Rolling brush assembly for sweeping robot and sweeping robot

Abstract

The invention relates to a rolling brush assembly for a sweeping robot and the sweeping robot. Based on the rolling brush assembly, the rolling brush assembly comprises the rotating main shaft, the cleaning brush and the cutting mechanism, the cleaning brush and the cutting mechanism are arranged on the rotating main shaft, the rolling brush assembly further comprises the auxiliary mechanism, and the auxiliary mechanism can generate strengthening auxiliary force which cooperates with at least one of the cleaning brush and the cutting mechanism in the rotating period of the rotating main shaft. Therefore, the cleaning efficiency of the rolling brush assembly can be improved. For example, the cleaning efficiency of the brush assembly can be improved by improving the cutting efficiency of filament-shaped dirt and / or improving the winding capacity of large-particle discrete dirt.

Description

Technical Field

[0001] The present application relates to the field of intelligent cleaning, and in particular to a roller brush assembly for a sweeping robot, and a sweeping robot. Background Art

[0002] The sweeping robot includes a mobile chassis, a roller brush assembly, a suction component and a dust collecting component (such as a hard dust box or a flexible dust bag), wherein the roller brush assembly can use a cleaning brush radiating from a rotating main shaft to perform a hoisting operation on the lower area of ​​the mobile chassis.

[0003] Discrete dirt such as dust, food crumbs, etc. can be rolled up by the cleaning brush into the interior of the sweeping robot, and then sent into the dust collecting component by the suction airflow generated by the suction component inside the sweeping robot. Moreover, in order to facilitate the cleaning of filamentary dirt entangled in the roller brush assembly, the roller brush assembly can be provided with a cutting mechanism, which includes a stacked fixed tooth row component and a movable tooth row component, wherein the movable tooth row component can perform a reciprocating cutting motion relative to the fixed tooth row component in response to the rotation of the roller brush assembly, so as to cut the filamentary dirt into a discrete state that can be sent into the dust collecting component by the suction airflow.

[0004] However, the cleaning efficiency of the roller brush assembly needs to be improved, that is, how to improve the cleaning efficiency of the cutting mechanism has become a technical problem to be solved in the prior art. Summary of the invention

[0005] In an embodiment of the present application, a roller brush assembly for a sweeping robot and a sweeping robot are provided, which help to improve the cleaning efficiency of the roller brush assembly.

[0006] One embodiment of the present application provides a roller brush assembly for a sweeping robot, comprising:

[0007] A rotating spindle, wherein the rotating spindle is provided with a cleaning brush extending radially from an outer shaft wall;

[0008] A cutting mechanism, the cutting mechanism comprising a fixed tooth row component and a movable tooth row component stacked and inserted into the outer shaft wall;

[0009] An auxiliary mechanism is mounted on the rotating main shaft, and the auxiliary mechanism generates a strengthening auxiliary force that cooperates with at least one of the cleaning brush and the cutting mechanism during the rotation of the rotating main shaft.

[0010] In some examples, optionally, the auxiliary mechanism includes a preload mechanism, and the enhanced auxiliary force includes an elastic preload force applied by the preload mechanism to the cutting mechanism in the stacking direction of the fixed tooth row member and the movable tooth row member, and the elastic preload force suppresses the gap between the fixed tooth row member and the movable tooth row member in the stacking direction during the reciprocating cutting motion of the movable tooth row member along the axial direction relative to the fixed tooth row member.

[0011] In some examples, optionally, the outer shaft wall has a mounting slit extending along the axial direction of the rotating main shaft; the fixed tooth row component is fixedly inserted in the mounting slit, and the movable tooth row component is movably inserted in the mounting slit along the axial direction; the width of the mounting slit is greater than the stacking thickness of the fixed tooth row component and the movable tooth row component, and the pre-tightening mechanism is installed in the mounting slit (15).

[0012] In some examples, optionally, the fixed tooth row component includes a fixed tooth mounting bar fixed in the mounting slot, and a plurality of fixed tooth teeth protruding from the fixed tooth mounting bar to the outside of the outer shaft wall; the movable tooth row component includes a movable tooth mounting bar movably mounted in the mounting slot, and a plurality of movable tooth teeth protruding from the movable tooth mounting bar to the outside of the outer shaft wall; wherein the reciprocating cutting motion of the movable tooth row component relative to the fixed tooth row component causes the movable tooth teeth to be reciprocatingly misaligned relative to the fixed tooth teeth in the axial direction, and the preload mechanism generates the elastic preload force on the cutting mechanism in the stacking area of ​​the fixed tooth mounting bar and the movable tooth mounting bar.

[0013] In some examples, optionally, the fixed tooth mounting strip is close to the first side wall in the slit width direction of the mounting slit, and the movable tooth mounting strip is close to the second side wall in the slit width direction of the mounting slit; the pre-tensioning mechanism includes: a first pre-tensioning mechanism, the first pre-tensioning mechanism is mounted on the first side wall, the first pre-tensioning mechanism is in surface contact with the fixed tooth mounting strip, and the elastic pre-tensioning force includes: a first elastic pre-tensioning force generated by the first pre-tensioning mechanism through surface contact with the fixed tooth mounting strip; and / or, a second pre-tensioning mechanism, the second pre-tensioning mechanism is mounted on the second side wall, the second pre-tensioning mechanism is in point contact with the movable tooth mounting strip, and the elastic pre-tensioning force includes: a second elastic pre-tensioning force generated by the second pre-tensioning mechanism through point contact with the movable tooth mounting strip.

[0014] In some examples, optionally, the first pre-tensioning mechanism includes a strip-shaped elastic body, the first pre-tensioning mechanism is fixedly mounted in a side wall groove of the first side wall, the first pre-tensioning mechanism is squeezed and deformed by the fixed tooth mounting strip in the stacking direction, and the first elastic pre-tensioning force includes a regional elastic force generated by the first pre-tensioning mechanism in the surface contact area due to the extrusion deformation.

[0015] In some examples, optionally, the second side wall has a side wall ridge, and the side wall ridge is in contact with the movable tooth mounting line.

[0016] In some examples, optionally, the second pre-tightening mechanism is in sliding and rolling cooperation with the movable gear mounting bar at the point contact position.

[0017] In some examples, optionally, the second preload mechanism includes a preload spring and a floating ball, wherein the preload spring is inserted into the interior of the side wall blind hole of the second side wall, and the floating ball achieves point contact with the movable tooth mounting bar at the opening of the side wall blind hole through sliding and rolling cooperation with the movable tooth mounting bar, the preload spring is squeezed and deformed by the movable tooth mounting bar through the floating ball, and the second elastic preload force includes a discrete elastic force generated by the preload spring in a sliding and rolling manner at the point contact position through the floating ball due to the extrusion deformation.

[0018] In some examples, optionally, the rotating main shaft includes a first semi-cylindrical shell and a second semi-cylindrical shell, the cylindrical surfaces of the first semi-cylindrical shell and the second semi-cylindrical shell are complementary, and the first semi-cylindrical shell and the second semi-cylindrical shell are snap-fitted and spliced; the installation slit is located in the first semi-cylindrical shell, wherein the first semi-cylindrical shell includes a half-shell body, the half-shell body has an arc surface portion and a circular notch portion, the first semi-cylindrical shell also includes an arc surface splicing piece, the arc surface splicing piece is detachably mounted on the circular notch portion, the outer shaft wall includes the arc surface portion and the outer arc surface of the arc surface splicing piece, and the installation slit is located between the arc surface portion and the arc surface splicing piece.

[0019] In some examples, optionally, the auxiliary mechanism includes a rolling sheet, the enhanced auxiliary force includes an airflow driving force generated by the rolling sheet during the period of following the rotation of the rotating main shaft, and the airflow flow direction of the airflow driving force is the same as the rolling direction of the cleaning brush following the rotation of the rotating main shaft.

[0020] In some examples, optionally, the cutting mechanism and the rolling sheet are deployed on the rotating main shaft with a phase interval of 180°, and a pair of the cleaning brushes are symmetrically arranged relative to a deployment plane where the cutting mechanism and the rolling sheet are located.

[0021] In some examples, optionally, the rotating main shaft includes a first semi-cylindrical shell and a second semi-cylindrical shell, the cylinders of the first semi-cylindrical shell and the second semi-cylindrical shell are complementary, and the first semi-cylindrical shell and the second semi-cylindrical shell are snap-fitted and spliced; the cutting mechanism is located in the first semi-cylindrical shell, the hoisting sheet is located in the second semi-cylindrical shell, and a pair of cleaning brushes are fixedly mounted at the joint between the first semi-cylindrical shell and the second semi-cylindrical shell.

[0022] Another embodiment of the present application provides a sweeping robot, comprising a mobile chassis, an integrated cavity shell supported by the mobile chassis, and a roller brush assembly as described in the aforementioned embodiment, wherein the roller brush assembly is installed in the integrated cavity shell, the mobile chassis has a chassis opening, the integrated cavity shell has a rolling window exposed at the chassis opening, and a suction window for connecting to a dust collection mechanism, the installation position of the roller brush assembly in the integrated cavity shell enables the cleaning brush to protrude out of the rolling window during the rotation to perform a rolling operation.

[0023] Based on the above embodiment, the roller brush assembly may include an auxiliary mechanism in addition to the rotating main shaft, the cleaning brush and the cutting mechanism mounted on the rotating main shaft, wherein the auxiliary mechanism may generate a reinforced auxiliary force that cooperates with at least one of the cleaning brush and the cutting mechanism during the rotation of the rotating main shaft, thereby helping to improve the cleaning efficiency of the roller brush assembly. For example, the cleaning efficiency of the brush assembly may be improved by improving the cutting efficiency of filamentary dirt and / or improving the hoisting ability of large discrete particles of dirt. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following drawings are only used to illustrate and explain the present application, and do not limit the scope of the present application:

[0025] Figure 1 This is a schematic structural diagram of a roller brush assembly for a sweeping robot in an assembled state in an embodiment of the present application;

[0026] Figure 2 This is a schematic diagram of the structure of a roller brush assembly for a sweeping robot in an exploded state in an embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the working principle of the cutting mechanism of the roller brush assembly used in the sweeping robot in the embodiment of the present application;

[0028] Figure 4 It is a schematic diagram of a partial hierarchical structure of a first example of a pre-tightening mechanism of a roller brush assembly for a sweeping robot in an embodiment of the present application;

[0029] Figure 5 For Figure 4 A cross-sectional view of a first example of a pretensioning mechanism is shown;

[0030] Figure 6 It is a partial hierarchical structure diagram of a second example of a pre-tightening mechanism of a roller brush assembly for a sweeping robot in an embodiment of the present application;

[0031] Figure 7 For Figure 6 A cross-sectional view of a second example of a pretensioning mechanism is shown;

[0032] Figure 8 It is a partial hierarchical structure diagram of a third example of a pre-tightening mechanism of a roller brush assembly for a sweeping robot in an embodiment of the present application;

[0033] Fig. 9 For Figure 8 A cross-sectional view of a third example of the pretensioning mechanism shown;

[0034] Fig.10 This is a schematic diagram of the exploded structure when the roller brush assembly for the sweeping robot in the embodiment of the present application further includes a clutch mechanism;

[0035] Fig.11 It is a cross-sectional view of a clutch mechanism of a roller brush assembly used in a sweeping robot in an embodiment of the present application;

[0036] Fig.12 It is a partial structural schematic diagram of the clutch mechanism of the roller brush assembly used for the sweeping robot in the embodiment of the present application;

[0037] Fig.13 Schematic diagram of the working principle of the clutch mechanism of the roller brush assembly used in the sweeping robot in the embodiment of the present application;

[0038] Fig.14 Schematic diagram of the state switching process of the clutch mechanism of the roller brush assembly of the sweeping robot in the embodiment of the present application;

[0039] Fig.15 A schematic diagram of a partial structure of a sweeping robot in an embodiment of the present application;

[0040] Fig.16 It is a schematic diagram of the structure of the integrated cavity shell of the sweeping robot in the embodiment of the present application;

[0041] Fig.17 For Fig.16 A schematic diagram of the docking structure between the integrated chamber shell and the dust collecting component is shown.

[0042] Description of Reference Numerals

[0043] 10 Rotating spindle

[0044] 100 Hollow shaft cavity

[0045] 11. First semi-cylindrical shell

[0046] 110 Half Shell Body

[0047] 111 Arc face

[0048] 112 round part

[0049] 113 Assembling positioning pin

[0050] 115 curved surface splicing parts

[0051] 12 Second semi-cylindrical shell

[0052] 13 Follower ring

[0053] 130 Static end cap

[0054] 14 Drive end cover

[0055] 15 Installation slit

[0056] 151 Sidewall groove

[0057] 152 Side wall blind hole

[0058] 153 side wall ridge

[0059] 17 Guide combs

[0060] 18 Sliding keyway

[0061] 20 Guide mechanism

[0062] 21 Inner sleeve

[0063] 210 Ball restraint through hole

[0064] 22 Guide balls

[0065] 23 Outer sleeve

[0066] 30 axis shift mechanism

[0067] 31 Transmission slider

[0068] 311 Radial key

[0069] 315 clamping groove

[0070] 32 Guide shaft

[0071] 320 inclined ring groove

[0072] 40 Cleaning Brush

[0073] 45 winch sheet

[0074] 50 Cutting mechanism

[0075] 51 Fixed gear row components

[0076] 510 Fixed tooth

[0077] 511 Fixed tooth mounting strip

[0078] 512 Fixed gear mounting lug

[0079] 52 Moving gear row components

[0080] 520 Moving teeth

[0081] 521 Moving gear mounting strip

[0082] 522 Moving gear mounting lug

[0083] 523 Moving gear transmission arm

[0084] 53 Stacking Dowel Pins

[0085] 60 integrated cavity shell

[0086] 600 Roller Brush Chamber

[0087] 61 winch window

[0088] 62 Suction window

[0089] 63 Support shaft seat

[0090] 64 Power shaft seat

[0091] 65 Stop gap

[0092] 66 Channel Components

[0093] 70 Mobile chassis

[0094] 700 chassis opening

[0095] 71 Power Motor

[0096] 72 reduction mechanism

[0097] 80 Preload mechanism

[0098] 81 First preload mechanism

[0099] 82 Second preload mechanism

[0100] 821 Preload Spring

[0101] 822 Floating Ball

[0102] 90 Clutch mechanism

[0103] 91 Fixed gear ring

[0104] 910 Clutch tooth

[0105] 910a Stop-rotation limit groove wall

[0106] 910b First arc groove wall

[0107] 92 Transmission ring

[0108] 920 Transmission tooth groove

[0109] 920a Second arc groove wall

[0110] 920b Synchronous bite groove wall

[0111] 93 Clutch sleeve

[0112] 931 Clutch cam

[0113] 931a Stop-rotation limit tooth wall

[0114] 931b First curved tooth wall

[0115] 932 Transmission cam

[0116] 932a Second arc groove wall

[0117] 932b Synchronous bite tooth wall

[0118] 935 Inclined guide slot

[0119] 935a First slot end

[0120] 935b Second slot end

[0121] 95 Switching mechanism

[0122] 951 fixed outer cylinder

[0123] 952 Reversing Ball

[0124] 97 Fixed shaft seat

[0125] 971 Axial Screw

[0126] 972 Shaft bearing

[0127] 973 anti-rotation keyway

[0128] 98 Drive shaft

[0129] 981 Synchronous Keyway

[0130] 982 Locating ring groove

[0131] 983 Synchronous snap ring

[0132] 984 End bearing

[0133] 985 Inline shaft end

[0134] 986 Inline bearing DETAILED DESCRIPTION

[0135] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0136] Figure 1 It is a schematic structural diagram of a roller brush assembly for a sweeping robot in an embodiment of the present application in an assembled state. Figure 2 Schematic diagram of the structure of the roller brush assembly of the sweeping robot in the embodiment of the present application in the disassembled state. Figure 1 and Figure 2 In an embodiment of the present application, a roller brush assembly for a sweeping robot may include a rotating spindle 10 and a cutting mechanism 50 .

[0137] The rotating spindle 10 may be provided with a cleaning brush 40 extending radially from the outer shaft wall.

[0138] In the illustrated representation of the embodiment of the present application, the rotating main shaft 10 includes a first semi-cylindrical shell 11 and a second semi-cylindrical shell 12 as an example, wherein the cylinders of the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 are complementary, and the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 are snap-fitted and spliced. For example, the snap-fitting splicing of the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 can be fixed by snap-fitting at the edge of the cylinder and / or screw locking shown in the illustrated representation. In this case, a pair of seams between the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 can respectively fix and clamp a pair of cleaning brushes 40. It can be seen from the diagrammatic expression of the embodiment of the present application that the seam between the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 may not be limited to a straight line shape, but may be set to a broken line shape, so that the elongated cleaning brush 40 is constrained by the broken line seam between the first semi-cylindrical body 11 and the second semi-cylindrical body 12 into a bent shape. Such a bent shape can cause discrete dirt brushed by the cleaning brush 40 to converge to the middle area of ​​the elongated shape during the rotation of the rotating spindle 10.

[0139] The cutting mechanism 50 can be installed on the outer wall of the rotating main shaft 10 , and the cutting mechanism 50 and the cleaning brush 40 avoid each other at the installation positions of the outer wall of the rotating main shaft 10 . For example, the cutting mechanism 50 can be installed on the first semi-cylindrical shell 11 .

[0140] The cutting mechanism 50 can specifically include a fixed tooth row component 51 and a movable tooth row component 52 stacked and inserted on the outer shaft wall of the rotating spindle 10, that is, the fixed tooth row component 51 can be fixedly inserted on the outer shaft wall of the rotating spindle 10, and the movable tooth row component 52 can be movably inserted on the outer shaft wall of the rotating spindle 10 along the axial direction of the rotating spindle 10, and the movable tooth row component 52 can perform reciprocating cutting motion relative to the fixed tooth row component 51 in response to the rotation of the rotating spindle 10.

[0141] In an embodiment of the present application, in order to facilitate the insertion of the cutting mechanism 50 into the outer shaft wall of the rotating spindle 10, the outer shaft wall of the rotating spindle 10 may have a mounting slit 15 extending along the axial direction of the rotating spindle 10, and the fixed tooth row component 51 of the cutting mechanism 50 is fixedly inserted in the mounting slit 15, and the movable tooth row component 52 of the cutting mechanism 50 is movably inserted in the mounting slit 15 along the axial direction. In this case, the fixed tooth row component 51 may include a fixed tooth mounting bar 511 fixed in the mounting slot 15, and a plurality of fixed tooth teeth 510 protruding from the fixed tooth mounting bar 511 to the outside of the outer shaft wall of the rotating main shaft 10, and the movable tooth row component 52 may include a movable tooth mounting bar 521 movably mounted in the mounting slot 15, and a plurality of movable tooth teeth 520 protruding from the movable tooth mounting bar 521 to the outside of the outer shaft wall of the rotating main shaft 10, and the reciprocating cutting motion of the movable tooth row component 52 relative to the fixed tooth row component 51 may cause the movable tooth teeth 520 to be reciprocally misaligned relative to the fixed tooth teeth 510 in the axial direction.

[0142] In an embodiment of the present application, taking the installation slit 15 located in the first semi-cylindrical shell 11 as an example, the first semi-cylindrical shell 11 may include a half-shell body 110, which has an arc portion 111 smoothly spliced ​​with the outer shaft wall of the second semi-cylindrical shell 12, and a circular notch 112 adjacent to the arc portion 111. The first semi-cylindrical shell 11 may also include an arc surface splicing piece 115, which is detachably mounted (for example, by means of screws) on the circular notch 112, that is, half of the outer shaft wall provided by the first semi-cylindrical shell 11 for the rotating main shaft 10 includes the arc portion 111 and the outer arc surface of the arc surface splicing piece 115, and the installation slit 15 is located between the arc portion 1111 and the arc surface splicing piece 115.

[0143] Based on the split structure of the first semi-cylindrical shell 11 including the semi-shell body 110 and the arc surface splicing piece 115, it is more convenient to stack and install the fixed tooth row component 51 and the movable tooth row component 52, that is, during assembly:

[0144] First, the stacked fixed tooth row components 51 and the movable tooth row components 52 can be stacked on the surface of the arc surface 111 of the half shell body 110 of the arc surface splicing piece 115 facing the first semi-cylindrical shell 11. For example, the fixed tooth row components 51 can also include a fixed tooth mounting lug 512 protruding from the fixed tooth mounting strip 511, and the movable tooth row components 52 can also include a movable tooth mounting lug 522 protruding from the movable tooth mounting strip 521. In addition, the fixed tooth row components 51 and the movable tooth row components 52 can be stacked on the surface of the arc surface splicing piece 115 by using the stacking positioning pins 53 that penetrate the fixed tooth mounting lug 512 and the movable tooth mounting lug 522 and are plugged into the arc surface splicing piece 115.

[0145] Then, the arc surface splicing piece 115 and the stacked fixed tooth row components 51 and movable tooth row components 52 are installed together into the circular notch portion 112 of the half shell body 110 of the first semi-cylindrical shell 11, with the fixed tooth row components 51 and the movable tooth row components 52 facing the arc surface portion 111 of the half shell body 110 of the first semi-cylindrical shell 11;

[0146] Finally, the arc surface splicing piece 115 is locked in the circular notch portion 112 of the half shell body 110 of the first semi-cylindrical shell 11 by using the assembly positioning pin 113 along the axial direction of the rotating main shaft 10 .

[0147] It can be understood that if the cutting mechanism 50 is also arranged in pairs like the cleaning brush 40, and is respectively installed in the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12, then the second semi-cylindrical shell 12 can adopt a structure basically the same as the first semi-cylindrical shell 11, that is, the second semi-cylindrical shell 12 can also have an installation slit 15.

[0148] In the embodiment of the present application, the rotating main shaft 10 may further include a plurality of guide comb teeth 17 spaced apart on the outer shaft wall along the axial direction, so as to form a drainage channel across the installation slit 15 between every two adjacent guide comb teeth 17. For example, the guide comb teeth 17 may be spaced apart at the slit edges on opposite sides of the installation slit 15 in the slit width direction, that is, the guide comb teeth 17 may be provided at the edges of the arc surface 111 and the arc surface splicing piece 115 facing each other.

[0149] In this case, the fixed teeth 510 and the guide comb teeth 17 are aligned in the axial direction to avoid the fixed teeth 510 blocking the drainage channel. For example, the guide comb teeth 17 may have comb teeth side walls flush with the slit edges, the fixed teeth 510 may be aligned against the comb teeth side walls of the guide comb teeth 17 at one side of the slit edge, and the movable teeth 520 may be slidably matched with the comb teeth side walls of the guide comb teeth 17 at the other side of the slit edge.

[0150] The reciprocating offset movement stroke of the movable tooth 520 relative to the fixed tooth 510 can be greater than the channel width of the guide channel in the axial direction of the rotating main shaft 10. Preferably, the movement stroke can be greater than the sum of the comb tooth width of the guide comb 17 in the axial direction of the rotating main shaft 10 and the channel width of the two guide channels.

[0151] Based on the guiding channel formed by the guide comb teeth 17, the filamentary dirt can cross the mounting slit 15 in a posture perpendicular to or approximately perpendicular to the mounting slit 15, so that the filamentary dirt can be more easily cut off by the movable teeth 520 performing cutting motion along the mounting slit 15, thereby improving the cutting efficiency of the roller brush assembly in autonomously and actively cutting the filamentary dirt entangled and wrapped around the outer shaft wall of the rotating main shaft 10.

[0152] Figure 3 This is a schematic diagram of the working principle of the cutting mechanism of the roller brush assembly of the sweeping robot in the embodiment of the present application. Figure 3 In an embodiment of the present application, the roller brush assembly may further include an axial shifting mechanism 30 and a guide mechanism 20, and the reciprocating cutting motion of the movable tooth row member 52 relative to the fixed tooth row member 51 may be driven by the axial shifting mechanism 30 and the guide mechanism 20. For example, based on the cooperative driving of the axial shifting mechanism 30 and the guide mechanism 20, the movable tooth row member 52 may perform a reciprocating cutting motion relative to the fixed tooth row member 51 in response to one rotation of the rotating main shaft 10.

[0153] The axial shifting mechanism 30 can be movably installed in the hollow axial cavity 100 of the rotating main shaft 10 surrounded by the outer axial wall along the axial direction of the rotating main shaft 10. The axial shifting mechanism 30 can form a bidirectional synchronous constraint with the rotating main shaft 10 in a first rotation direction and a second rotation direction opposite to each other, and the axial shifting mechanism 30 can also cooperate with the movable gear row component 52 in transmission.

[0154] For example, the axis shift mechanism 30 may include a transmission slider 31 that can reciprocate in the axial direction of the rotating spindle 10 and form a bidirectional synchronous constraint with the rotating spindle 10 in first and second rotation directions opposite to each other.

[0155] Specifically, the transmission slider 31 of the axial shifting mechanism 30 may include a radial key 311, the rotating spindle 10 may include a sliding keyway 18 located in the hollow axial cavity 180, and the radial key 311 may be inserted into the sliding keyway 18, so as to utilize the limiting fit of the radial key 311 and the sliding keyway 18 in the first rotation direction and the second rotation direction so that the transmission slider 31 can form a bidirectional synchronous constraint with the rotating spindle 10 in the first rotation direction and the second rotation direction opposite to each other, and the axial shifting mechanism 30 can also be allowed to reciprocate in the axial direction of the rotating spindle 10 by utilizing the clearance fit of the radial key 311 and the sliding keyway 18 in the axial direction of the rotating spindle 10.

[0156] Moreover, the transmission slider 31 of the axial shifting mechanism 30 may also include a clamping groove 315, and the movable tooth row component 52 may also include a movable tooth transmission arm 523 extending from the movable tooth mounting strip 521 to the hollow shaft cavity 100, and the movable tooth transmission arm 523 may be inserted into the clamping groove 315 to utilize the limiting cooperation between the movable tooth transmission arm 523 and the clamping groove 315 in the axial direction of the rotating main shaft 10, thereby allowing the movable tooth row component 52 to follow the reciprocating movement of the axial shifting mechanism 30 in the axial direction of the rotating main shaft 10, and perform reciprocating cutting motion relative to the fixed tooth row component 51. In this case, the mounting slit 15 can pass through the outer shaft wall of the rotating main shaft 10 to the hollow shaft cavity 100 (that is, the arc surface portion 111 and the notch portion 112 have a connecting gap that allows the mounting slit 15 to pass through the hollow shaft cavity 100), so that the movable tooth transmission arm 523 of the movable tooth row component 52 can penetrate into the hollow shaft cavity 100 from the mounting slit 15.

[0157] The guide mechanism 20 is in transmission cooperation with the shaft shifting mechanism 30 in the hollow shaft cavity 100 of the rotating main shaft 10 , and the axial position of the guide mechanism 20 in the hollow inner cavity 100 is fixed.

[0158] When the guide mechanism 20 is in a rotationally restrained state, the transmission cooperation can cause the shaft shifting mechanism 30 to perform reciprocating axial movement while following the rotation of the rotating spindle 10 . In an embodiment of the present application, a driving end cover 14 may be installed at the first shaft end of the rotating spindle 10, and a follower collar 13 may be installed at the second shaft end of the rotating spindle 10, wherein the driving end cover 14 and the follower collar 13 both form a bidirectional synchronous constraint with the rotating spindle 10 in the first rotation direction and the second rotation direction, and the driving end cover 14 is used for transmission cooperation with the power motor, and the second shaft end of the rotating spindle 10 also has a static end cover 130 that is rotatably cooperated with the follower collar 13, for example, the static end cover 130 can be rotatably inserted into the follower sleeve 13, therefore, when the rotating spindle 10 is driven to rotate by the power motor through the driving end cover 14, the follower collar 13 will also rotate with the rotating spindle 10, and the static end cover 130 can still be in a stationary state that does not rotate with the rotating spindle, and the anti-rotation constraint on the guide mechanism 20 can come from the second shaft end of the rotating spindle 10 (i.e., the static end cover 130). In addition, the static end cover 130 may be axially limited at the second axial end of the rotating main shaft 10 by the rotating end cover 130 which is fixedly connected to the rotating main shaft 10 .

[0159] Specifically, the transmission cooperation between the guide mechanism 20 and the shaft shift mechanism 30 in the hollow shaft cavity 100 of the rotating main shaft 10 can be achieved by screwing, and the screwing axis of the screwing cooperation is tilted relative to the axis direction of the rotating main shaft 10, that is, the guide mechanism 20 and the shaft shift mechanism 30 can achieve transmission cooperation between the two by screwing. In this case, the shaft shift mechanism 30 can also include a guide shaft 32 coaxially connected to the shaft shift slider 31, and the guide shaft 32 can have an inclined annular groove 320; the guide mechanism 20 can include an inner sleeve 21, a guide ball 22, and an outer sleeve 23, and the anti-rotation state of the guide mechanism 20 being constrained by anti-rotation means that the inner sleeve 21 and the outer sleeve 22 do not rotate with the rotating main shaft 10.

[0160] Among them, the inner sleeve 21 is sleeved on the outer periphery of the guide shaft 32 and covers the inclined annular groove 320 of the guide shaft 32. The central axis of the inclined annular groove 320 is inclined relative to the axial direction of the rotating main shaft 10, and the screwing axis of the screwing fit described above coincides with the central axis of the inclined annular groove 320; the inner sleeve 21 is provided with a ball accommodating through hole 210 that passes through the cylinder wall, and the guide ball 22 can be rotatably accommodated in the ball restraining through hole 210 and spherically matched with the inclined annular groove 320 covered by the inner sleeve 21; the outer sleeve 23 is sleeved on the inner sleeve 21 The outer side of the guide ball 22 is covered with the inner sleeve 21 to prevent the guide ball 22 from falling off from the inclined annular groove 320 and the ball receiving through hole 210, so that when the shaft shifting mechanism 30 rotates following the rotating main shaft 10, the guide shaft 32 can drive the guide ball 22 to rotate through the spherical fit of the inclined annular groove 320 and the guide ball 22, and the phase position of the guide ball 22 in the rotation direction and the axial position in the axial direction are fixed by the inner sleeve 21, so the rotation of the guide ball 22 will cause the spherical fit position between the guide ball 22 and the inclined annular groove 320 to change. Since the spherical fit position of the inclined annular groove 320 and the guide ball 22 changes back and forth in the axial direction during the rotation process, the change in the spherical fit position between the guide ball 22 and the inclined annular groove 320 can cause the shaft shifting mechanism 30 to reciprocate axially during the rotation period following the rotating main shaft 10.

[0161] That is, the spherical fit between the guide ball 22 and the inclined annular groove 320 is used to guide the rotation of the axial shift mechanism 30 relative to the guide mechanism 20, and the axial shift mechanism 30 can generate reciprocating axial movement in response to the change in the spherical fit position between the guide ball 22 and the inclined annular groove 320.

[0162] In the embodiment of the present application, the connection structure for limiting the axial position of the guide mechanism 20 and the connection structure for the guide mechanism 20 to receive the anti-rotation constraint from the second shaft end (i.e., the static end cover 130) of the rotating main shaft 10 can adopt any transmission structure, and the embodiment of the present application does not limit this. In addition, the guide mechanism 20 can normally receive the anti-rotation constraint from the second shaft end (i.e., the static end cover 130) of the rotating main shaft 10, or it can selectively receive the anti-rotation constraint from the second shaft end (i.e., the static end cover 130) of the rotating main shaft 10.

[0163] In an embodiment of the present application, the roller brush assembly may further include an auxiliary mechanism, which may be installed on the rotating main shaft 10, and the auxiliary mechanism may generate an enhanced auxiliary force that cooperates with at least one of the cleaning brush 40 and the cutting mechanism 50 during the rotation of the rotating main shaft 10.

[0164] Specifically, the cleaning efficiency of the roller brush assembly needs to be improved in the following two aspects:

[0165] On the one hand, there may be a gap between the fixed tooth row member 51 and the movable tooth row member 52 in the stacking direction. For example, in order to avoid the rigid interference between the movable tooth row member 52 and the side wall of the installation slit 15 when performing the reciprocating cutting motion relative to the fixed tooth row member 51, the width of the installation slit 15 can be set to be greater than the stacking thickness of the fixed tooth row member 51 and the movable tooth row member 52 of the cutting mechanism 50. In this case, there may be a gap between the fixed tooth row member 51 and the movable tooth row member 52 in the stacking direction, and such a gap may cause the cutting mechanism 50 to achieve a failure probability based on the reciprocating cutting motion, thereby causing the cutting mechanism 50 to have a low cutting efficiency for filamentary dirt, and thus, the cleaning efficiency of the roller brush assembly for filamentary dirt needs to be improved;

[0166] On the other hand, since the cleaning brush 40 includes discrete and soft bristles, the hoisting operation performed by the cleaning brush 40 while following the rotation of the rotating main shaft 10 may fail for large-particle discrete dirt, that is, the roller brush assembly has a low hoisting ability for large-particle discrete dirt, and thus, the cleaning efficiency of the roller brush assembly for large-particle discrete dirt needs to be improved.

[0167] Based on the above analysis, in the embodiments of the present application, the auxiliary mechanism can improve the cleaning efficiency of the brush assembly by improving the cutting efficiency of filamentary dirt or improving the hoisting ability of large discrete particles of dirt. The physical forms of the auxiliary mechanism improving the cleaning efficiency of the roller brush assembly in different ways will be described in detail.

[0168] In the embodiment of the present application, if the auxiliary mechanism includes a pre-tightening mechanism 80, the pre-tightening mechanism 80 can suppress the gap between the fixed tooth row component 51 and the movable tooth row component 52 in the stacking direction, specifically:

[0169] The preload mechanism 80 can apply an elastic preload force to the cutting mechanism 50 in the stacking direction of the fixed tooth row component 51 and the movable tooth row component 52, that is, the enhanced auxiliary force generated by the auxiliary mechanism may include the elastic preload force applied to the cutting mechanism 50, and the elastic preload force can cooperate with the cutting mechanism 50 during the rotation of the rotating spindle 10, and the preload force applied by the preload mechanism 80 to the cutting mechanism 50 can suppress the gap between the fixed tooth row component 51 and the movable tooth row component 52 in the stacking direction during the reciprocating cutting motion of the movable tooth row component 52 in the axial direction relative to the fixed tooth row component 511.

[0170] For example, the pre-tightening mechanism 80 can be installed in the installation slit 15 , and the pre-tightening mechanism 80 can generate the above-mentioned elastic pre-tightening force on the cutting mechanism 50 in the stacking area of ​​the fixed tooth installation strip 511 and the movable tooth installation strip 521 .

[0171] Based on the above embodiment, the roller brush assembly includes a rotating main shaft 10 and a cutting mechanism 50, wherein the cutting mechanism 50 includes a stacked fixed tooth row component 51 and a movable tooth row component 52, wherein the movable tooth row component 52 can perform a reciprocating cutting motion relative to the fixed tooth row component 51 in response to the rotation of the rotating main shaft 10; and the roller brush assembly also includes a pre-tightening mechanism 80, which can generate an elastic pre-tightening force on the cutting mechanism 50 in the stacking direction of the fixed tooth row component 51 and the movable tooth row component 52, so as to reduce or even eliminate the gap between the fixed tooth row component 51 and the movable tooth row component 52 in the stacking direction, so that during the reciprocating cutting motion of the movable tooth row component 52 relative to the fixed tooth row component 51, the gap between the fixed tooth row component 51 and the movable tooth row component 52 in the stacking direction can be suppressed or even completely eliminated, so as to help reduce the failure probability of cutting achieved by the reciprocating cutting motion, thereby helping to improve the cutting efficiency of the cutting mechanism for filamentary dirt.

[0172] In an embodiment of the present application, the fixed tooth mounting strip 511 is close to the first side wall in the slot width direction of the mounting slot 15 (for example, the surface of the arc surface 110 facing the arc surface splicing piece 115), and the movable tooth mounting strip 521 is close to the second side wall in the slot width direction of the mounting slot 15 (for example, the surface of the arc surface splicing piece 115 facing the arc surface 110). In this case, the pre-tightening mechanism 80 may include a first pre-tightening mechanism 81 and / or a second pre-tightening mechanism 82, wherein:

[0173] The first pre-tightening mechanism 81 is installed on the first side wall of the installation slot 15, and the first pre-tightening mechanism 81 is in surface contact with the fixed tooth installation strip 511, and the elastic pre-tightening force generated by the pre-tightening mechanism 80 on the cutting mechanism 50 may include a first elastic pre-tightening force generated by the first pre-tightening mechanism 81 through surface contact with the fixed tooth installation strip 511;

[0174] The second pre-tensioning mechanism 82 is installed on the second side wall of the mounting slot 15, and the second pre-tensioning mechanism 82 is in point contact with the movable tooth mounting strip 521. Preferably, the second pre-tensioning mechanism 82 can slide and roll with the movable tooth mounting strip 521 at the point contact position to reduce the friction between the movable tooth mounting strip 521 and the second pre-tensioning mechanism 82. In addition, the elastic pre-tensioning force of the pre-tensioning mechanism 80 on the cutting mechanism 50 includes a second elastic pre-tensioning force generated by the second pre-tensioning mechanism 82 through point contact with the movable tooth mounting strip 521.

[0175] Figure 4 It is a schematic diagram of the partial hierarchical structure of the first example of the pre-tightening mechanism of the roller brush assembly for the sweeping robot in the embodiment of the present application. Figure 5 For Figure 4 A cross-sectional view of a first example of a preload mechanism is shown. Figure 4 and Figure 5In the first example shown, the pre-tightening mechanism 80 may include the first pre-tightening mechanism 81 and does not include the second pre-tightening mechanism 82. In this case, in order to reduce the friction between the movable gear row member 52 (i.e., the movable gear mounting strip 521) and the second side wall of the mounting slit 15, the second side wall of the mounting slit 15 may have a side wall ridge 153, and the side wall ridge 153 may be in line contact with the movable gear mounting strip 521. Compared with the surface contact friction between the movable gear row member 52 (i.e., the movable gear mounting strip 521) and the second side wall of the mounting slit 15, the line contact friction between the side wall ridge 153 and the movable gear mounting strip 521 is smaller.

[0176] Figure 6 It is a schematic diagram of the partial hierarchical structure of the second example of the pre-tightening mechanism of the roller brush assembly for the sweeping robot in the embodiment of the present application. Figure 7 For Figure 6 A cross-sectional view of a second example of a preload mechanism is shown. Figure 6 and Figure 7 In the second example shown, the pre-tensioning mechanism 80 may include a second pre-tensioning mechanism 82 and does not include the first pre-tensioning mechanism 81. Since the fixed tooth row component 51 does not undergo axial movement, the contact method between the fixed tooth row component 51 and the first side wall of the mounting slot 15 is not limited. The fixed tooth row component 51 and the first side wall of the mounting slot 15 are preferably in surface contact.

[0177] Figure 8 It is a schematic diagram of the partial hierarchical structure of the third example of the pre-tightening mechanism of the roller brush assembly for the sweeping robot in the embodiment of the present application. Fig. 9 For Figure 8 A cross-sectional view of a third example of a preload mechanism is shown. Figure 8 and Fig. 9 In the third example shown, the pre-tensioning mechanism 80 may include a first pre-tensioning mechanism 81 and a second pre-tensioning mechanism 82 .

[0178] from Figure 4 and Figure 5 as well as Figure 8 and Fig. 9It can be seen that the first pre-tightening mechanism 81 includes a strip elastic body. For example, the first pre-tightening mechanism 81 may include a plurality of strip elastic bodies that are arranged in sections to avoid the stacking positioning pins 53. The first pre-tightening mechanism 81 (i.e., the strip elastic body) may be fixedly mounted on the side wall groove 151 of the first side wall 511, and the first pre-tightening mechanism 81 (i.e., the strip elastic body) is squeezed and deformed by the fixed tooth mounting strip 511 in the stacking direction of the fixed tooth row member 51 and the movable tooth row member 52. For example, the normal thickness of the strip elastic body in the stacking direction of the fixed tooth row member 51 and the movable tooth row member 52 is greater than the depth of the side wall groove 151 in the stacking direction, and a portion of the strip elastic body is accommodated in the side wall groove 151, and another portion protrudes from the side wall groove 151 into the mounting slit 15 and contacts the fixed tooth mounting strip 511. Thus, the first elastic preload force generated by the first preload mechanism 81 may include a regional elastic force generated in a region where the first preload mechanism 81 (ie, the strip-shaped elastic body) is in surface contact with the fixed tooth row member 51 due to extrusion deformation.

[0179] from Figures 6 to 9 It can be seen that the second pre-tensioning mechanism 82 may include a pre-tensioning spring 821 and a floating ball 822, wherein the pre-tensioning spring 821 is inserted into the side wall blind hole 152 of the second side wall of the mounting slit 15, and the floating ball 822 achieves point contact with the movable tooth mounting strip 521 at the opening of the side wall blind hole 152 by sliding and rolling cooperation with the movable tooth mounting strip 521, the pre-tensioning spring 821 and the passive tooth mounting strip 521 are squeezed and deformed by the floating ball 822, and the second elastic pre-tensioning force generated by the second pre-tensioning mechanism 82 includes a discrete elastic force generated by the pre-tensioning spring 821 in a sliding and rolling manner at the point contact position through the suspended ball 822 due to the extrusion deformation.

[0180] In the embodiment of the present application, considering that the cutting of filamentous dirt only requires a momentary reciprocating cutting motion to be completed, the reciprocating cutting motion of the movable tooth row component 52 can be conditionally controlled, rather than using the rotation of the rotating main shaft 10 as the trigger condition for the reciprocating cutting motion, that is, it is not necessary to continuously execute relative to the fixed tooth row component 51 as long as the rotating main shaft 10 rotates, so as to reduce the friction noise and ineffective power consumption generated by the cutting mechanism 50 by selectively controlling the reciprocating cutting motion to stop.

[0181] In an embodiment of the present application, if the auxiliary mechanism includes a rolling sheet 45, the roller brush assembly can utilize the rolling sheet 45 to enhance the ability to roll up large-particle discrete dirt. The rolling ability can cooperate with the cleaning brush 40 during the rotation of the rotating spindle 10. In addition, the rolling sheet 45 can also be utilized to reduce the probability of filamentary dirt being entangled on the rotating spindle 10, thereby reducing the cutting burden of the cutting assembly 50.

[0182] Specifically, the hoisting sheet 45 can be made of a flexible material such as film, and the hoisting sheet 45 can have a stronger airflow disturbance ability than the cleaning brush 40 including discrete bristles during the period of following the rotation of the rotating main shaft 10. Therefore, the hoisting sheet 45 can generate an airflow driving force during the period of following the rotation of the rotating main shaft 10, that is, the enhanced auxiliary force generated by the auxiliary mechanism can include the airflow driving force generated by the hoisting sheet 45 during the period of following the rotation of the rotating main shaft 10, and the airflow flow direction of the airflow driving force generated by the hoisting sheet 45 is the same as the hoisting direction of the cleaning brush 40 following the rotation of the rotating main shaft 10. Therefore, the airflow driving force can help reduce the probability of hoisting failure of large particles of discrete dirt.

[0183] Preferably, the hoisting sheet 45 may include a plurality of blades arranged sequentially in the axial direction of the rotating main shaft 10, the plurality of blades may be arranged obliquely relative to the axial direction of the rotating main shaft 10, and the inclination directions and / or inclination angles of the plurality of blades relative to the axial direction of the rotating main shaft 10 may not be all the same.

[0184] If, as described above, the rotating main shaft 10 includes a first semi-cylindrical shell 11 and a second semi-cylindrical shell 12, and the cutting mechanism 50 is located in the first semi-cylindrical shell 11, then the hoisting sheet 45 can be located in the second semi-cylindrical shell 12, that is, the second semi-cylindrical shell 12 can be equipped with a hoisting sheet 45 that avoids the cleaning brush 40 and the cutting mechanism 50, so that the cutting mechanism 50 and the hoisting sheet 45 can be deployed on the rotating main shaft 10 with a phase interval of 180°, and a pair of cleaning brushes 40 installed at the joint of the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 can be symmetrically arranged relative to the deployment plane where the cutting mechanism 50 and the hoisting sheet 45 are located.

[0185] In the diagrammatic representation of the embodiment of the present application, the auxiliary mechanism includes both the pre-tightening mechanism 80 and the hoisting sheet 45 as an example for diagrammatic representation, but it is understandable that the auxiliary mechanism may also include only one of the pre-tightening mechanism 80 and the hoisting sheet 45. For example, if the auxiliary mechanism only includes the pre-tightening mechanism 80, then the cutting mechanism 50 and the auxiliary mechanism 80 may also be arranged in pairs like the cleaning brush 40, and are respectively installed in the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12. For another example, in the case where the second semi-cylindrical shell 12 is equipped with a hoisting sheet, the first semi-cylindrical shell 11 may also not be equipped with the pre-tightening mechanism 80.

[0186] Fig.10 This is a schematic diagram of the exploded structure when the roller brush assembly for the sweeping robot in the embodiment of the present application further includes a clutch mechanism. Fig.10As an optional extension scheme, in the embodiment of the present application, the roller brush assembly may further include a clutch mechanism 90 for controlling the start or stop of the reciprocating cutting motion.

[0187] The clutch mechanism 90 is in transmission cooperation with the guide mechanism 20 in the hollow shaft cavity 100 of the rotating main shaft 10, and the clutch mechanism 90 can switch between the first clutch state and the second clutch state in response to the rotation direction state of the rotating main shaft 10 and the shaft shifting mechanism 30, wherein:

[0188] When the shaft shifting mechanism 30 rotates along the first rotation direction following the rotating main shaft 10, for example, when the power motor drives the rotating main shaft 10 to rotate along the first rotation direction in the self-cleaning mode when the sweeping robot is in a stationary state, the clutch mechanism 90 is in the first clutch state that keeps the guide mechanism 20 in the aforementioned non-rotating state, and as described above, the shaft shifting mechanism 30 rotating along the first rotation direction following the rotating main shaft 10 can be guided by the guide mechanism 20 in the non-rotating state to move reciprocatingly in the axial direction, and the reciprocating axial movement of the shaft shifting mechanism 30 can induce a reciprocating cutting motion of the movable tooth row member 52 relative to the fixed tooth row member 51;

[0189] When the axis-shifting mechanism 30 follows the rotating main shaft 10 to rotate along the second rotation direction, for example, when the power motor drives the rotating main shaft 10 to rotate along the second rotation direction in the working mode where the sweeping robot is in a moving state, the clutch mechanism 90 is in the second clutch state that keeps the guide mechanism 20 in the following rotation state described above. The guide mechanism 20 in the following rotation state can cancel the guidance of the axis-shifting mechanism 30 by following the axis-shifting mechanism 30 to rotate along the second rotation direction.

[0190] Based on the above embodiment, the roller brush assembly includes a rotating main shaft 10, a cutting mechanism 50 and a clutch mechanism 90, wherein the cutting mechanism 50 includes a stacked fixed tooth row component 51 and a movable tooth row component 52, and the clutch mechanism 90 can change the clutch state in response to the change of the rotation direction of the rotating main shaft 10, so that the movable tooth row component 52 only performs a reciprocating cutting motion relative to the fixed tooth row component 51 in response to the rotation of the rotating main shaft 10 along a first rotation direction, and stops the reciprocating cutting motion when the rotating main shaft 10 rotates along a second rotation direction. Therefore, the start or stop of the reciprocating cutting motion of the movable tooth row component 52 relative to the fixed tooth row component 51 can be controlled by switching the rotation direction of the rotating main shaft 10, so that the friction noise and invalid power consumption generated by the cutting mechanism can be reduced by selectively controlling the stop of the reciprocating cutting motion.

[0191] Fig.11 A cross-sectional view of the clutch mechanism of the roller brush assembly used in the sweeping robot in the embodiment of the application. Fig.11As mentioned above, the first shaft end of the rotating spindle 10 is equipped with a driving end cover 14, and the second shaft end of the rotating spindle 10 is equipped with a static end cover 130, wherein the driving end cover 14 and the rotating spindle 10 form a bidirectional synchronous constraint in the first rotation direction and the second rotation direction, and the driving end cover 14 is used for transmission cooperation with the power motor 71, and the rotating spindle 10 and the static end cover 130 are rotationally cooperated. In this case, the clutch mechanism 90 is located between the guide mechanism 20 and the static end cover 130, wherein the clutch mechanism 90 can limit the axial position of the guide mechanism 20 so that the relative axial position between the guide mechanism 20 and the static end cover 130 is fixed, and:

[0192] When the clutch mechanism 90 is in the first clutch state, the clutch mechanism 90 forms a rotation-stopping constraint between the guide mechanism 20 and the static end cover 130 to prevent the guide mechanism 20 from rotating relative to the static end cover 130 along the first rotation direction, so as to constrain the guide mechanism 20 in the rotation-stopping state;

[0193] When the clutch mechanism 90 is in the second clutch state, the guide mechanism 20 is in a follow-rotation state where it can freely rotate relative to the static end cover 130 driven by the shaft shift mechanism 30 .

[0194] Fig.12 The figure is a schematic diagram of the partial structure of the clutch mechanism of the roller brush assembly used for the sweeping robot in the embodiment of the present application. Fig.13 This is a schematic diagram of the working principle of the clutch mechanism of the roller brush assembly of the sweeping robot in the embodiment of the present application. Fig.12 and Fig.13 , and review Fig.10 and Fig.11 In an embodiment of the present application, the clutch mechanism 90 may include a clutch sleeve 93 movable in the axial direction of the rotating spindle 10, wherein:

[0195] When the clutch sleeve 93 is located at the first axial position, the clutch mechanism 90 is in the first clutch state described above;

[0196] When the clutch sleeve 93 is located at the second axial position, the clutch mechanism 90 is in the second clutch state described above;

[0197] The clutch sleeve 93 switches between the first axial position and the second axial position in response to the switching change between the first rotation direction and the second rotation direction, so as to realize the state switching of the clutch mechanism 90 between the first clutch state and the second clutch state described above.

[0198] Moreover, the clutch mechanism 90 may further include a fixed gear ring 91 and a transmission gear ring 92 .

[0199] The fixed gear ring 91 is fixedly connected to the static end cover 130. For example, the clutch mechanism 90 may further include a fixed shaft seat 97 coaxially fixedly connected to the static end cover 130, and the fixed gear ring 91 is integrated into the end surface of the fixed shaft seat 97 facing the clutch sleeve 93. In the illustrated expression of the embodiment of the present application, the fixed shaft seat 97 may be coaxially fixedly connected to the static end cover 130 by an axial screw 971; the fixed shaft seat 97 may also be sleeved with a shaft seat bearing 972, so as to utilize the shaft seat bearing 972 to maintain the coaxiality between the fixed shaft seat 97 and the static end cover 130; and the fixed shaft seat 97 may also have a plug-in fit with the static end cover 130, and a stop key groove 972 is provided in the portion inserted into the static end cover 130, so as to utilize the stop key groove 972 to maintain the stop limit position with the static end cover 130 in the first rotation direction and the second rotation direction.

[0200] The transmission gear ring 92 is fixedly connected to the guide mechanism 20. For example, the clutch mechanism 90 may further include a transmission shaft 98 coaxially fixedly connected to the guide mechanism 20 (e.g., the inner sleeve 21), and the transmission gear ring 92 may be fixedly sleeved on the transmission shaft 98. The fixed sleeve of the transmission gear ring 92 on the transmission shaft 98 may mean that the transmission gear ring 92 is fixed relative to the transmission shaft 98 in the axial direction of the rotating main shaft 10 and in the first rotation direction and the second rotation direction. For example, the transmission shaft 98 may have a synchronous key groove 981, and the transmission gear ring 92 may use the synchronous key groove 981 to achieve limited cooperation with the transmission shaft 98 in the first rotation direction and the second rotation direction. For another example, the transmission shaft 98 may also have a positioning ring groove 982, and the transmission gear ring 92 may be axially limited by a synchronous snap ring 983 that is clamped in the positioning ring groove 982, so as to be fixed relative to the transmission shaft 98 in the axial direction of the rotating main shaft 10.

[0201] In addition, the end of the transmission shaft 98 facing the transmission mechanism 20 can be coaxially fixedly connected with the guide mechanism 20 (for example, the inner sleeve 21) by means of screws, and the end of the transmission shaft 98 fixedly connected with the transmission mechanism 20 can be sleeved with an end bearing 984; the end of the transmission shaft 98 facing the fixed shaft seat 97 has an embedded shaft end 985, which can be inserted into the fixed shaft seat 97, and the embedded shaft end 985 can achieve coaxial rotational cooperation with the fixed shaft seat 97 through an embedded bearing 986 embedded in the fixed shaft seat 987. Thus, the transmission shaft 98 and the transmission shaft 98 form an axial support between the guide mechanism 20 and the static end cover 130, that is, an axial limit that fixes the relative axial position between the guide mechanism 20 and the static end cover 130 is formed.

[0202] The clutch sleeve 93 is movably mounted between the fixed gear ring 91 and the transmission gear ring 92 . For example, the clutch sleeve 93 can be movably mounted on the transmission shaft 98 along the axial direction.

[0203] When the clutch mechanism 90 includes the fixed gear ring 91, the transmission gear ring 92 and the clutch sleeve 93:

[0204] The end of the fixed gear ring 91 facing the clutch sleeve 93 may have a clutch convex tooth groove 910, and the end of the transmission gear ring 92 facing the clutch sleeve 93 may have a transmission tooth groove 920;

[0205] The first annular opening end of the clutch sleeve 92 facing the fixed gear ring 91 has a clutch convex tooth 931 , and the second annular opening end of the clutch sleeve 93 facing the transmission gear ring 932 has a transmission convex tooth 932 .

[0206] Based on the above structure:

[0207] When the clutch sleeve 93 is located at the first axial position that causes the clutch mechanism 90 to be in the first clutch state, the clutch convex teeth 931 and the clutch convex tooth grooves 910 form a first limit bite that prevents the clutch sleeve 93 from rotating relative to the static end cover 130 along the first rotation direction, and the transmission convex teeth 932 and the transmission tooth grooves 920 form a second limit bite that prevents the guide mechanism 20 from rotating relative to the clutch sleeve 93 along the first rotation direction, and the anti-rotation constraint described above is applied to the guide mechanism 20 through the cascade cooperation of the first limit bite and the second limit bite;

[0208] When the clutch sleeve 93 is located at the second axial position that causes the clutch mechanism 90 to be in the second clutch state, the clutch tooth 931 disengages from the clutch tooth groove 910, and the first limit bite and the second limit bite formed when the clutch sleeve 93 is in the first axial position are released in response to the disengagement of the clutch tooth 931 from the clutch tooth groove 910.

[0209] Please pay special attention Fig.12 :

[0210] The clutch convex tooth groove 910 has a stop-rotation limiting groove wall 910a parallel to the longitudinal section of the rotating main shaft 10 on the first phase side opposite to the first rotation direction, and the clutch convex tooth groove 910 has a first arc surface groove wall 910b on the second phase side in the same direction as the first rotation direction;

[0211] The clutch convex tooth 931 has a stop-rotation limiting tooth wall 931a parallel to the longitudinal section of the rotating main shaft 10 on the second phase side in the same direction as the first rotation direction, and the clutch convex tooth 931 has a first arc surface tooth wall 931b adapted to the first arc surface groove wall 910b on the first phase side opposite to the first rotation direction;

[0212] The transmission tooth groove 920 has a second arc surface groove wall 920a on the second phase side which is in the same direction as the first rotation direction, and the transmission tooth groove 920 has a synchronous bite groove wall 920b which is parallel to the longitudinal section of the rotating main shaft 10 on the first phase side;

[0213] The transmission tooth 932 has a second arcuate tooth wall 932a adapted to the second arcuate groove wall 920a on the first phase side opposite to the first rotation direction, and the transmission tooth 932 has a synchronous interlocking tooth wall 932b parallel to the longitudinal section of the rotating main shaft 10 on the second phase side in the same direction as the first rotation direction.

[0214] Therefore, please Fig.13 As shown:

[0215] When the clutch sleeve 93 is in the first axial position that causes the clutch mechanism 90 to be in the first clutch state, the mutually opposed rotation-stopping limit tooth wall 931a and the rotation-stopping limit groove wall 910a form the first limit bite described above through plane contact, and the mutually opposed second arc surface tooth wall 932a and the second arc surface groove wall 920a form the second limit bite described above through arc surface contact;

[0216] When the clutch sleeve 93 is in the second axial position for causing the clutch mechanism 90 to be in the second clutch state, the synchronous engagement groove wall 920b and the synchronous engagement tooth wall 932b facing each other form the synchronous drive engagement described above through planar contact.

[0217] When the clutch sleeve 93 is located at the second axial position, the first limit bite and the second limit bite formed by the clutch sleeve 93 at the first axial position also generate a first axial retaining force that prevents the clutch sleeve 93 from leaving the first axial position. For example, the first axial retaining force may include the surface contact friction between the anti-rotation limit tooth wall 931a and the anti-rotation limit groove wall 910a, and the sum of the axial component force of the second arc surface tooth wall 932a and the second arc surface groove wall 920a through the arc surface contact pressure.

[0218] When the clutch sleeve 93 is located at the second axial position, the transmission protruding tooth 932 and the transmission tooth groove 920 also form a synchronous drive engagement that causes the clutch sleeve 93 to rotate along the second rotation direction together with the guide mechanism 20 under the drive of the axial shifting mechanism 30, and the synchronous drive engagement generates a second axial retaining force that causes the clutch sleeve 93 to prevent the clutch sleeve 93 from leaving the second axial position. For example, the second axial retaining force may include the surface contact friction force between the synchronous engagement groove wall 920b and the synchronous engagement tooth wall 932b.

[0219] In addition, during the position switching process of the clutch sleeve 93 between the first axial position and the second axial position, a sliding fit for guiding the position switching is generated between the first arc surface groove wall 910b and the first arc surface tooth wall 931b opposite to each other, and between the second arc surface tooth wall 932a and the second arc surface groove wall 920a opposite to each other.

[0220] Fig.14Schematic diagram of the state switching process of the clutch mechanism of the roller brush assembly of the sweeping robot in the embodiment of the present application. Fig.14 The clutch mechanism 90 of the roller brush assembly may further include a switching mechanism 95, wherein:

[0221] When the axis shift mechanism 30 switches from the second rotation direction to the first rotation direction following the rotation direction of the rotating main shaft 10, the switching mechanism 95 generates a first axial driving force to drive the clutch sleeve 93 to move from the second axial position to the first axial position in response to the first phase shift in the first rotation direction caused by the guide mechanism 20 following the axis shift mechanism 30;

[0222] When the axial shifting mechanism 30 switches from the first rotational direction to the second rotational direction following the rotation direction of the rotating main shaft 10, the switching mechanism 95 responds to the second phase shift that occurs in the second rotational direction following the guide mechanism 20 following the axial shifting mechanism 30, thereby generating a second axial driving force that drives the clutch sleeve 93 to move from the first axial position to the second axial position.

[0223] Specifically, the clutch sleeve 93 has an inclined guide groove 935 inclined at a preset angle (for example, 45°) relative to the axial direction of the rotating main shaft 10, wherein the first groove end 935a of the inclined guide groove 935 is inclined toward the first axial position, and the second groove end 935b of the inclined guide groove 935 is inclined toward the second axial position.

[0224] Moreover, the switching mechanism 95 includes a fixed outer cylinder 951 and a reversing ball 952. The fixed outer cylinder 951 is sleeved on the outer periphery of the clutch sleeve 93, covers the inclined guide groove 935, and is constrained to be stationary relative to the static end cover 130. For example, the fixed outer cylinder 951 can be integrated with the fixed gear ring 931 on the end surface of the fixed shaft seat 97 facing the clutch sleeve 93, or the fixed outer cylinder 951 can also be a component independent of the fixed shaft seat 97 and coaxially fixedly connected with the fixed shaft seat 97; the reversing ball 952 is movably accommodated in the inclined guide groove 935.

[0225] As described above, the clutch mechanism 90 may also include a transmission shaft 98 coaxially fixedly connected to the guide mechanism 20, and the transmission gear ring 92 is fixedly sleeved on the transmission shaft 98, and the clutch sleeve 93 is movably sleeved on the transmission shaft 98. In this case, the reversing ball 952 accommodated in the inclined guide groove 935 can be confined between the transmission shaft 98 and the fixed outer cylinder 951, and rollingly cooperate with the transmission shaft 98 and the fixed outer cylinder 951.

[0226] Based on the above structure:

[0227] When the axis shift mechanism 30 switches from the second rotation direction to the first rotation direction following the rotation direction of the rotating main shaft 10, the guide mechanism 20 can drive the reversing ball 952 to generate the first planetary motion in the first rotation direction on the inner surface of the fixed outer cylinder 951 through the transmission shaft 98 during the first phase offset described above. The first planetary motion of the reversing ball 952 causes the relative position of the reversing ball 952 to change from the second groove end 935b to the first groove end 935a in the inclined guide groove 935, and the first planetary motion of the reversing ball 952 has an offset component toward the first axial position, thereby causing the reversing ball 952 to generate the first axial driving force described above on the inclined guide groove 935.

[0228] When the axial shift mechanism 30 follows the rotation direction of the rotating main shaft 10 to switch from the first rotation direction to the second rotation direction, the guide mechanism 20 can drive the reversing ball 952 to produce a second planetary motion in the second rotation direction on the inner surface of the fixed outer cylinder 951 through the transmission shaft 98 during the second phase offset described above. The second planetary motion of the reversing ball 952 causes the relative position of the reversing ball 952 to change from the first groove end 935a to the second groove end 935b in the inclined guide groove 935, and the second planetary motion of the reversing ball 952 has an offset component toward the second axial position, thereby prompting the reversing ball 952 to produce the second axial driving force described above on the inclined guide groove 935.

[0229] The above is a detailed description of the roller brush assembly in the embodiment of the present application. In another embodiment of the present application, a sweeping robot using the roller brush assembly is also provided.

[0230] Fig.15 It is a schematic diagram of the partial structure of the sweeping robot in the embodiment of the present application. Fig.16 Schematic diagram of the integrated cavity shell of the sweeping robot in the embodiment of the present application. Fig.15 and Fig.16 The sweeping robot in the embodiment of the present application may include a mobile chassis 70 (only the chassis panel of the mobile chassis 70 is exemplarily expressed in the figure), an integrated cavity shell 60 carried by the mobile chassis 70, and the roller brush assembly described in the aforementioned embodiment.

[0231] The mobile chassis 70 has a chassis opening 700, the integrated chamber shell 60 has a hoisting window 61 exposed at the chassis opening 700, the roller brush assembly is installed in the integrated chamber shell 60, and the installation position of the roller brush assembly in the integrated chamber shell 60 enables the cleaning brush 40 to extend out of the hoisting window 61 to perform a hoisting operation during the rotation of the rotating main shaft 10 relative to the guide mechanism 20.

[0232] The integrated cavity shell 60 is also fixedly mounted with a power motor 81, and the first shaft end of the rotating main shaft 10 (for example, the driving end cover 14 mounted on the first shaft end) can be in transmission cooperation with the power motor 81 (for example, in transmission cooperation with the power motor 81 through a reduction mechanism 82). The power motor 71 can drive the rotating main shaft 10 to rotate along the first rotation direction when the sweeping robot is in a self-cleaning mode in which the mobile chassis 70 stops moving, and the power motor 71 can drive the rotating main shaft 10 to rotate along the second rotation direction when the sweeping robot is in a working mode in which the mobile chassis 70 moves.

[0233] The integrated shell cavity 60 may have a roller brush cavity 600 for accommodating a roller brush assembly, the hoisting window 62 is in communication with the roller brush cavity 600, and the cavity walls on opposite sides of the roller brush cavity 600 respectively have a support shaft seat 63 and a power shaft seat 64, wherein:

[0234] The first shaft end (e.g., the driving end cover 14) of the rotating main shaft 10 can be mounted on the power shaft seat 64, the input shaft of the reduction mechanism 82 is connected to the power motor 81, the output shaft of the reduction mechanism 82 is located at the power shaft seat 64, and the first shaft end (e.g., the driving end cover 14) of the rotating main shaft 10 can be coaxially connected with the output shaft of the reduction mechanism 82 at the power shaft seat 64;

[0235] The second shaft end (e.g., the follower end cover 13) of the rotating main shaft 10 can be mounted on the supporting shaft seat 63, and the supporting shaft seat 63 has a rotation-stopping notch 65 that is limitedly matched with the static end cover 130, and the static end cover 130 can be locked by the rotation-stopping notch 65 at the supporting shaft seat 63. Therefore, when the clutch mechanism 90 is in the first clutch state, the rotation-stopping constraint applied by the integrated cavity shell 60 to the second shaft end of the rotating main shaft 10 opposite to the first shaft end can be used to keep the guide mechanism 20 in the rotation-stopping state.

[0236] Fig.17 For Fig.16 Schematic diagram of the docking structure between the integrated chamber shell and the dust collecting component. Fig.17 And watch it back at the same time Fig.16 In an embodiment of the present application, the integrated chamber shell 60 may also have a suction window 62 for connecting with the dust collecting mechanism. For example, the suction window 62 may be connected with the roller brush chamber 600, and the suction window 62 may be equipped with a channel assembly 66 for docking with the dust collecting component.

[0237] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A roller brush assembly for a sweeping robot, characterized in that: include: A rotating main shaft (10), wherein the rotating main shaft (10) is provided with a cleaning brush (40) extending radially from an outer shaft wall; A cutting mechanism (50), the cutting mechanism (50) comprising a fixed tooth row component (51) and a movable tooth row component (52) which are stacked and inserted into the outer shaft wall; An auxiliary mechanism is mounted on the rotating main shaft (10), and generates a reinforced auxiliary force that cooperates with at least one of the cleaning brush (40) and the cutting mechanism (50) during the rotation of the rotating main shaft (10).

2. The roller brush assembly according to claim 1, characterized in that: The auxiliary mechanism includes a pre-tightening mechanism (80), and the enhanced auxiliary force includes an elastic pre-tightening force applied by the pre-tightening mechanism (80) to the cutting mechanism (50) in the stacking direction of the fixed tooth row component (51) and the movable tooth row component (52), and the elastic pre-tightening force suppresses the gap between the fixed tooth row component (51) and the movable tooth row component (52) in the stacking direction during the reciprocating cutting movement of the movable tooth row component (52) along the axial direction relative to the fixed tooth row component (51).

3. The roller brush assembly according to claim 2, characterized in that: The outer shaft wall has a mounting slit (15) extending in the axial direction of the rotating main shaft (10); The fixed tooth row component (51) is fixedly inserted into the installation slit (15), and the movable tooth row component (52) is movably inserted into the installation slit (15) along the axial direction; The width of the installation slit (15) is greater than the stacking thickness of the fixed tooth row component (51) and the movable tooth row component (52), and the pre-tightening mechanism (80) is installed in the installation slit (15).

4. The roller brush assembly according to claim 3, characterized in that: The fixed tooth row component (51) comprises a fixed tooth installation strip (511) fixed in the installation slit (15), and a plurality of fixed tooth teeth (510) protruding from the fixed tooth installation strip (511) to the outside of the outer shaft wall; The movable tooth row component (52) comprises a movable tooth installation strip (521) movably installed in the installation slit (15), and a plurality of movable tooth teeth (520) protruding from the movable tooth installation strip (521) to the outside of the outer shaft wall; The reciprocating cutting motion of the movable tooth row component (52) relative to the fixed tooth row component (51) causes the movable tooth teeth (520) to be reciprocatingly displaced relative to the fixed tooth teeth (510) in the axial direction, and the preload mechanism (80) generates the elastic preload force on the cutting mechanism (50) in the stacking area of ​​the fixed tooth mounting strip (511) and the movable tooth mounting strip (521).

5. The roller brush assembly according to claim 4, characterized in that: The fixed tooth mounting strip (511) is close to a first side wall of the mounting slit (15) in the slit width direction, and the movable tooth mounting strip (521) is close to a second side wall of the mounting slit (15) in the slit width direction; The pre-tightening mechanism (80) comprises: A first pre-tightening mechanism (81), wherein the first pre-tightening mechanism (81) is mounted on the first side wall, the first pre-tightening mechanism (81) is in surface contact with the fixed tooth mounting strip (511), and the elastic pre-tightening force comprises: a first elastic pre-tightening force generated by the first pre-tightening mechanism (81) in surface contact with the fixed tooth mounting strip (511); and / or, A second pre-tightening mechanism (82), wherein the second pre-tightening mechanism (82) is mounted on the second side wall, the second pre-tightening mechanism (82) is in point contact with the movable tooth mounting strip (521), and the elastic pre-tightening force comprises: a second elastic pre-tightening force generated by the second pre-tightening mechanism (82) through point contact with the movable tooth mounting strip (521).

6. The roller brush assembly according to claim 5, characterized in that: The first pre-tensioning mechanism (81) comprises a strip-shaped elastic body, the first pre-tensioning mechanism (81) is fixedly mounted on the side wall groove (151) of the first side wall (511), the first pre-tensioning mechanism (81) is squeezed and deformed by the fixed tooth mounting strip (511) in the stacking direction, and the first elastic pre-tensioning force comprises a regional elastic force generated by the first pre-tensioning mechanism (81) in the surface contact area due to the squeezing deformation.

7. The roller brush assembly according to claim 6, characterized in that: The second side wall has a side wall ridge (153), and the side wall ridge (153) is in line contact with the movable tooth mounting strip (521).

8. The roller brush assembly according to claim 4, characterized in that: The second pre-tightening mechanism (82) is in sliding and rolling cooperation with the movable tooth mounting strip (521) at the point contact position.

9. The roller brush assembly according to claim 8, characterized in that: The second preload mechanism (82) includes a preload spring (821) and a floating ball (822), wherein the preload spring (821) is inserted into the side wall blind hole (152) of the second side wall, and the floating ball (822) achieves point contact with the movable tooth mounting strip (521) at the opening of the side wall blind hole (152) through sliding and rolling cooperation with the movable tooth mounting strip (521), and the preload spring (821) is squeezed and deformed by the movable tooth mounting strip (521) through the floating ball (822), and the second elastic preload force includes a discrete elastic force generated by the preload spring (821) in a sliding and rolling manner at the point contact position through the floating ball (822) due to the extrusion deformation.

10. The roller brush assembly according to claim 3, characterized in that: The rotating main shaft (10) comprises a first semi-cylindrical shell (11) and a second semi-cylindrical shell (12), the cylindrical surfaces of the first semi-cylindrical shell (11) and the second semi-cylindrical shell (12) are complementary, and the first semi-cylindrical shell (11) and the second semi-cylindrical shell (12) are snap-fitted and spliced; The installation slit (15) is located in the first semi-cylindrical shell (11), wherein the first semi-cylindrical shell (11) comprises a semi-shell body (110), the semi-shell body (110) has a curved surface portion (111) and a notch portion (112), the first semi-cylindrical shell (11) further comprises a curved surface splicing piece (115), the curved surface splicing piece (115) is detachably mounted on the notch portion (112), the outer shaft wall comprises the curved surface portion (111) and an outer curved surface of the curved surface splicing piece (115), and the installation slit (15) is located between the curved surface portion (111) and the curved surface splicing piece (115).

11. The roller brush assembly according to claim 1, characterized in that: The auxiliary mechanism includes a winding sheet (45), and the enhanced auxiliary force includes an airflow driving force generated by the winding sheet (45) during the period of following the rotation of the rotating main shaft (10), and the airflow direction of the airflow driving force is the same as the winding direction of the cleaning brush (40) following the rotation of the rotating main shaft (10).

12. The roller brush assembly according to claim 11, characterized in that: The cutting mechanism (50) and the hoisting sheet (45) are arranged on the rotating main shaft (10) at a phase interval of 180 degrees, and a pair of cleaning brushes (40) are symmetrically arranged relative to the deployment plane where the cutting mechanism (50) and the hoisting sheet (45) are located.

13. The roller brush assembly according to claim 12, characterized in that: The rotating main shaft (10) comprises a first semi-cylindrical shell (11) and a second semi-cylindrical shell (12), the cylindrical surfaces of the first semi-cylindrical shell (11) and the second semi-cylindrical shell (12) are complementary, and the first semi-cylindrical shell (11) and the second semi-cylindrical shell (12) are snap-fitted and spliced; The cutting mechanism (50) is located on the first semi-cylindrical shell (11), the hoisting sheet (45) is located on the second semi-cylindrical shell (12), and a pair of cleaning brushes (40) are fixedly mounted on the joint between the first semi-cylindrical shell (11) and the second semi-cylindrical shell (12).

14. A sweeping robot, characterized in that: It comprises a mobile chassis (70), an integrated chamber shell (60) supported by the mobile chassis (70), and a roller brush assembly as described in any one of claims 1 to 13, wherein the roller brush assembly is installed in the integrated chamber shell (60), the mobile chassis (70) has a chassis opening (700), the integrated chamber shell (60) has a hoisting window (61) exposed at the chassis opening (700), and a suction window (62) for connecting with a dust collecting mechanism, and the installation position of the roller brush assembly in the integrated chamber shell (60) enables the cleaning brush (40) to extend out of the hoisting window (61) during the rotation to perform a hoisting operation.

Images