A robot vacuum cleaner transmission structure and robot vacuum cleaner

Abstract

The present invention provides a transmission structure of a robot vacuum cleaner, including a roller brush transmission mechanism, a side brush transmission mechanism and a driving device installed on the robot vacuum cleaner body, and also including a synchronous transmission mechanism, the synchronous transmission mechanism is used to connect the roller brush transmission mechanism and the side brush transmission mechanism, so that the driving device drives the roller brush transmission mechanism and the side brush transmission mechanism at the same time, and then drives the roller brush assembly and the side brush assembly to rotate. The present invention also relates to a robot vacuum cleaner. The present invention saves motors, makes the overall control lightweight, avoids the complex control of multiple motors, and especially the use of multiple motors tends to increase the probability of failure; at the same time, it solves the problem of the bulky multi-stage gear transmission structure, optimizes the internal structure of the robot vacuum cleaner, and uses the saved space in other structures to improve the cleaning efficiency of the whole machine under the same structural size. The present invention is cleverly designed and reasonably structured, which is convenient for the promotion and application of robot vacuum cleaners.

Description

Technical Field

[0001] The invention belongs to the field of intelligent cleaning and relates to a transmission structure of a robot vacuum cleaner and a robot vacuum cleaner. Background Art

[0002] Robot vacuum cleaners, also known as sweepers, are a new generation of family nannies that can clean up hair, melon seed shells, dust and other room garbage. With the continuous improvement of domestic living standards, sweeping robots that have been sold in the European and American markets have gradually entered the homes of ordinary people and are gradually being accepted by more and more people. Sweeping robots will become an indispensable cleaning helper for every family in the near future, just like white appliances. Products will also develop from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning. As an emerging intelligent household cleaning device in recent years, robot vacuum cleaners are gradually entering and improving people's lifestyles.

[0003] Both the roller brush assembly and the side brush assembly of the robot vacuum cleaner require power drive. In the traditional transmission structure of the robot vacuum cleaner, motors are used to drive the roller brush assembly and the side brush assembly respectively. This method not only increases the cost of the whole machine, but also because the motor output speed is relatively high, the gear transmission requires multiple stages of deceleration to meet actual needs, resulting in an increase in the overall transmission size. When the overall structure size of the machine is certain, the traditional transmission structure will greatly compress the size of other structures such as the dust collection device and the dust cup structure, which is to a certain extent not conducive to improving the performance of the whole machine.

[0004] In view of this, there is an urgent need to improve the transmission structure of the robot vacuum cleaner. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention proposes a transmission structure of a robot vacuum cleaner and a robot vacuum cleaner. The present invention saves motors, reduces overall control weight, avoids complex control of multiple motors, and especially the increased probability of failures caused by using multiple motors; at the same time, it solves the problem of bulky multi-stage gear transmission structures and optimizes the internal structure of the robot vacuum cleaner.

[0006] The present invention provides a transmission structure of a robot vacuum cleaner, comprising a roller brush transmission mechanism, a side brush transmission mechanism and a driving device installed on the robot vacuum cleaner body, and also comprising a synchronous transmission mechanism, wherein the synchronous transmission mechanism is used to connect the roller brush transmission mechanism and the side brush transmission mechanism so that the driving device simultaneously drives the roller brush transmission mechanism and the side brush transmission mechanism, thereby driving the roller brush assembly and the side brush assembly to rotate.

[0007] Preferably, the driving device drives the roller brush transmission mechanism, and the roller brush transmission mechanism drives the side brush transmission mechanism through a synchronous transmission mechanism, so that the side brush assembly and the roller brush assembly rotate simultaneously.

[0008] Preferably, the synchronous transmission mechanism comprises a worm wheel and a worm that mesh with each other, the worm and the roller brush transmission mechanism are fixedly connected, and the worm wheel and the side brush transmission mechanism are fixedly connected.

[0009] Preferably, the roller brush transmission mechanism comprises a first rotating wheel, a roller brush synchronous pulley and a roller brush synchronous belt installed on the driving device, and the first rotating wheel of the driving device drives the roller brush synchronous belt to drive the roller brush synchronous pulley to rotate.

[0010] Preferably, the side brush transmission mechanism comprises a side brush synchronous belt and a side brush synchronous pulley, and the driving device drives the roller brush synchronous belt to drive the side brush synchronous pulley to rotate.

[0011] Preferably, the roller brush synchronous pulley is coaxially arranged with the worm through the roller brush shaft, and when the roller brush synchronous pulley rotates, it drives the worm to rotate together; the worm wheel meshing with the worm drives the side brush synchronous pulley to rotate simultaneously through the roller brush synchronous belt.

[0012] Preferably, the transmission ratio between the first rotating wheel and the roller brush synchronous pulley is 1.5:1 to 3:1.

[0013] Preferably, the transmission ratio of the worm to the worm wheel is 5:1-50:1.

[0014] Preferably, the driving device drives the side brush transmission mechanism, and the side brush transmission mechanism drives the roller brush transmission mechanism through the synchronous transmission mechanism; so that the side brush assembly and the roller brush assembly rotate simultaneously.

[0015] The present invention further provides a robot vacuum cleaner, comprising a robot vacuum cleaner body for floor cleaning, wherein the robot vacuum cleaner body comprises the robot vacuum cleaner transmission structure.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention provides a transmission structure of a robot vacuum cleaner, including a roller brush transmission mechanism, a side brush transmission mechanism and a driving device installed on the robot vacuum cleaner body, and also including a synchronous transmission mechanism, wherein the synchronous transmission mechanism is used to connect the roller brush transmission mechanism and the side brush transmission mechanism, so that the driving device drives the roller brush transmission mechanism and the side brush transmission mechanism at the same time, thereby driving the roller brush assembly and the side brush assembly to rotate. The present invention also relates to a robot vacuum cleaner. The present invention saves motors, makes the overall control lightweight, avoids the complex control of multiple motors, and especially the use of multiple motors tends to increase the probability of failure; at the same time, it solves the problem of the bulky multi-stage gear transmission structure, optimizes the internal structure of the robot vacuum cleaner, and uses the saved space in other structures to improve the cleaning efficiency of the whole machine under the same structural size. The present invention is cleverly designed and reasonably structured, which is convenient for the promotion and application of robot vacuum cleaners.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic diagram of the internal structure of a robot vacuum cleaner of the present invention;

[0021] Figure 2 It is an overall schematic diagram of a transmission structure of a robot vacuum cleaner of the present invention;

[0022] Figure 3 It is a cross-sectional schematic diagram of a transmission structure of a robot vacuum cleaner of the present invention;

[0023] Figure 4 A schematic top view of a transmission structure of a robot vacuum cleaner of the present invention;

[0024] Figure 5 It is a partial schematic diagram of a transmission structure of a robot vacuum cleaner of the present invention;

[0025] Figure 6 A three-dimensional cross-sectional view of a floating structure of a roller brush of a robot vacuum cleaner according to the present invention;

[0026] Figure 7 A two-dimensional cross-sectional view of a floating structure of a roller brush of a robot vacuum cleaner according to the present invention Figure 1 ;

[0027] Figure 8 A two-dimensional cross-sectional view of a floating structure of a roller brush of a robot vacuum cleaner according to the present invention Figure 2 ;

[0028] Fig. 9 A two-dimensional cross-sectional view of a floating structure of a roller brush of a robot vacuum cleaner according to the present invention Figure 3 ;

[0029] Fig.10 A schematic diagram of a walking mechanism of a robot vacuum cleaner of the present invention;

[0030] Fig.11 A schematic diagram of a robot vacuum cleaner using the present invention Figure 1 ;

[0031] Fig.12 A schematic diagram of a robot vacuum cleaner using the present invention Figure 2 .

[0032] As shown in the figure:

[0033] Robot vacuum cleaner body 100, dust box assembly placement part 1, roller brush assembly 2, side brush assembly 4, guide structure 6, roller brush synchronous pulley 21, roller brush rotating shaft 22, roller brush shell outlet 23, dust suction channel 24, dust box connection port 26, side brush shaft 41, side brush shaft sleeve 42, side brush bearing 43, side brush 44, battery interface 50, first battery compartment 51, second battery compartment 52, guide sleeve 60, guide column 61, limit screw 62, limit gasket 63, auxiliary wheel 71, first moving wheel 72, second moving wheel 73, driving device 80, worm 81, worm wheel 82, worm wheel shaft 821, first bearing 83, side brush synchronous belt 84, side brush synchronous pulley 85, first rotating wheel 86, roller brush synchronous belt 87, first visual sensor 91, second visual sensor 92, third visual sensor 93, anti-fall visual sensor 94, step 300, detection area 400. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings, and the aforementioned and other purposes, features, aspects and advantages of the present invention will become more obvious, so that those skilled in the art can implement it with reference to the text of the specification. In the accompanying drawings, for the sake of clarity, the shapes and sizes can be enlarged, and the same reference numerals will be used in all figures to indicate the same or similar parts. In the following description, words such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc. are based on the orientation or position relationship shown in the accompanying drawings. In particular, "height" is equivalent to the size from top to bottom, "width" is equivalent to the size from left to right, and "depth" is equivalent to the size from front to back. These relative terms are for the convenience of explanation and are generally not intended to require specific orientation. Terms related to attachment, connection, etc. (for example, "connection" and "attachment") refer to the relationship between these structures directly or indirectly fixed or attached to each other through intermediate structures, and movable or rigid attachment or relationship, unless otherwise explicitly stated.

[0035] Next, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0036] A transmission structure of a robot vacuum cleaner includes a roller brush transmission mechanism, a side brush transmission mechanism and a driving device 80 installed on a robot vacuum cleaner body 100, and also includes a synchronous transmission mechanism, wherein the synchronous transmission mechanism is used to connect the roller brush transmission mechanism and the side brush transmission mechanism, so that the driving device 80 drives the roller brush transmission mechanism and the side brush transmission mechanism at the same time, thereby driving the roller brush assembly 2 and the side brush assembly 4 to rotate. In one embodiment, as Figure 2 As shown, the roller brush assembly 2 and the side brush assembly 4 are arranged in the transverse direction; while ensuring a high cleaning efficiency, the force of the robot cleaning structure is maintained in the same transverse direction, ensuring that the robot runs smoothly.

[0037] In one embodiment, the driving device 80 drives the roller brush transmission mechanism, and the roller brush transmission mechanism drives the side brush transmission mechanism through a synchronous transmission mechanism, so that the side brush assembly 4 and the roller brush assembly 2 rotate simultaneously.

[0038] like Figure 2 , Fig.11 As shown, the driving device 80 is connected to the roller brush transmission mechanism; the roller brush transmission mechanism is connected to the roller brush assembly 2; the driving device 80 is connected to the side brush transmission mechanism through a synchronous transmission mechanism; the side brush transmission mechanism is connected to the side brush assembly 4; the synchronous transmission mechanism includes a worm 81 and a worm wheel 82; the worm 81 is connected to the driving device 80; the worm 81 is meshed with the worm wheel 82; as shown Figure 3 As shown, the worm wheel 82 is sleeved on the worm wheel shaft 821 and meshes with the worm 81 to achieve transmission. The worm wheel 82 drives the side brush assembly 4 to rotate; the driving device 80 simultaneously drives the worm 81 and the roller brush transmission mechanism to rotate, and drives the side brush assembly 4 and the roller brush to rotate simultaneously. In this embodiment, the transmission structure of the synchronous transmission mechanism adopts the mutual meshing of the worm 81 and the worm wheel 82, which saves the side brush motor, makes the overall control lightweight, avoids the complex control of multiple motors, and especially the use of multiple motors tends to increase the probability of failure; at the same time, it solves the problem of the bulky multi-stage gear transmission structure, optimizes the internal structure of the robot vacuum cleaner, and applies the saved space to other structures, thereby improving the cleaning efficiency of the whole machine under the same structural size. In particular, the synchronous transmission mechanism may also include but is not limited to a multi-stage synchronous belt, a bevel gear set, and a gear rack.

[0039] In one embodiment, if Figure 4 , Figure 5 As shown, the side brush transmission mechanism also includes a side brush synchronous belt 84 and a side brush synchronous pulley 85; the driving force of the worm wheel 82 is transmitted to the side brush synchronous pulley 85 through the side brush synchronous belt 84; the side brush synchronous pulley 85 drives the side brush assembly 4 to rotate. In this embodiment, the worm wheel 82 drives the worm wheel shaft and drives the pulley connected to the worm wheel shaft key, and the pulley drives the side brush synchronous belt 84 to drive the side brush synchronous pulley 85. Compared with the gear transmission, the belt transmission has the advantages of flexible and adjustable center distance and small change in structural size, which is convenient for the layout of the side brush assembly 4 structure.

[0040] In one embodiment, if Figure 3 , Figure 5 As shown, the roller brush transmission mechanism includes a first rotating wheel 86, a roller brush synchronous belt 87, a roller brush synchronous pulley 21, and a roller brush shaft 22; the first rotating wheel 86 is connected to the output shaft of the driving device 80; the roller brush synchronous belt 87 connects the first rotating wheel 86 and the roller brush synchronous pulley 21; one end of the roller brush shaft 22 is fixedly connected to the roller brush assembly 2; the roller brush synchronous pulley 21 and the worm gear 82 are sleeved on the roller brush shaft 22. In this embodiment, the first rotating wheel 86 is a gear and also includes a first bearing 83; the first bearing 83 rotatably mounts the roller brush shaft 22 to the internal housing of the robot vacuum cleaner body 100.

[0041] The driving device 80 is a rotary motor; the rotation speed of the rotary motor is 5000rpm-8000rpm, the transmission ratio of the first rotating wheel 86 and the roller brush synchronous pulley 21 is 1.5:1 to 3:1; the transmission ratio of the worm 81 and the worm wheel 82 is 5:1-50:1. In one embodiment, preferably, the rotation speed of the rotary motor is 6900±690rpm; the first rotating wheel 86 and the roller brush synchronous pulley 21 are 2.3:1, and the rotation speeds of the roller brush synchronous pulley 21, the roller brush, and the worm 81 are 3000±300rpm; the transmission ratio of the worm 81 and the worm wheel 82 is 20:1, and the rotation speed of the worm wheel 82 is 150±15rpm; the transmission ratio of the side brush synchronous belt 84 is 1:1, and the rotation speed of the side brush is 150±15rpm. Due to the large transmission ratio of the worm wheel 82 and the worm 81, the structural size of the gear multi-stage transmission is effectively reduced.

[0042] It should be understood that the roller brush transmission mechanism directly driven by the driving device 80 can also be replaced by a side brush transmission mechanism. In one embodiment, the driving device 80 drives the side brush transmission mechanism (not shown), and the side brush transmission mechanism drives the roller brush transmission mechanism through the synchronous transmission mechanism, so that the side brush assembly 4 and the roller brush assembly 2 rotate simultaneously.

[0043] The present invention further provides a robot vacuum cleaner, comprising a robot vacuum cleaner body 100 for floor cleaning, wherein the robot vacuum cleaner body 100 comprises the robot vacuum cleaner transmission structure. Figure 3 As shown, the side brush assembly 4 is also included; the side brush assembly 4 includes a side brush shaft 41 and a side brush 44; the side brush 44 is fixedly connected to one end of the side brush shaft 41; the side brush synchronous pulley 85 is fixedly sleeved on the side brush shaft 41; the side brush synchronous pulley 85 drives the side brush shaft 41 to rotate. In this embodiment, the side brush shaft sleeve 42 abuts against the side brush synchronous pulley 85 to prevent the brush synchronous pulley 85 from moving in the axial direction of the side brush shaft 41, and the side brush shaft 41 is penetrated and fixed to the shell part of the robot vacuum body 100 through the side brush bearing 43.

[0044] A robot vacuum cleaner also includes a roller brush floating structure, such as Figure 6-9 As shown, the roller brush floating structure includes a roller brush assembly 2 and a dust collection channel 24 that seals and connects the roller brush assembly 2 and the dust box of the robot vacuum cleaner. The roller brush assembly 2 is only accommodated in the receiving space of the robot vacuum cleaner body 100 by the dust collection channel. The dust collection channel 24 has a certain elasticity so that the roller brush assembly 2 is accommodated in the receiving space of the robot vacuum cleaner body 100 and can be floated in the dust collection position. Preferably, it also includes a limiting structure, which is used to limit the movement of the roller brush assembly 2 in the receiving space of the robot vacuum cleaner body 100.

[0045] In one embodiment, if Figure 8As shown, the dust suction channel 24 is flexibly sealed and connected to the roller brush dust suction channel of the roller brush assembly 2. Specifically, the dust suction channel 24 is a rubber sealing cover. In this embodiment, the rubber sealing cover is preferably a leather tiger sealing cover. The leather tiger sealing cover ensures that the roller brush assembly 2 always maintains a sealed connection when floating, thereby ensuring the accuracy of the roller brush floating action. Figure 1 , Figure 2 As shown, the roller brush dust suction channel is set as a channel between the roller brush shell outlet 23 and the dust box connection port 26, the dust box connection port 26 is fixedly connected to the dust box assembly, the dust box connection port 26 and the dust box assembly are fixed relative to the robot vacuum cleaner, and the roller brush assembly 2 floats up and down inside the whole machine relative to the robot vacuum cleaner. Figure 1 As shown, the dust box assembly is installed in the dust box assembly placement part 1, and the internal accommodating space of the dust box assembly placement part 1 is considerable.

[0046] like Figure 6-9 As shown, in one embodiment, it also includes a guide structure 6, which includes a guide sleeve 60 arranged on the internal housing of the robot vacuum cleaner and a guide column 61 arranged on the roller brush shell 20; the guide sleeve 60 is provided with a cavity for accommodating the guide column 61, and the guide sleeve 60 is sleeved on the outer periphery of the guide column 61; the guide column 61 reciprocates along the axial direction of the guide sleeve 60; the roller brush of the roller brush assembly 2 is installed in the roller brush shell 20, and the roller brush assembly 2 can reciprocate along the axial direction of the guide sleeve 60. In this embodiment, under the coordinated movement of the guide sleeve 60 and the guide column 61, the roller brush assembly 2 can float up and down, fit the ground better, ensure the ground cleaning ability and automatically adjust the distance between the roller brush and the ground according to the actual ground conditions; it should be understood that in this embodiment, the roller brush floating structure is cleverly designed, and the adjustment structure size of the floating range is small, which is different from the structural method of using an elastic swing structure to achieve roller brush floating. In the traditional method of fixing the roller brush assembly 2 on a swing structure with elastic restoring force to achieve floating within a certain range, under the same floating range, the swing structure has a large structural size and occupies too much internal space, which is not conducive to the design of other structures of the whole machine. It should be understood that in another embodiment (not shown), the guide column 61 and the guide sleeve 60 can be interchangeably set, that is, the guide sleeve 60 is set on the roller brush housing 20, and the guide column 61 is set on the internal casing of the robot vacuum cleaner, which can also make the roller brush float up and down.

[0047] In a preferred embodiment, the outer contour of the roller brush housing 20 of the roller brush assembly 2 is in the shape of a semi-cylindrical arch, the guide structure 6 extends upward from the top of the roller brush assembly and is arranged at both ends or at least one end of the roller brush assembly 2, and the inner contour of the front end receiving space of the robot vacuum cleaner is arranged as a semi-cylindrical arched toward the inside of the robot vacuum cleaner, which is used to accommodate the roller brush assembly 2 to float inside. The guide structure 6 passes through the front end of the sweeping robot upward and forms a suspended fixation, and a gap is arranged between the roller brush housing and the front end receiving space of the robot vacuum cleaner, so that the roller brush housing can float in the front end receiving space of the robot vacuum cleaner. A soft rubber strip can be arranged in the above gap to seal with the outside world, so that dust and other debris can be prevented from entering without affecting the floating of the roller brush housing.

[0048] In one embodiment, in order to prevent the guide post 61 and the guide sleeve 60 from excessively moving relative to each other and causing the internal structures of the robot vacuum cleaner to collide and interfere with each other, a limiting structure is also included, and the limiting structure is used to limit the movement range of the guide post 61 in the inner cavity of the guide sleeve 60. Specifically, Fig. 9 As shown, the limiting structure includes a limiting screw 62 and a limiting gasket 63 ; the limiting screw 62 is fixed on the guide column 61 ; the upper end surface of the limiting gasket 63 abuts against the limiting screw 62 , and the lower end surface abuts against the guide sleeve 60 .

[0049] In one embodiment, a compression spring (not shown) is further included, and the compression spring abuts against the guide post 61 and the guide sleeve 60. The restoring force of the compression spring is used to assist in controlling the accuracy of the floating action of the roller brush.

[0050] In one embodiment, in order to provide a multi-directional floating guide for the roller brush, the number of the guide structures 6 is at least two, such as Figure 7 There are two guide structures 6 shown. The two guide structures 6, one on the left and one on the right, can balance the inconsistency caused by the different ground heights on both sides of the robot vacuum cleaner, making the floating process smoother and more flexible.

[0051] A robot vacuum cleaner also includes a walking mechanism, including two independently driven wheels and an auxiliary wheel 71; along the forward direction of the robot vacuum cleaner, the auxiliary wheel 71 is arranged at the rear end of the two wheels; the auxiliary wheel 71 and the two wheels are installed at the bottom of the robot vacuum cleaner. Fig.10 As shown, the auxiliary wheel 71 is located on the central axis of the robot vacuum cleaner; the two moving wheels include a first moving wheel 72 and a second moving wheel 73, and the auxiliary wheel and the first moving wheel 72 and the second moving wheel 73 jointly support the robot vacuum cleaner, and the auxiliary wheel and the first moving wheel 72 and the second moving wheel 73 are arranged in an isosceles triangle; the first moving wheel 72 and the second moving wheel 73 are both located at the rear of the roller brush assembly 2.

[0052] like Figure 1 , Figure 10-12As shown, the auxiliary wheel 71, the first moving wheel 72, and the second moving wheel 73 form a three-point support for the robot vacuum cleaner. The first moving wheel 72 and the second moving wheel 73 are respectively connected to a driving device and installed on the bottom shell of the robot vacuum cleaner. The first moving wheel 72 and the second moving wheel 73 are independently controlled from each other, and the auxiliary wheel 71 is installed on the bottom shell of the robot vacuum cleaner. Taking the forward direction of the robot vacuum cleaner as the front direction, the auxiliary wheel 71, the first moving wheel 72, and the second moving wheel 73 are all located at the rear of the roller brush assembly 2. The auxiliary wheel 71 is located at the rear of the connecting axis between the first moving wheel 72 and the second moving wheel 73. In this embodiment, the turning of the robot vacuum cleaner body 100 is achieved by the differential rotation of the driving devices of the first moving wheel 72 and the second moving wheel 73, as shown in FIG. Fig.11 As shown, when the distance measuring device at the front of the robot vacuum cleaner body 100 detects that there is an obstacle 200 at a distance L in front, the rotation speed of the first moving wheel 72 is controlled to be higher than the rotation speed of the second moving wheel 73. At this time, the robot vacuum cleaner body 100 rotates to the left relative to the forward direction, and the auxiliary wheel 71 assists in steering. In one embodiment, the auxiliary wheel 71 is a universal wheel, which facilitates the flexible movement and rapid steering of the robot vacuum cleaner body 100.

[0053] In one embodiment, in order to balance the force conditions during movement, the auxiliary wheel 71 is located on the perpendicular bisector of the connecting axis of the first moving wheel 72 and the second moving wheel 73, which is beneficial to maintaining consistent wear of the first moving wheel 72 and the second moving wheel 73, and is also beneficial to load balancing of the driving motors of the first moving wheel 72 and the second moving wheel 73, and to a certain extent improves the versatility of the design.

[0054] In one embodiment, if Figure 1 As shown, the wheel spacing between the first moving wheel 72 and the second moving wheel 73 is not less than the length of the roller brush. Through the front structure of the roller brush assembly 2, the size of the roller brush assembly 2 is fully increased when the wheel spacing is constant, thereby improving the cleaning ability.

[0055] like Fig.10As shown, the robot vacuum cleaner body 100 also includes a first visual sensor 91, a second visual sensor 92, and a third visual sensor 93 installed at the bottom of the robot vacuum cleaner body 100, wherein the first visual sensor 91 is arranged at the front of the roller brush assembly 2; the second visual sensor 92 is arranged at the front of the first moving wheel 72; and the third visual sensor 93 is arranged at the front of the second moving wheel 73; wherein the first visual sensor 91, the second visual sensor 92, and the third visual sensor 93 are respectively used to detect whether a step 300 appears at the front of the roller brush assembly 2, the front of the first moving wheel 72, and the front of the second moving wheel 73 during the forward movement of the robot vacuum cleaner body 100, and if any sensor detects the appearance of a step, the robot vacuum cleaner body 100 stops moving forward; the robot vacuum cleaner body 100 also includes an anti-fall visual sensor 94 installed at the bottom of the robot vacuum cleaner body 100, and the anti-fall visual sensor 94 is arranged at the rear of the line connecting the first moving wheel 72 and the second moving wheel 73. In one implementation, as Fig.12 As shown, when the robot vacuum cleaner body 100 is retreating and a step 300 appears in the detection area 400 of the anti-fall visual sensor 94, the robot vacuum cleaner body 100 stops retreating, and the first moving wheel 72 and the second moving wheel 73 stop moving to prevent the auxiliary wheel 71 from falling off the step 300.

[0056] In one implementation, specifically, the first visual sensor 91, the second visual sensor 92, the third visual sensor 93, and the anti-fall visual sensor 94 are infrared sensors or photoelectric sensors. By feedback of the difference in infrared or photoelectric signals, it is determined whether the step 300 appears, and the response is rapid and the sensitivity is high.

[0057] In one embodiment, if Figure 1 , Fig.10 As shown, the robot vacuum cleaner body 100 further includes a first battery compartment 51 and a second battery compartment 52 for placing batteries. Figure 6 As shown, the first battery compartment 51 and the second battery compartment 52 are connected to the robot vacuum cleaner body 100 through the battery interface 50. The dual battery compartment design increases the battery life of the robot vacuum cleaner body 100, reduces the number of charging times, and increases the cleaning range.

[0058] In one embodiment, if Fig.10 As shown, the first battery compartment 51 and the second battery compartment 52 are symmetrically distributed relative to the perpendicular bisector of the connecting axis of the first moving wheel 72 and the second moving wheel 73. A symmetrical battery compartment design is adopted to improve the overall balance of the robot vacuum cleaner body 100 and reduce the counterweight design.

[0059] In one embodiment, if Fig.10As shown, the robot vacuum cleaner body 100 further includes a side brush assembly 4; the side brush of the side brush assembly 4 rotates to send debris to the roller brush assembly 2. In this embodiment, a single-side side brush design is adopted, that is, the side brush assembly 4 is arranged on the right side of the robot vacuum cleaner body 100 in the forward direction, and the side brush of the side brush assembly rotates counterclockwise to send debris to the roller brush assembly 2. At the same time, the robot vacuum cleaner body 100 turns left first during the forward process to clean the boundary along the side.

[0060] The present invention saves motors, makes the overall control lightweight, avoids the complex control of multiple motors, and especially the increased probability of failures caused by the use of multiple motors; at the same time, it solves the problem of the bulky multi-stage gear transmission structure, optimizes the internal structure of the robot vacuum cleaner, and applies the saved space to other structures, thereby improving the cleaning efficiency of the whole machine under the same structural size. The present invention is cleverly designed and reasonably structured, and is convenient for the promotion and application of robot vacuum cleaners.

[0061] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A transmission structure of a robot vacuum cleaner, comprising a roller brush transmission mechanism, a side brush transmission mechanism and a driving device (80) installed on a robot vacuum cleaner body (100), characterized in that: It also includes a synchronous transmission mechanism, which is used to connect the roller brush transmission mechanism and the side brush transmission mechanism, so that the driving device (80) drives the roller brush transmission mechanism and the side brush transmission mechanism at the same time, thereby driving the roller brush assembly (2) and the side brush assembly (4) to rotate; The synchronous transmission mechanism comprises a worm wheel (82) and a worm (81) meshing with each other, the worm and the roller brush transmission mechanism are fixedly connected, and the worm wheel (82) and the side brush transmission mechanism are fixedly connected; The side brush transmission mechanism comprises a side brush synchronous belt (84) and a side brush synchronous pulley (85); the driving device (80) drives the side brush synchronous belt (84) to drive the side brush synchronous pulley (85) to rotate; It also comprises a roller brush housing (20) and a dust suction channel (24), wherein the dust suction channel (24) is sealed and connected between the roller brush assembly and the dust box of the robot vacuum cleaner, and the dust suction channel (24) is communicated with the roller brush housing (20), the roller brush of the roller brush assembly (2) is installed in the roller brush housing (20), the dust suction channel (24) has a certain elasticity so that the roller brush assembly (2) can be accommodated in the accommodation space of the robot vacuum cleaner body and can be floatingly arranged in the dust suction position, and the roller brush transmission mechanism, the side brush transmission mechanism and the driving device (80) are installed in the roller brush housing (20); The driving device (80) drives the roller brush transmission mechanism, and the roller brush transmission mechanism drives the side brush transmission mechanism through the synchronous transmission mechanism, so that the side brush assembly (4) and the roller brush assembly (2) rotate simultaneously; The roller brush transmission mechanism comprises a first rotating wheel (86) installed on the driving device (80), a roller brush synchronous belt pulley (21) and a roller brush synchronous belt (87), wherein the first rotating wheel (86) of the driving device (80) drives the roller brush synchronous belt (87) to drive the roller brush synchronous belt pulley (21) to rotate; The roller brush synchronous pulley (21) is coaxially arranged with the worm through the roller brush rotating shaft (22); when the roller brush synchronous pulley (21) rotates, it drives the worm (81) to rotate together; the worm wheel (82) meshing with the worm (81) drives the side brush synchronous pulley (85) to rotate simultaneously through the side brush synchronous belt (84).

2. A robot vacuum cleaner transmission structure as claimed in claim 1, characterized in that: The transmission ratio between the first rotating wheel (86) and the roller brush synchronous pulley (21) is 1.5:1 to 3:

1.

3. A robot vacuum cleaner transmission structure as claimed in claim 1, characterized in that: The transmission ratio between the worm (81) and the worm wheel (82) is 5:1-50:

1.

4. A robot vacuum cleaner transmission structure as claimed in claim 1, characterized in that: The driving device (80) drives the side brush transmission mechanism, and the side brush transmission mechanism drives the roller brush transmission mechanism through the synchronous transmission mechanism, so that the side brush assembly (4) and the roller brush assembly (2) rotate simultaneously.

5. A robot vacuum cleaner, comprising a robot vacuum cleaner body (100) for floor cleaning, characterized in that: The robot vacuum cleaner body (100) comprises a robot vacuum cleaner transmission structure as described in any one of claims 1 to 4.

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