Sweeping robot

Abstract

A robot cleaner includes a main body and a cleaning module. The main body is configured to move on a ground along a travel direction. The cleaning module includes a first shaft body and a plurality of first roller sets. The first shaft body is connected to the main body, and the first shaft body extends along a first axis, which is perpendicular to the travel direction. Each of the first roller sets is separated from each other. Each of the first roller sets includes a first bearing, a first tire, and a first flexible structure. The first shaft body passes through the first bearing. The first tire includes a first cleaning surface configured to abut the ground. The first flexible structure includes a first inner surface and a first outer surface, the first inner surface abuts the first bearing, the first outer surface abuts the first tire, and the first flexible structure has elasticity.

Description

Technical Field

[0001] This invention relates to a robotic vacuum cleaner. Background Technology

[0002] With the development of technology, robotic vacuum cleaners have become a common household appliance. Due to their convenient and time-saving cleaning capabilities, robotic vacuum cleaners are also increasingly being used in cleanrooms.

[0003] In order to meet the environmental requirements of a cleanroom, in addition to having good cleaning capabilities, whether a robot vacuum cleaner generates dust during operation is also an important factor for users to consider.

[0004] Therefore, how to enable robotic vacuum cleaners to move smoothly on the ground while effectively preventing dust from being stirred up during operation is undoubtedly a topic of great importance to the industry. Summary of the Invention

[0005] One of the objectives of this invention is to provide a robotic vacuum cleaner that can effectively clean uneven surfaces and maintain good smoothness when turning.

[0006] According to one embodiment of the present invention, a robotic vacuum cleaner includes a main body and a cleaning module. The main body is configured to move on a ground along a traveling direction. The cleaning module includes a first shaft and a plurality of first roller assemblies. The first shaft is connected to the main body and extends along a first axis perpendicular to the traveling direction. The first roller assemblies are separated from each other. Each of the first roller assemblies includes a first bearing, a first tire, and a first flexible structure. The first shaft passes through the first bearing. The first tire includes a first cleaning surface configured to abut against the ground. The first flexible structure includes a first inner surface and a first outer surface, the first inner surface abutting against the first bearing, the first outer surface abutting against the first tire, and the first flexible structure is elastic.

[0007] In one or more embodiments of the present invention, each of the first flexible structures described above includes an inner ring, an outer ring, and a plurality of elastic portions. A corresponding portion of the first inner surface is located within the inner ring. A corresponding portion of the first outer surface is located within the outer ring. The elastic portions are elastically connected between the inner and outer rings, and a perforation is defined between every two adjacent elastic portions.

[0008] In one or more embodiments of the present invention, each of the above-described perforations is a parallelogram.

[0009] In one or more embodiments of the present invention, each of the above-described perforations is arrow-shaped.

[0010] In one or more embodiments of the present invention, each of the first flexible structures described above includes an inner ring and a plurality of springs. A corresponding one of the first inner surfaces is located within the inner ring. The springs surround and are respectively connected to the inner ring, and a corresponding one of the first outer surfaces includes a plurality of sub-outer surfaces, each of which is located on the side of the corresponding spring away from the inner ring.

[0011] In one or more embodiments of the present invention, each of the first flexible structures described above includes an inner ring, an outer ring, and an elastomer. A corresponding element of the first inner surface is located within the inner ring. A corresponding element of the first outer surface is located within the outer ring. The elastomer is elastically connected between the inner ring and the outer ring, and the elastomer includes a plurality of annular elastic sheets, which are connected to each other and inclined relative to the inner and outer rings respectively.

[0012] In one or more embodiments of the present invention, each of the first tires described above includes a first adhesive and a first frame. A corresponding first cleaning surface is located within the first adhesive. The first frame abuts between the first adhesive and a corresponding first flexible structure, the first frame being rigid to the first flexible structure.

[0013] In one or more embodiments of the present invention, the cleaning module further includes a second shaft and a plurality of second roller assemblies. The second shaft is connected to the main body and extends along a second axis parallel to the first axis. The second roller assemblies are separated from each other. Each of the second roller assemblies includes a second bearing, a second tire, and a second flexible structure. The second shaft passes through the second bearing. The second tire includes a second cleaning surface configured to abut against the ground. The second flexible structure includes a second inner surface and a second outer surface, the second inner surface abutting against the second bearing and the second outer surface abutting against the second tire, and the second flexible structure is elastic. A gap is defined between every two adjacent second cleaning surfaces, and each of the gaps is aligned in the direction of travel with a corresponding one of the first cleaning surfaces.

[0014] In one or more embodiments of the present invention, the main body includes a main frame, with the two opposite ends of the first shaft connected to the main frame. The sweeping robot also includes a dust-collecting roller and a lifting mechanism. The dust-collecting roller is configured to abut against and clean the first tire. The lifting mechanism includes a bracket, multiple rollers, a first connecting portion, a second connecting portion, a drive device, and a threaded rod. The rollers are disposed on the bracket and support the dust-collecting roller. The first connecting portion is connected to one side of the bracket and movably connected to the main frame. The second connecting portion is connected to the other side of the bracket and has a threaded hole. The drive device is disposed on the main frame. The drive device is configured to rotate the threaded rod, with the threaded hole coupling the threaded rod.

[0015] In one or more embodiments of the present invention, the second connecting portion further includes a first sub-connecting portion, a second sub-connecting portion, and a connector. The first sub-connecting portion connects to a bracket. A screw hole is located in the second sub-connecting portion. The connector has a first end and a second end opposite to each other, the first end being pivotally connected to the first sub-connecting portion, and the second end being pivotally connected to the second sub-connecting portion.

[0016] In one or more embodiments of the present invention, the first connecting portion described above is pivotally connected to the main frame.

[0017] In one or more embodiments of the present invention, the main body further includes a guide rod, which is connected to the main frame and parallel to the threaded rod. The first connecting part has a through hole through which the guide rod passes.

[0018] In one or more embodiments of the present invention, the first connecting part described above includes two connecting rods arranged in parallel to each other. Each of the connecting rods has a first end and a second end, the first end being pivotally connected to a bracket and the second end being pivotally connected to a main frame.

[0019] The above-described embodiments of the present invention have at least the following advantages:

[0020] (1) Because the first flexible structure is elastic in the radial direction of the first shaft, when the robot vacuum cleaner encounters an obstacle while moving in the direction of travel, the first flexible structure in the first roller assembly corresponding to the obstacle can elastically deform relative to the first shaft, so that the first tire of the first roller assembly can cross the obstacle and clean the surface on the obstacle. Furthermore, since the first roller assemblies are separate from each other, the first roller assembly passing by the obstacle will not be affected by the first roller assembly crossing the obstacle and can still contact the ground and clean the ground. In this way, the first roller assemblies, which are separate from each other and can be elastically deformed relative to the first shaft, are suitable for effectively cleaning uneven ground, so the robot vacuum cleaner can provide a good cleaning effect.

[0021] (2) Since the first roller group and the second roller group are separate from each other, when the robot vacuum turns, the rotation speed of the first roller group can be different from each other and not affected by each other, and the rotation speed of the second roller group can also be different from each other and not affected by each other. Therefore, it can avoid the situation where the first roller group or the second roller group rubs the ground due to insufficient rotation speed, which can effectively improve the smoothness of the robot vacuum turning.

[0022] (3) When the robot vacuum turns and the speeds of the first roller group and the second roller group are different, the lifting mechanism can temporarily separate the sticky roller from the first cleaning surface of the first tire and the second cleaning surface of the second tire. This not only prevents the sticky roller from being worn by the first or second cleaning surface due to the different speeds of the first or second roller group, but also prevents the sticky roller from affecting the speeds of the first and second roller groups due to friction with the first and second cleaning surfaces. Therefore, it can effectively improve the smoothness of the robot vacuum turning. Attached Figure Description

[0023] Figure 1 This is a side view of a sweeping robot according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A partial bottom view of a robotic vacuum cleaner;

[0025] Figure 3 for Figures 1-2 A cross-sectional view of the first roller assembly;

[0026] Figure 4 for Figures 1-2 A cross-sectional view of the second roller assembly;

[0027] Figure 5 for Figures 1-2 A front view illustration of the application where the first roller group moves along the direction of travel;

[0028] Figure 6 For along Figure 3 A front view of the first flexible structure;

[0029] Figure 7 This is a front view of the first flexible structure according to another embodiment of the present invention;

[0030] Figure 8 This is a front view of the first flexible structure according to another embodiment of the present invention;

[0031] Figure 9 This is a three-dimensional cross-sectional schematic diagram of the first flexible structure according to another embodiment of the present invention;

[0032] Figure 10 for Figures 1-2 Top view of the cleaning module application;

[0033] Figure 11 for Figure 1 A schematic diagram of the lifting mechanism's operation;

[0034] Figures 12-13 This is a schematic diagram illustrating the operation of the lifting mechanism according to another embodiment of the present invention;

[0035] Figures 14-15 This is a schematic diagram illustrating the operation of the lifting mechanism according to another embodiment of the present invention.

[0036] Symbol Explanation

[0037] 100: Robotic Vacuum Cleaner

[0038] 110: Main Body

[0039] 111: Mainframe

[0040] 112: Guide rod

[0041] 120: Cleaning Module

[0042] 121: First axis

[0043] 122: First roller group

[0044] 1221: First Bearing

[0045] 1222: First Tire

[0046] 12221: First adhesive colloid

[0047] 12222: First frame

[0048] 1222a: First Cleaning Surface

[0049] 1223: First Flexible Structure

[0050] 1223a: First inner surface

[0051] 1223b: First outer surface

[0052] 1223b': Sub-outer surface

[0053] 1224: Inner Ring

[0054] 1225: Outer Ring Road

[0055] 1226: Elastic part

[0056] 1227: Spring

[0057] 1228: Elastomer

[0058] 1229: Annular elastic sheet

[0059] 126: Second Axis

[0060] 127: Second roller group

[0061] 1271: Second bearing

[0062] 1272: Second tire

[0063] 12721: Second adhesive colloid

[0064] 12722: Second frame

[0065] 1272a: Second Cleaning Surface

[0066] 1273: Second Flexible Structure

[0067] 1273a: Second inner surface

[0068] 1273b: Second outer surface

[0069] 1274: Inner Ring

[0070] 1275: Outer Ring Road

[0071] 1276: Elastic part

[0072] 130: Adhesive roller

[0073] 140: Lifting mechanism

[0074] 141: Bracket

[0075] 142: Roller

[0076] 143: First connecting part

[0077] 1431: Connecting rod

[0078] 1431a: First end

[0079] 1431b: Second end

[0080] 144: Second connecting part

[0081] 1441: First Sub-connector

[0082] 1442: Second Sub-connector

[0083] 1443: Connector

[0084] 1443a: First end

[0085] 1443b: Second end

[0086] 145: Drive unit

[0087] 146: Threaded rod

[0088] 300: Ground

[0089] 310: Obstacles

[0090] CR: Center of Rotation

[0091] DT: Direction of travel

[0092] G1: First gap

[0093] G2: Second gap

[0094] HS: Screw hole

[0095] H1, H2: Perforation

[0096] X1: First axis line

[0097] X2: Second axis

[0098] U, V: Distance traveled

[0099] θ: acute angle Detailed Implementation

[0100] The following describes several embodiments of the present invention with reference to the accompanying drawings. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and elements will be shown in the drawings in a simple schematic manner, and in all drawings, the same reference numerals will be used to denote the same or similar elements. And, where feasible, features of different embodiments may be applied interchangeably.

[0101] Unless otherwise defined, all terms used herein (including technical and scientific terms) have their ordinary meanings, which are understandable to those skilled in the art. Furthermore, the definitions of the foregoing terms in commonly used dictionaries should be interpreted in the context of this specification as having the meaning consistent with the relevant field of this invention. Unless specifically defined, these terms will not be construed as having idealized or overly formal meanings.

[0102] Please refer to Figures 1-2 . Figure 1 A side view of a sweeping robot 100 according to an embodiment of the present invention is shown. Figure 2 For illustration Figure 1 A partial bottom view of the robotic vacuum cleaner 100. In this embodiment, as... Figures 1-2 As shown in the figures, a robotic vacuum cleaner 100 includes a main body 110 and a cleaning module 120. To make the figures clearer, [details omitted]. Figure 1In the diagram, the outline of the main body 110 is shown in dashed lines. The main body 110 is configured to move along the travel direction DT on the ground 300. The main body 110 includes a main frame 111, while the cleaning module 120 includes a first shaft 121, a plurality of first roller sets 122, a second shaft 126, and a plurality of second roller sets 127. The two opposite ends of the first shaft 121 are connected to the main frame 111 of the main body 110, and the first shaft 121 extends along a first axis X1. The two opposite ends of the second shaft 126 are also connected to the main frame 111 of the main body 110, and the second shaft 126 extends along a second axis X2, which is parallel to the first axis X1. The first axis X1 and the second axis X2 are both perpendicular to the travel direction DT. The first roller assembly 122 is separated from each other and connected to the first shaft 121, while the second roller assembly 127 is also separated from each other and connected to the second shaft 126. Both the first roller assembly 122 and the second roller assembly 127 are configured to abut against the ground 300, thereby cleaning the ground 300 during the movement of the sweeping robot 100.

[0103] Please refer to Figure 3 . Figure 3 For illustration Figures 1-2 A cross-sectional view of the first roller assembly 122. Specifically, in this embodiment, as... Figure 3 As shown, the first roller assembly 122 includes a first bearing 1221, a first tire 1222, and a first flexible structure 1223. A first shaft 121 passes through the first bearing 1221 along a first axis X1. The first tire 1222 includes a first cleaning surface 1222a, which is configured to abut against a ground surface 300 (see [reference to ground surface 300]). Figure 1 Specifically, the first cleaning surface 1222a is adhesive, so it can, for example, use an electrostatic mechanism to pick up dust from the ground 300 for cleaning. This dust-picking method effectively avoids dust generation. Furthermore, the first flexible structure 1223 includes a first inner surface 1223a and a first outer surface 1223b. The first inner surface 1223a abuts against the first bearing 1221, while the first outer surface 1223b abuts against the first tire 1222. Notably, in this embodiment, the first flexible structure 1223 is elastic in the radial direction of the first shaft 121. Thus, when the first tire 1222 is subjected to external force, the first flexible structure 1223 can be elastically compressed, causing the stressed area of ​​the first tire 1222 to move closer to the first bearing 1221.

[0104] More specifically, in this embodiment, such as Figure 3As shown, the first flexible structure 1223 includes an inner ring 1224, an outer ring 1225, and an elastic portion 1226. The elastic portion 1226 is elastically connected between the inner ring 1224 and the outer ring 1225. The first inner surface 1223a is located on the side of the inner ring 1224 away from the outer ring 1225, while the first outer surface 1223b is located on the side of the outer ring 1225 away from the inner ring 1224.

[0105] Furthermore, such as Figure 3 As shown, the first tire 1222 includes a first adhesive 12221 and a first frame 12222. The first frame 12222 abuts against the first adhesive 12221 and the first flexible structure 1223, while the first cleaning surface 1222a is located on the side of the first adhesive 12221 away from the first frame 12222, and the first outer surface 1223b of the first flexible structure 1223 abuts against the first frame 12222. In practical applications, the first bearing 1221 and the first frame 12222 of the first tire 1222 are both stiffer than the first flexible structure 1223, that is, the first flexible structure 1223 has higher elasticity than the first frame 12222 and the first bearing 1221.

[0106] Please refer to Figure 4 . Figure 4 For illustration Figures 1-2 A cross-sectional view of the second roller assembly 127. Specifically, in this embodiment, as... Figure 4 As shown, the second roller assembly 127 includes a second bearing 1271, a second tire 1272, and a second flexible structure 1273. A second shaft 126 passes through the second bearing 1271 along a second axis X2. The second tire 1272 includes a second cleaning surface 1272a, which is configured to abut against the ground 300 (see [reference to ground 300]). Figure 1 Specifically, the second cleaning surface 1272a is adhesive, so it can, for example, use an electrostatic mechanism to pick up dust from the ground 300 for cleaning. This dust-picking method effectively avoids dust generation. Furthermore, the second flexible structure 1273 includes a second inner surface 1273a and a second outer surface 1273b. The second inner surface 1273a abuts against the second bearing 1271, while the second outer surface 1273b abuts against the second tire 1272. Notably, in this embodiment, the second flexible structure 1273 is elastic in the radial direction of the second shaft 126. Thus, when the second tire 1272 is subjected to external force, the second flexible structure 1273 can be elastically compressed, causing the stressed area of ​​the second tire 1272 to move closer to the second bearing 1271.

[0107] More specifically, in this embodiment, such as Figure 4 As shown, the second flexible structure 1273 includes an inner ring 1274, an outer ring 1275, and a plurality of elastic portions 1276. The elastic portions 1276 are elastically connected between the inner ring 1274 and the outer ring 1275. The second inner surface 1273a is located on the side of the inner ring 1274 away from the outer ring 1275, while the second outer surface 1273b is located on the side of the outer ring 1275 away from the inner ring 1274.

[0108] Furthermore, such as Figure 4 As shown, the second tire 1272 includes a second adhesive 12721 and a second frame 12722. The second frame 12722 abuts against the second adhesive 12721 and the second flexible structure 1273, while the second cleaning surface 1272a is located on the side of the second adhesive 12721 away from the second frame 12722, and the second outer surface 1273b of the second flexible structure 1273 abuts against the second frame 12722. In practical applications, the second bearing 1271 and the second frame 12722 of the second tire 1272 are both stiffer than the second flexible structure 1273, that is, the second flexible structure 1273 has higher elasticity than the second frame 12722 and the second bearing 1271.

[0109] In addition, such as Figures 2-3 As shown, a first gap G1 is defined between every two adjacent surfaces in the first clean surface 1222a, and as... Figure 2 As shown, each of the first gaps G1 is aligned with a corresponding one of the second cleaning surfaces 1272a in the direction of travel DT, and the second cleaning surface 1272a is actually wider than the first gap G1. Conversely, as... Figure 2 , Figure 4 As shown, a second gap G2 is defined between every two adjacent surfaces in the second clean surface 1272a, and as... Figure 2 As shown, each of the second gaps G2 is aligned with a corresponding one of the first cleaning surfaces 1222a in the direction of travel DT, and the first cleaning surface 1222a is actually wider than the second gap G2. In this way, when the robot vacuum cleaner 100 moves along the direction of travel DT, the area of ​​the floor 300 corresponding to the first gap G1 can be cleaned by the second cleaning surface 1272a, while the area of ​​the floor 300 corresponding to the second gap G2 can be cleaned by the first cleaning surface 1222a, thus effectively improving the cleaning performance of the robot vacuum cleaner 100.

[0110] Please refer to Figure 5 . Figure 5 For illustration Figures 1-2A front view illustration of the application of the first roller assembly 122 moving along the travel direction DT. As described above, since the first flexible structure 1223 is elastic in the radial direction of the first shaft 121, when the sweeping robot 100 encounters an obstacle 310 while moving along the travel direction DT, the first flexible structure 1223 within the first roller assembly 122 corresponding to the obstacle 310 can elastically deform relative to the first shaft 121, so that the first tire 1222 of the first roller assembly 122 can cross the obstacle 310 and clean the surface on the obstacle 310. Furthermore, as described above, since the first roller assemblies 122 are separate from each other, the first roller assembly 122 passing beside the obstacle 310 will not be affected by the first roller assembly 122 crossing the obstacle 310 and can still contact the ground 300 and clean the ground 300, such as... Figure 5 As shown. In this way, the first roller assembly 122, which is separate from each other and can be elastically deformed relative to the first axis 121, is suitable for effectively cleaning the uneven ground 300, so the robot vacuum cleaner 100 can provide a good cleaning effect. On the other hand, the second roller assembly 127 crosses the obstacle 310 on the same principle, so it will not be described in detail here.

[0111] Please refer to Figure 6 . Figure 6 To illustrate along Figure 3 A front view of the first flexible structure 1223. In this embodiment, as... Figure 6 As shown, the first flexible structure 1223 has multiple elastic portions 1226, and a perforation H1 is defined between every two adjacent elastic portions 1226. In practical applications, for example, each of the perforations H1 is a parallelogram, and the acute angle θ in the parallelogram can be between 30 degrees and 60 degrees. The smaller the acute angle θ, the greater the flexibility of the elastic portion 1226. Similarly, in this embodiment, the second flexible structure 1273 can be structurally identical to the first flexible structure 1223, and will not be described again here.

[0112] Please refer to Figure 7 . Figure 7 A front view of a first flexible structure 1223 according to another embodiment of the present invention is shown. In this embodiment, as... Figure 7 As shown, the first flexible structure 1223 has multiple elastic portions 1226, and a perforation H1 is defined between every two adjacent elastic portions 1226. In practical applications, for example, each of the perforations H1 is arrow-shaped. Similarly, in this embodiment, the second flexible structure 1273 may be structurally identical to the first flexible structure 1223, and will not be described further here.

[0113] Please refer to Figure 8 . Figure 8A front view of a first flexible structure 1223 according to another embodiment of the present invention is shown. In this embodiment, as... Figure 8 As shown, the first flexible structure 1223 includes an inner ring 1224 and a plurality of springs 1227. A first inner surface 1223a is located within the inner ring 1224. Springs 1227 surround and are respectively connected to the inner ring 1224. The first outer surface 1223b includes a plurality of sub-outer surfaces 1223b', each of which is located on the side of the corresponding spring 1227 away from the inner ring 1224, and each sub-outer surface 1223b' abuts against the first frame 12222 of the first tire 1222 (see [link to first frame 12222]). Figure 3 Similarly, in this embodiment, the second flexible structure 1273 may be structurally identical to the first flexible structure 1223, and will not be described again here.

[0114] Please refer to Figure 9 . Figure 9 This is a perspective cross-sectional view illustrating a first flexible structure 1223 according to yet another embodiment of the present invention. In this embodiment, as... Figure 9 As shown, the first flexible structure 1223 includes an inner ring 1224, an outer ring 1225, and an elastomer 1228. A first inner surface 1223a is located on the side of the inner ring 1224 away from the outer ring 1225, while a first outer surface 1223b is located on the side of the outer ring 1225 away from the inner ring 1224. The elastomer 1228 is elastically connected between the inner ring 1224 and the outer ring 1225, and the elastomer 1228 includes a plurality of annular elastic sheets 1229, which are connected to each other and inclined relative to the inner ring 1224 and the outer ring 1225, respectively. More specifically, the inner ring 1224, the outer ring 1225, and the annular elastic sheets 1229 are concentric. Similarly, in this embodiment, the second flexible structure 1273 may be structurally identical to the first flexible structure 1223, and will not be described further here.

[0115] Please refer to Figure 10 . Figure 10 For illustration Figures 1-2 A top view of the cleaning module 120. In this embodiment, since the first roller assembly 122 and the second roller assembly 127 are separate from each other, when the robot vacuum cleaner 100 turns, the rotation speeds of the first roller assembly 122 can be different from each other and unaffected by each other, and the rotation speeds of the second roller assembly 127 can also be different from each other and unaffected by each other. Therefore, it avoids the situation where the first roller assembly 122 or the second roller assembly 127 rubs against the ground 300 due to insufficient rotation speed, which effectively improves the smoothness of the robot vacuum cleaner 100's turning. Taking the first roller assembly 122 as an example... Figure 10As shown, when the cleaning module 120 rotates along the ground around the rotation center CR of the sweeping robot 100, the first roller group 122, which is farther away from the rotation center CR, moves a greater distance U on the ground 300 than the first roller group 122, which is closer to the rotation center CR. Therefore, the rotation speed of the first roller group 122, which is farther away from the rotation center CR, is also faster than the rotation speed of the first roller group 122, which is closer to the rotation center CR.

[0116] Please refer to Figure 1 , Figure 11 . Figure 11 For illustration Figure 1 A schematic diagram of the operation of the lifting mechanism 140. In this embodiment, as... Figure 1 , Figure 11 As shown, the robotic vacuum cleaner 100 also includes a dust-adhesive roller 130 and a lifting mechanism 140. The dust-adhesive roller 130 is configured to abut against the first cleaning surface 1222a of the first tire 1222 and the second cleaning surface 1272a of the second tire 1272, and remove dust adhering to the first cleaning surface 1222a and the second cleaning surface 1272a, thereby cleaning the first cleaning surface 1222a and the second cleaning surface 1272a. The lifting mechanism 140 includes a bracket 141, a plurality of rollers 142, a first connecting portion 143, a second connecting portion 144, a drive unit 145, and a threaded rod 146 (the second connecting portion 144 and the threaded rod 146 are located at...). Figure 10 The middle section is obscured by the main frame 111, so please see... Figure 11 Roller 142 is mounted on bracket 141 and supports dust roller 130. Supported by roller 142, dust roller 130 can rotate relative to bracket 141. First connecting part 143 is connected to one side of bracket 141 and is movably connected to the main frame 111 of body 110. Second connecting part 144 is connected to the other side of bracket 141 and has a screw hole HS (see screw hole HS for details). Figure 11 The drive unit 145 is mounted on the main frame 111, the threaded rod 146 is connected to the drive unit 145, and the threaded hole HS of the second connecting part 144 is coupled to the threaded rod 146. The drive unit 145 is configured to rotate the threaded rod 146.

[0117] More specifically, such as Figure 1 , Figure 11 As shown, the second connecting portion 144 further includes a first sub-connecting portion 1441 and a second sub-connecting portion 1442 (see...). Figure 11 The first sub-connector 1441 connects to the bracket 141. The screw hole HS is located in the second sub-connector 1442. The connector 1443 has a first end 1443a and a second end 1443b, which are pivotally connected to the first sub-connector 1441 and the second end 1443b are pivotally connected to the second sub-connector 1442.

[0118] When the drive device 145 rotates the threaded rod 146, because the threaded hole HS of the second sub-connecting part 1442 is coupled to the threaded rod 146 and the second sub-connecting part 1442 does not rotate with the threaded rod 146 due to its connection with the connecting member 1443, the second sub-connecting part 1442 will move along the threaded rod 146. The second sub-connecting part 1442 then drives the connecting member 1443 and the first sub-connecting part 1441. For example, as... Figure 11 As shown, when the second sub-connecting part 1442 moves toward the driving device 145 along the threaded rod 146, the second sub-connecting part 1442 then drives the connecting part 1443 and the first sub-connecting part 1441, so that the bracket 141 also moves away from the first tire 1222 and the second tire 1272 along with the first sub-connecting part 1441. Therefore, the dust roller 130 supported by the bracket 141 also moves away from the first cleaning surface 1222a of the first tire 1222 and the second cleaning surface 1272a of the second tire 1272, that is, the dust roller 130 no longer abuts against the first cleaning surface 1222a and the second cleaning surface 1272a. In this way, when the robot vacuum cleaner 100 turns and the rotation speeds of the first roller group 122 and the second roller group 127 are different, the lifting mechanism 140 can temporarily separate the sticky roller 130 from the first cleaning surface 1222a of the first tire 1222 and the second cleaning surface 1272a of the second tire 1272 through the above-mentioned operation. This not only prevents the sticky roller 130 from being worn by the first cleaning surface 1222a or the second cleaning surface 1272a due to the different rotation speeds of the first roller group 122 or the second roller group 127, but also prevents the sticky roller 130 from affecting the rotation speed of the first roller group 122 and the second roller group 127 due to friction with the first cleaning surface 1222a and the second cleaning surface 1272a. Therefore, it can effectively improve the smoothness of the robot vacuum cleaner 100 turning.

[0119] In addition, when the first roller group 122 and / or the second roller group 127 of the dust sticking roller 130 or the cleaning module 120 need to be replaced, the dust sticking roller 130 can be temporarily separated from the first cleaning surface 1222a of the first tire 1222 and the second cleaning surface 1272a of the second tire 1272 by the lifting mechanism 140, so as to facilitate the replacement of the dust sticking roller 130, the first roller group 122 or the second roller group 127.

[0120] Furthermore, such as Figure 1 , Figure 11As shown, the first connecting part 143 includes two connecting rods 1431 arranged parallel to each other. Each of the connecting rods 1431 has a first end 1431a and a second end 1431b. The first end 1431a is pivotally connected to the bracket 141, and the second end 1431b is pivotally connected to the main frame 111. In this way, the first ends 1431a and the second ends 1431b of the two connecting rods 1431 together form a parallelogram. When the bracket 141 is driven by the driving device 145 and moves away from the first tire 1222 and the second tire 1272, the two connecting rods 1431 rotate around their respective first ends 1431a and second ends 1431b, so that the first ends 1431a and the second ends 1431b of the two connecting rods 1431 can maintain the shape of the parallelogram. In this way, the bracket 141 will not tilt relative to the main frame 111 when it moves relative to the main frame 111.

[0121] Please refer to Figures 12-13 . Figures 12-13 This is a schematic diagram illustrating the operation of a lifting mechanism 140 according to another embodiment of the present invention. In this embodiment, as... Figures 12-13 As shown, the first connecting portion 143 of the lifting mechanism 140 is pivotally connected to the main frame 111. When the support 141 is driven by the drive device 145 to move away from the first tire 1222 and the second tire 1272, the support 141 rotates relative to the main frame 111 with the first connecting portion 143, causing the support 141 to tilt relative to the main frame 111.

[0122] Please refer to Figures 14-15 . Figures 14-15 This is a schematic diagram illustrating the operation of the lifting mechanism 140 according to another embodiment of the present invention. In this embodiment, as... Figures 14-15As shown, the screw hole HS is located in the second connecting part 144, and the main body 110 also includes a guide rod 112. The guide rod 112 is connected to the main frame 111 and parallel to the threaded rod 146 of the lifting mechanism 140. The first connecting part 143 of the lifting mechanism 140 has a through hole H2, and the guide rod 112 passes through the through hole H2 of the first connecting part 143. When the drive device 145 rotates the threaded rod 146, since the screw hole HS of the second connecting part 144 is coupled to the threaded rod 146 and the second connecting part 144 does not rotate with the threaded rod 146 because it is connected to the bracket 141, the second connecting part 144 will move along the threaded rod 146. For example, as shown in Figure 15, when the second connecting part 144 moves along the threaded rod 146 toward the drive device 145, the second connecting part 144 then drives the bracket 141, causing the bracket 141 to move away from the first tire 1222 and the second tire 1272. Therefore, the sticky roller 130 supported by the bracket 141 also moves away from the first cleaning surface 1222a of the first tire 1222 and the second cleaning surface 1272a of the second tire 1272, meaning the sticky roller 130 no longer abuts against the first cleaning surface 1222a and the second cleaning surface 1272a. Furthermore, as described above, since the guide rod 112 passes through the through hole H2 of the first connecting part 143, the guide rod 112 can guide the movement of the bracket 141 relative to the main frame 111.

[0123] In summary, the technical solutions disclosed in the above embodiments of the present invention have at least the following advantages:

[0124] (1) Because the first flexible structure is elastic in the radial direction of the first shaft, when the robot vacuum cleaner encounters an obstacle while moving in the direction of travel, the first flexible structure in the first roller assembly corresponding to the obstacle can elastically deform relative to the first shaft, so that the first tire of the first roller assembly can cross the obstacle and clean the surface on the obstacle. Furthermore, since the first roller assemblies are separate from each other, the first roller assembly passing by the obstacle will not be affected by the first roller assembly crossing the obstacle and can still contact the ground and clean the ground. In this way, the first roller assemblies, which are separate from each other and can be elastically deformed relative to the first shaft, are suitable for effectively cleaning uneven ground, so the robot vacuum cleaner can provide a good cleaning effect.

[0125] (2) Since the first roller group and the second roller group are separate from each other, when the robot vacuum turns, the rotation speed of the first roller group can be different from each other and not affected by each other, and the rotation speed of the second roller group can also be different from each other and not affected by each other. Therefore, it can avoid the situation where the first roller group or the second roller group rubs the ground due to insufficient rotation speed, which can effectively improve the smoothness of the robot vacuum turning.

[0126] (3) When the robot vacuum turns and the speeds of the first roller group and the second roller group are different, the lifting mechanism can temporarily separate the sticky roller from the first cleaning surface of the first tire and the second cleaning surface of the second tire. This not only prevents the sticky roller from being worn by the first or second cleaning surface due to the different speeds of the first or second roller group, but also prevents the sticky roller from affecting the speeds of the first and second roller groups due to friction with the first and second cleaning surfaces. Therefore, it can effectively improve the smoothness of the robot vacuum turning.

[0127] Although the present invention has been disclosed in conjunction with the above embodiments, it is not intended to limit the present invention. Any person skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A robotic vacuum cleaner, comprising: The main body is configured to move on the ground in the direction of travel; and The cleaning module includes: A first shaft, connecting the main body, extending along a first axis perpendicular to the direction of travel; and A plurality of first roller groups, connected to and separated from each other along the first shaft, each of the first roller groups comprising: A first bearing, through which the first shaft passes; A first tire, comprising a first cleaning surface configured to abut against the ground; and A first flexible structure includes a first inner surface and a first outer surface, the first inner surface abutting against the first bearing and the first outer surface abutting against the first tire, the first flexible structure being elastic.

2. The robotic vacuum cleaner of claim 1, wherein each of the first flexible structures comprises: Inner ring, one of the corresponding first inner surfaces is located in the inner ring; Outer ring, one of the corresponding first outer surfaces is located within the outer ring; and Multiple elastic sections are elastically connected between the inner ring and the outer ring, and a perforation is defined between every two adjacent elastic sections.

3. The robotic vacuum cleaner of claim 2, wherein each of the perforations is a parallelogram.

4. The robotic vacuum cleaner of claim 2, wherein each of the perforations is arrow-shaped.

5. The robotic vacuum cleaner of claim 1, wherein each of the first flexible structures comprises: Inner ring, one of the corresponding first inner surfaces is located within the inner ring; and Multiple springs surround and are respectively connected to the inner ring. One of the corresponding first outer surfaces includes multiple sub-outer surfaces, each of which is located on the side of the corresponding spring away from the inner ring.

6. The robotic vacuum cleaner of claim 1, wherein each of the first flexible structures comprises: Inner ring, one of the corresponding first inner surfaces is located in the inner ring; Outer ring, one of the corresponding first outer surfaces is located within the outer ring; and An elastomer is elastically connected between the inner ring and the outer ring. The elastomer includes a plurality of annular elastic sheets, which are connected to each other and inclined relative to the inner ring and the outer ring, respectively.

7. The robotic vacuum cleaner of claim 1, wherein each of the first tires comprises: A first adhesive colloid, with one of the first cleaning surfaces corresponding to the first adhesive colloid; and A first frame abuts between the first adhesive and a corresponding one of the first flexible structures, the first frame being rigid to the first flexible structure.

8. The robotic vacuum cleaner of claim 1, wherein the cleaning module further comprises: A second shaft, connecting the main body, extending along a second axis parallel to the first axis; and Multiple second roller sets, connected to and separated from each other along the second shaft, each of the second roller sets comprising: A second bearing, through which the second shaft passes; The second tire includes a second cleaning surface configured to abut against the ground; as well as The second flexible structure includes a second inner surface and a second outer surface, the second inner surface abutting against the second bearing and the second outer surface abutting against the second tire, the second flexible structure having elasticity. In this context, a gap is defined between every two adjacent second cleaning surfaces, and each of these gaps is aligned with a corresponding first cleaning surface in the direction of travel.

9. The sweeping robot of claim 1, wherein the main body includes a main frame, the two opposite ends of the first shaft are connected to the main frame, and the sweeping robot further includes: Adhesive rollers, configured to abut and clean these first tires; and The lifting mechanism includes: support; Multiple rollers are mounted on the bracket and support the adhesive roller; The first connecting part is connected to one side of the bracket and is movably connected to the main frame; The second connecting part is connected to the other side of the bracket and has a screw hole; The drive unit is located on the main frame; as well as A threaded rod, the drive device being configured to rotate the threaded rod, and the threaded hole coupling the threaded rod.

10. The robotic vacuum cleaner of claim 9, wherein the second connecting portion further comprises: The first sub-connecting part connects to the bracket; The second sub-connecting part, the screw hole is located in the second sub-connecting part; and The connector has a first end and a second end opposite to each other, the first end being pivotally connected to the first sub-connecting portion and the second end being pivotally connected to the second sub-connecting portion.

11. The sweeping robot of claim 9, wherein the first connecting portion is pivotally connected to the main frame.

12. The sweeping robot of claim 9, wherein the main body further includes a guide rod connected to the main frame and parallel to the threaded rod, the first connecting portion having a through hole through which the guide rod passes.

13. The sweeping robot of claim 9, wherein the first connecting portion comprises two connecting rods arranged parallel to each other, each of the connecting rods having a first end and a second end opposite to each other, the first end being pivotally connected to the bracket and the second end being pivotally connected to the main frame.

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