheath 302, a portion of the torque can be transmitted to the core 306. However, during cleaning operations, the sheath 302 typically experiences torque due to contact between the sheath 302 and an object large enough to cause relative rotation between portions of the sheath 302 and the support members 326a, 326b, for example, between the support members 326a, 326b and the portions of the sheath 302 covering the support members 326a, 326b. This relative rotation can improve the debris pickup effect of the sheath 302.

[0098] The sheath 302 extends along the longitudinal axis 312 of the cleaning roller 300 beyond the core 304 of the support structure 303, particularly beyond the first end 308 and the second end 310 of the core 306. The housing 350 of the sheath 302 includes a first half 354 and a second half 356. The first half 354 corresponds to a portion of the housing 350 on one side of a central plane 327, which passes through the center 325 of the cleaning roller 300 and is perpendicular to the longitudinal axis 312 of the cleaning roller 300. The second half 356 corresponds to another portion of the housing 350 on the other side of the central plane 327. The central plane 327 is, for example, a bisecting plane that divides the cleaning roller 300 into two symmetrical halves. The wall thickness of the housing 350 is between 0.5 mm and 3 mm, such as 0.5 mm to 1.5 mm, 1 mm to 2 mm, 1.5 mm to 2.5 mm, or 2 mm to 3 mm.

[0099] Reference Figure 3DThe cleaning roller 300 includes a first collection chamber 358 and a second collection chamber 360. The collection chambers 358 and 360 correspond to volumes at the ends of the cleaning roller 300, where fine debris attracted by the cleaning roller 300 is typically collected. Specifically, when the cleaning roller 300 attracts fine debris from the floor surface 10 during a cleaning operation, the fine debris moves along the ends 348a and 348b of the sheath 302, wraps around the core 306, and is then collected within the collection chambers 358 and 360. The fine debris is wrapped around the first and second ends 308 and 310 of the core 306 and can be easily removed by the user from the elongated first and second ends 308 and 310. In this respect, the first and second ends 308 and 310 are located within the collection chambers 358 and 360. The collection chambers 358 and 360 are defined by the sheath 302 and support members 326a and 326b. Collection chambers 358 and 360 are defined by unsupported portions 346a and 346d of sheath 302, which extend beyond support members 326a and 326b.

[0100] A first collection chamber 358 is positioned within a first half 354 of the housing 350. The first collection chamber 358 is defined by, for example, a support member 326a, an unsupported portion 346a of the sheath 302, and a portion of the core 306 extending through the unsupported portion 346a of the sheath 302. The length L5 of the unsupported portion 346a of the sheath 302 defines the length of the first collection chamber 358.

[0101] The second collecting cavity 360 is located within the second half 356 of the housing 350. The second collecting cavity 360 is defined by, for example, a support member 326b, an unsupported portion 346b of the sheath 302, and a portion of the core 306 extending through the unsupported portion 346b of the sheath 302. The length L5 of the unsupported portion 346b of the sheath 302 defines the length of the second collecting cavity 360.

[0102] refer to Figure 5AAs shown, in some embodiments, the sheath 302 of the cleaning roller 300 is a one-piece component, comprising a housing 350 and cantilevered blades extending generally radially from the outer surface of the housing 350. One end of each blade is fixed to the outer surface of the housing 350, while the other end is free. The height of each blade is defined by the distance from the fixed end (e.g., the point connected to the housing 350) to the free end. During rotation of the cleaning roller 300, the free end sweeps across the outer circumference of the sheath 302. The outer circumference is consistent along the length of the cleaning roller 300. Because the radius from the longitudinal axis 312 to the outer surface of the housing 350 decreases from the ends 348a, 348b of the sheath 302 to the center 325, and the height of each blade increases from the ends 348a, 348b of the sheath 302 to the center 325, the outer circumference of the cleaning roller 300 remains consistent throughout its length. In some embodiments, the blades are mountain-shaped, such that each of the two legs of each blade begins at opposite ends 348a, 348b of the sheath 302, and the two legs intersect at an angle at the center 325 of the cleaning roller 300 to form a "V" shape. The tip of the V is located in front of the legs in the direction of rotation.

[0103] Figure 5A and 5B An example of a sleeve 302 is depicted, comprising one or more blades on the outer surface of a housing 350. While a single blade 362 is described herein, in some embodiments, the cleaning roller 300 includes multiple blades, each of which is similar to blade 362 but arranged at different locations along the outer surface of the housing 350. For example, the sleeve 302 may include 4 to 12 blades, such as 4 to 8 blades, 6 to 10 blades, or 8 to 12 blades. Blade 362 is a deflectable portion of the sleeve 302 that, in some cases, engages with the floor surface 10 as the cleaning roller 300 rotates during a cleaning operation. Blade 362 extends along the outer surfaces of the first half 354 and the second half 356 of the housing 350. Blade 362 extends radially outward from the sleeve 302 and away from the longitudinal axis 312 of the cleaning roller 300. As the cleaning roller 300 rotates and blade 362 contacts the floor surface 10, blade 362 deflects.

[0104] refer to Figure 5EAs shown, blade 362 extends from a first end 362a fixed to housing 350 to a second free end 362b. The height of blade 362 corresponds, for example, to a height H1 from the first end 362a to the second end 362b, for example, the height of blade 362 measured from the outer surface of housing 350. The height H1 of blade 362 near the center 325 of cleaning roller 300 is greater than the height H1 of blade 362 near the first end 348a and the second portion 348b of sheath 302. In some cases, the height H1 of blade 362 near the center of cleaning roller 300 is the maximum height of blade 362. In some cases, the height H1 of blade 362 decreases linearly from the center 325 of cleaning roller 300 toward the first end 348a and the second end 348b of sheath 302. In some embodiments, blade 362 is angled rearward relative to the rotation direction 363 of cleaning roller 300, making blade 362 more easily deflected in response to contact with floor surface 10.

[0105] See Figure 5D As shown, blade 362 follows a V-shaped path 366, which runs along the outer surface of housing 350. The V-shaped path 366 includes a first leg 366a and a second leg 366b extending from a central plane 327 toward a first end 348a and a second end 348b of sheath 302, respectively. The first and second legs 366a and 366b extend circumferentially along the outer surface of housing 350, particularly in the rotation direction 363 of cleaning roller 300. The height H1 of blade 362 decreases along the first leg 366a of path 366 from the central plane 327 toward the first end 348a of sheath 302, and the height H1 of blade 362 decreases along the second leg 366b of path 366 from the central plane 327 toward the second end 348b of sheath 302. In some cases, the height of blade 362 decreases linearly from the central plane 327 toward the second end 348b and linearly from the central plane 327 toward the first end 348a.

[0106] In some cases, the outer diameter D5 of the sheath 302 corresponds to the distance between the free ends 362b and 364b of the blades 362 and 364, which are arranged on opposite sides of a plane passing through the longitudinal axis 312 of the cleaning roller 300. The blade 364 has a fixed end 364a and a free end 364b, similar to the blade 362, except that it extends along a different path along the outer surface of the housing 350. In some cases, the outer diameter D5 of the sheath 302 is uniform over the entire length of the sheath 302. In this respect, although the halves 354 and 356 of the housing 350 gradually taper, the outer diameter of the sheath 302 is uniform over its entire length due to the height variation of the blades 362 and 364.

[0107] In some implementation schemes, such as Figure 6 As shown, the width or diameter of the cleaning roller 300 between ends 348a and 348b of the sheath 302 corresponds to the diameter D5 of the sheath 302. In some cases, the diameter D5 is uniform from end 348a to end 348b of the sheath 302. The diameter D5 of the cleaning roller 300 is equal at different positions between the positions of end 348a and end 348b along the longitudinal axis 312 of the cleaning roller 300. The diameter D5 is between, for example, 20 mm and 60 mm, such as between 20 mm and 40 mm, 30 mm and 50 mm, 40 mm and 60 mm, etc.

[0108] refer to Figure 5E As shown, the height H1 of blade 362 is, for example, between 0.5 mm and 25 mm, such as between 0.5 and 2 mm, 5 and 15 mm, 5 and 20 mm, 5 and 25 mm, etc. The height H1 of blade 362 at center plane 327 is, for example, between 2.5 and 25 mm, such as between 2.5 and 12.5 mm, 7.5 and 17.5 mm, 12.5 and 25 mm, etc. The height H1 of blade 362 at the ends 348a and 348b of sheath 302 is, for example, between 0.5 and 5 mm, such as between 0.5 and 1.5 mm, 0.5 and 2.5 mm, etc. The height H1 of blade 362 at the central plane 327 is, for example, 1.5 to 50 times the height H1 of blade 362 at the ends 348a and 348b of sheath 302, for example, 1.5 to 5 times, 5 to 10 times, 10 to 20 times, or 10 to 50 times the height H1 of blade 362 at the ends 348a and 348b of sheath 302, respectively. For example, the height H1 of blade 362 at the central plane 327 corresponds to the maximum height of blade 362, and the height H1 of blade 362 at the ends 348a and 348b of sheath 302 corresponds to the minimum height of blade 362. In some embodiments, the maximum height of blade 362 is 5% to 45% of the diameter D5 of sheath 302, for example, 5% to 15%, 15% to 30%, or 30% to 45% of the diameter D5 of sheath 302, etc.

[0109] refer to Figure 3DAs shown, the housing 350 of the sheath 302 tapers gradually towards the center 325 (e.g., towards the central plane 327) along the longitudinal axis 312 of the cleaning roller 300. The first half 354 and the second half 356 of the housing 350 taper gradually along the longitudinal axis 312 towards the center 325 (e.g., towards the central plane 327) at least a portion of each half. In some embodiments, the first half 354 tapers gradually from the first outer end 348a to the center 325, and the second half 356 tapers gradually from the second outer end 348b to the center 325. In some embodiments, the outer shell 350 of the sheath 302 does not taper gradually towards the center 325 along the entire length of the sheath 302, but rather tapers gradually towards the center 325 along the unsupported portions 346b and 346c, and not along the unsupported portions 346a and 346d.

[0110] In this regard, the first half 354 and the second half 356 are truncated conical. The central axes of the truncated cones formed by the first half 354 and the second half 356 are each parallel to and extend through the longitudinal axis 312 of the cleaning roller 300. Therefore, each of the inner surfaces defined by the unsupported portions 346a, 346b, 346c, and 346d is truncated conical and gradually tapers toward the center 325 of the cleaning roller 300. Furthermore, the air gaps 352a and 352b are truncated conical and gradually taper toward the center 325 of the cleaning roller 300.

[0111] The outer diameter D6 of the housing 350 at the central plane 327 is smaller than, for example, the outer diameters D7 and D8 of the housing 350 at the outer end portions 348a and 348b of the sheath 302. In some cases, the outer diameter of the housing 350 decreases linearly toward the center 325.

[0112] The diameter of the housing 350 of the sheath 302 can vary at different points along the length of the housing 350. The diameter D6 of the housing 350 along the central plane 327 is, for example, between 7 mm and 22 mm, such as between 7 and 17 mm, or between 12 and 22 mm. The diameter D6 of the housing 350 along the central plane 327 is defined, for example, by the distance from the outer surface of the housing 350 along the central plane 327. The diameters D7 and D8 of the housing 350 at the outer ends 348a and 348b of the sheath 302 are, for example, between 15 mm and 55 mm, such as between 15 and 40 mm, 20 and 45 mm, or between 30 and 55 mm.

[0113] The diameter D6 of the housing 350 is, for example, 10% to 50% of the diameter D8 of the sheath 302, such as 10% to 20%, 15% to 25%, 30% to 50% of the diameter D8. The diameters D6 and D7 of the housing 350 are, for example, 80% to 95% of the diameter D8 of the sheath 302, such as 80% to 90%, 85% to 95%, 90% to 95% of the diameter D8 of the sheath 302.

[0114] In some embodiments, diameter D6 corresponds to the minimum diameter of housing 350 along its length, and diameters D7 and D8 correspond to the maximum diameter of housing 350 along its length. In an example... Figure 1A As shown, the length S2 of the interval 108 is defined by the maximum diameter of the housings of the cleaning rollers 104a and 104b. The length S3 of the interval 108 is defined by the minimum diameter of the housings of the cleaning rollers 104a and 104b.

[0115] In some examples, the diameter of housing 350 also varies linearly along the length of housing 350. Along the length of housing 350, from its minimum diameter to its maximum diameter, the diameter increases with a slope M1. The slope M1 is, for example, between 0.01 and 0.4 mm / mm, such as between 0.01 and 0.3 mm / mm, 0.05 mm and 0.35 mm / mm, etc. The angle between the slope M1 and the longitudinal axis 312 is, for example, between 0.5 degrees and 20 degrees, such as between 1 degree and 10 degrees, 5 degrees and 20 degrees, 5 degrees and 15 degrees, 10 degrees and 20 degrees, etc. Specifically, the slope M1 corresponds to the slope of the truncated cone defined by the first half 354 and the second half 356 of housing 350.

[0116] When cleaning roller 300 is paired with another cleaning roller (e.g., cleaning roller 104b), the outer surfaces of the housing 350 of cleaning roller 300 and the outer surfaces of the housing 350 of the other cleaning roller define a gap therebetween, for example, gap 108 as described herein. The cleaning rollers also define air openings therebetween, such as air opening 109 as described herein. Due to the taper of the first half 354 and the second half 356 of housing 350, the size of the gap increases toward the center 325 of cleaning roller 300. The truncated conical shape of halves 354, 356 facilitates the movement of filaments picked up by cleaning roller 300 toward the ends 348a, 348b of sheath 302. The filaments can then be collected in collection cavities 358, 360, allowing the user to easily remove the filaments from cleaning roller 300. In some examples, the user can remove cleaning roller 300 from a robot, allowing the filaments collected in collection cavities 358, 360 to be removed.

[0117] In some cases, the size of the air opening will vary due to the taper of the first half 354 and the second half 356 of the housing 350. Specifically, the width of the air opening depends on whether the blades 362, 364 of the cleaning roller 300 face the blades of the other cleaning roller. When the width of the air opening between the sheath 302 of the cleaning roller 300 and the sheath of the other cleaning roller varies along the longitudinal axis 312 of the cleaning roller 300, the outer perimeter of the cleaning roller remains constant. As described with respect to the cleaning roller 300, the free ends 362b, 364b of the blades 362, 364 define the outer perimeter of the cleaning roller 300. Similarly, the free ends of the blades of the other cleaning roller define the outer perimeter of the other cleaning roller. If the blades 362, 364 face the blades of the other cleaning roller, the width of the air opening corresponds to the minimum width between the cleaning roller 300 and the other cleaning roller, for example, the distance between the outer perimeter of the housing 350 of the cleaning roller 300 and the outer perimeter of the housing of the other cleaning roller. If the blades 362, 364 of the cleaning roller and the blade of another cleaning roller are positioned such that the width of the air opening is defined by the distance between the housings of the cleaning rollers and corresponds to the maximum width between the cleaning rollers (e.g., between the free ends 362b, 362b of the blades 362, 364 of the cleaning roller 300 and the free ends of the blades of the other cleaning roller).

[0118] Optional embodiments

[0119] Many embodiments have been described above. However, it should be understood that various modifications can be made.

[0120] Although robot 102 is described as having a rectangular front portion 202a and a semi-circular rear portion 202b, in some embodiments, the outer periphery of robot 102 defines other suitable shapes. For example, in some cases, the body 200 of robot 102 has a generally circular shape. Alternatively, the body 200 of robot 102 may have a generally rectangular shape, a generally square shape, a generally elliptical shape, or a generally Reuleaux polygonal shape.

[0121] While some examples are described with respect to a single cleaning roller 300 or cleaning roller 104a, the cleaning roller 300 is similar to the front roller 104b, as described herein, except that the arrangement of the blades 362 of the cleaning roller 300 differs from the arrangement of the blades 224b of the front cleaning roller 104b. Specifically, because the cleaning roller 104b is the front roller and the cleaning roller 104a is the rear roller, the V-shaped path of the blades 224a of the cleaning roller 104a is symmetrical to the V-shaped path of the blades 224b of the cleaning roller 104b, for example, symmetrical about a vertical plane equidistant from the longitudinal axes 126a, 126b of the cleaning rollers 104a and 104b. The legs of the V-shaped path of the blades 224b extend counterclockwise in a direction 130b along the outer surface of the housing 222b of the cleaning roller 104b, while the legs of the V-shaped path of the blades 224a extend clockwise in a direction 130a along the outer surface of the housing 222a of the cleaning roller 104a.

[0122] Although the supported portion 344b is described as being located at the center 325 of the cleaning roller 300, in some embodiments, the central portion 320 of the core 306 supports the sheath 302 at a location offset from the center 325 of the cleaning roller 300, for example, offset from the center 325 by 1 cm to 5 cm. In some embodiments, the support members 326a, 326b are symmetrically arranged around the central plane 327 and equidistant from the center 325 of the cleaning roller 300. In other embodiments, one of the support members 326a, 326b is farther from the central plane 325 than the other of the support members 326a, 326b is farther from the center 325.

[0123] Although the filamentary debris is described as being collected in the collection chamber 358, in some embodiments, the filamentary debris is collected on the mounting device 316. For example, the mounting device 316 includes a recessed annular portion (the center of which coincides with the longitudinal axis 312) in which the filamentary debris can be collected.

[0124] Support members 326a and 326b have a circular outer perimeter. The geometry of the internal portions of support members 326a and 326b (e.g., the portion within the circular outer perimeter) can vary between embodiments. Figure 7A and 7BAn example of a support member 700 is shown, which can be used as a support member for a cleaning roller (e.g., cleaning roller 300). The support member 700 includes an inner ring 702, an outer ring 704, and an elongated member 706 extending between the inner ring 702 and the outer ring 704. When the support member 700 is mounted onto the core 306 of the cleaning roller 300, the inner ring 702 is coupled to the core 306. The inner ring 702 abuts locking members 336, 338 (if the support member 700 corresponds to a first support member 326a) or locking members 340, 342 (if the support member 700 corresponds to a second support member 326b). The outer ring 704 contacts the inner surface of the sheath 302 to provide radial support to the sheath 302.

[0125] An elongated member 706 extends along and parallel to a radial axis that extends outward from the center of the support member 700. The elongated member 706 is a structural support member for the outer ring 704 to provide radial support to the sheath 302. Adjacent elongated members 706 define a gap 708, thus reducing the amount of material required to form the support member 700. The elongated member 706 includes a protrusion 710 to increase its rigidity, thereby providing more radial support to the sheath 302 of the cleaning roller 300.

[0126] Figure 8A and 8B Another example of a support member 800 that can be used as a support member for a cleaning roller 300 is shown. The support member 800 includes an inner ring 802 and an outer ring 804 similar to an inner ring 702 and an outer ring 704. The support member 800 differs from the support member 700 in that the elongated member 806 of the support member 800 is angled relative to the radially extending axis of the support member 800. Specifically, the elongated member 806 and the radial axis (e.g., an axis perpendicular to the central axis passing through the center of the support member 800) form a non-zero angle. In some embodiments, this non-zero angle is between 15 and 80 degrees, such as between 15 and 30 degrees, between 30 and 45 degrees, between 45 and 60 degrees, between 60 and 80 degrees, between 30 and 80 degrees, or between 50 and 80 degrees. When the support member 800 is mounted to the core 306, the elongated member 806 is away from the rotation direction 363 (…). Figure 5D As shown, the elongated member 806 extends outward from the inner ring 702 at an angle, for example, at a non-perpendicular angle relative to the direction of rotation 363. The elongated member 806 is angled such that the torque applied to the outer ring 704 during the rotation of the cleaning roller 300 may tend to extend the elongated member 806.

[0127] Figure 9A and 9BAnother example of a support member 900 that can be used as a support member for the cleaning roller 300 is shown. The support member 900 differs from support members 700 and 800 in that it includes an inner ring 902 and an outer ring 904 similar to inner rings 702, 802 and outer rings 804, 904, wherein the inner ring 902 abuts the locking member of the core 306, and the outer ring 904 radially supports the sheath 302 inwards. Figure 9B As shown, the support member 900 includes a support ring 906, which extends radially outward from the inner ring 902 at a non-perpendicular angle to the longitudinal axis 312 to the outer ring 904. The support ring 906 is a solid, continuous ring connecting the inner ring 902 and the outer ring 904. The angle A1 between the support ring 906 and the longitudinal axis 312 is between 45 and 60 degrees, for example, between 45 and 55 degrees or between 50 and 60 degrees.

[0128] Although support members 326a and 326b are described as separate from the core 306, in some embodiments, support members 326a and 326b and the core 306 are integrally formed relative to each other. At least support members 326a and 326b and the core 306 form an integral part of the support structure 304.

[0129] Although the support members 326a and 326b are described as maintaining the housing 350 of the sheath 302 in a circular cross-section at the locations where the support members 326a and 326b support the housing 350, in some embodiments, the support members 326a and 326b are also deformable. In some embodiments, the support members 326a and 326b are deformable such that their outer surfaces 328a and 328b become non-circular in response to deformation. The support members 326a and 326b deform in response to deformation of the sheath 302. In this regard, although the deformation of the support portions 344a and 344c is relatively small compared to the unsupported portions 346a-346d, the support portions 344a and 344c can still deform in response to contact with objects such as debris or floor surfaces. As a result, the outer shell 350 of the sheath 302 can deform into a non-circular cross-section at the support portions 344a and 344c.

[0130] Although the cleaning roller 300 is described as having two support members 326a, 326b, in some embodiments, the cleaning roller 300 includes 0, 1, 3 or more support members. If the cleaning roller 300 includes 3 or more support members, the support members other than the support members 326a, 326b may be positioned between the support members 326a, 326b and the central portion 320 of the core 306. In some embodiments, the support members are evenly spaced along the longitudinal axis 312 of the cleaning roller 300.

[0131] The sheath 302 is described as having blades, such as blades 362, 364, which extend along the outer surface of the housing 350. In some embodiments, such as Figure 10A and 10B As shown, the sheath 302 also includes small pieces 1000 extending radially outward from the outer surface of the housing 350. The small pieces 1000 project radially outward from the outer surface of the housing 350 and are spaced apart from each other along the outer surface of the housing 350. A first portion 1002a of the small piece 1000 extends longitudinally along length L8 from a first end 348a of the sheath 302 toward the center 325 of the cleaning roller 300. A second portion 1002b of the small piece 1000 extends longitudinally along length L9 from a second end 348b of the sheath 302 toward the center 325 of the cleaning roller 300. Neither the first portion 1002a nor the second portion 1002b of the small piece 1000 extends across the entire length L1 of the cleaning roller 300. Lengths L8 and L9 are each 50 mm to 90 mm, such as 50 to 70 mm, 60 to 80 mm, or 70 to 90 mm. The lengths L8 and L9 are 10% to 40% of the length L1 of the cleaning roller 300, for example, 10% to 20%, 15% to 25%, 15% to 35%, 20% to 30%, 25% to 35%, or 30% to 40% of the length L1 of the cleaning roller 300.

[0132] The first portion 1002a of the small piece 1000 extends along a portion 1004a of path 1004, which circumferentially deviates from path 366 of blade 362. The second portion 1002b of the small piece 1000 extends along a portion 1004b of path 1004. Path 1004 is a V-shaped path, and portions 1004a and 1004b correspond to the leg portions of path 1004. In this respect, path 1004 extends both circumferentially and longitudinally along the outer surface of housing 350. The length of each small piece 1000 is 2 to 5 millimeters, such as 2 to 3 millimeters, 3 to 4 millimeters, or 4 to 5 millimeters. The spacing between adjacent protrusions 1000 along path 1004 has a length of 1 to 4 millimeters, such as 1 to 2 millimeters, 2 to 3 millimeters, or 3 to 4 millimeters.

[0133] As described herein, the height H1 of the blade 362 relative to the longitudinal axis 312 is uniform along the length of the cleaning roller 300. In some embodiments, such as Figure 10C As shown, the height H2 of the small piece 1000 relative to the housing 350 of the sheath 302 is uniform along portions 1004a and 1004b of path 1004. The height H1 of the blade 362 is 0.5 to 1.5 mm greater than the height H2 of the small piece, for example, 0.5 to 1 mm, 0.75 to 1.25 mm, or 1 to 1.5 mm greater than the height H2 of the small piece 1000.

[0134] In some embodiments, the paths of the blades are located between adjacent paths of the blocks, and the paths of the blocks are located between adjacent paths of the blades. In this regard, the paths of the blocks and the paths of the blades are arranged alternately around the outer surface of the housing 350. For example, a first portion 1002a and a second portion 1002b of the block 1000 are located between a first blade 1006 (e.g., blade 362) and a second blade 1008. The blocks 1000 form a first set of blocks 1000 extending along portions 1004a and 1004b of path 1004, and the first and second blades 1006 and 1008 extend along V-shaped paths 1010 and 1012, respectively. Path 1004 is circumferentially arranged between paths 1010 and 1012. The blocks 1014 form a second set of blocks 1014 extending along portions 1016a and 1016b of path 1016. The path 1010 for the first blade 1006 is circumferentially positioned between paths 1004 and 1016 for the first and second sets of small blocks 1000 and 1014.

[0135] In some embodiments, cleaning rollers 104a and 104b have different lengths. For example, cleaning roller 104b is shorter than cleaning roller 104a. The length of cleaning roller 104b is, for example, 50% to 90% of the length of cleaning roller 104a, such as 50% to 70%, 60% to 80%, or 70% to 90% of the length of cleaning roller 104a. If the lengths of cleaning rollers 104a and 104b are different, in some cases, cleaning rollers 104a and 104b are configured such that the minimum diameter of the housings 222a and 222b of cleaning rollers 104a and 104b lies along the same plane perpendicular to the longitudinal axes 126a and 126b of cleaning rollers 104a and 104b. As a result, the spacing between housings 222a and 222b is defined by housings 222a and 222b in this plane.

[0136] Therefore, other embodiments are within the scope of the claims.

Claims

1. A cleaning roller that can be installed on a cleaning robot, characterized in that, The cleaning roller includes: Sheath, the sheath including an outer surface that tapers toward the center of the cleaning roller; A core, the core extending along the rotation axis of the cleaning roller from a first end to a second end of the core, the cleaning roller being mountable to the cleaning robot for rotation about the rotation axis; and, An air gap is formed between the inner surface of the sheath and the outer surface of the core, and the air gap extends longitudinally along the axis of rotation from a portion of the core between a first end and a second end of the core toward either the first or second end of the core.

2. The cleaning roller according to claim 1, characterized in that, The portion of the core is rotatably connected to the sheath.

3. The cleaning roller according to claim 1, characterized in that, The portion of the core is the central portion of the core.

4. The cleaning roller according to claim 1, characterized in that: The portion of the core includes one or more locking members extending radially outward from the axial portion of the core, and The sheath includes one or more locking members extending radially inward from the inner surface of the sheath, the one or more locking members of the sheath being adjacent to one or more locking members of the portion of the core in a first longitudinal direction and a second longitudinal direction.

5. The cleaning roller according to claim 1, characterized in that, The portion of the core is interlocked with the sheath, such that at least a portion of the core is rotatably connected to the sheath, and such that the relative translation of the sheath and the core along the axis of rotation is restricted.

6. The cleaning roller according to claim 1, characterized in that, The portion of the core includes one or more locking members extending radially outward from the axial portion of the core, and The sheath includes one or more locking members extending radially inward from the inner surface of the sheath, the one or more locking members of the sheath being adjacent to one or more locking members of the portion of the core in the direction of rotation of the cleaning roller about the axis of rotation.

7. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The length of the air gap is at least 25% of the length of the cleaning roller.

8. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The sheath is configured to deform inward toward the axis of rotation of the cleaning roller into the air gap.

9. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The sheath includes: The first unsupported portion has no radial support from the core and is longitudinally positioned between the first end of the core and the portion of the core. The second unsupported portion is radially unsupported by the core and is longitudinally positioned between the second end of the core and the portion thereof.

10. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The cleaning roller includes: A first support member, the first support member being close to a first end of the core and extending radially outward from the outer surface of the core toward the inner surface of the sheath, and A second support member is located near the second end of the core and extends radially outward from the outer surface of the core toward the inner surface of the sheath. The core extends along the rotation axis through the center of the first and second support members.

11. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The air gap gradually tapers away from the first or second end of the core.

12. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The cleaning roller further includes a collection cavity between the air gap and a first end of the core or a second end of the core, the length of the collection cavity being 5% to 25% of the total length of the cleaning roller, and the length of the air gap being 25% and 45% of the total length of the cleaning roller.

13. The cleaning roller according to claim 12, characterized in that, The air gap is a first air gap extending between the first end of the core and the portion of the core, and the cleaning roller includes a second air gap formed between the inner surface of the sheath and the outer surface of the core. The cleaning roller further includes a second collection cavity between the second air gap and the second end of the core, the length of the second collection cavity being 5% to 25% of the total length of the cleaning roller, and the length of the second air gap being 25% to 45% of the total length of the cleaning roller.

14. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The sheath contacts the core only along the portion of the core.

15. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The sheath includes a plurality of blades that extend outward from the outer surface of the sheath and define the outer diameter of the cleaning roller.

16. The cleaning roller according to claim 1 or any one of claims 2-6, characterized in that, The first and second ends of the core can be mounted to the cleaning robot to rotate about the rotation axis.

17. An automatic cleaning robot, characterized in that, The automated cleaning robot includes: A actuator, configured to move the automated cleaning robot on a floor surface; and The cleaning assembly includes a cleaning roller as described in claim 1 or any one of claims 2-6. The cleaning roller is a first cleaning roller rotatably mounted on the automated cleaning robot, and The cleaning assembly further includes a second cleaning roller rotatably mounted on the automated cleaning robot. The second cleaning roller includes a sheath, and the outer surface of the sheath of the second cleaning roller and the outer surface of the sheath of the first cleaning roller define a gap therebetween. The width of the gap varies along the length of the first cleaning roller and the second cleaning roller.

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