Rolling brush telescopic device and method of floor washing robot and medium

Abstract

The invention provides a rolling brush telescopic device and method of a floor washing robot and a medium. The device comprises a shell assembly, a telescopic rolling brush assembly and a driving assembly. A rolling brush cavity arranged in the axial direction is formed in the shell assembly. The telescopic rolling brush assembly is installed in the rolling brush cavity in the axial direction. The driving assembly and the telescopic rolling brush assembly are in magnetic attraction meshing connection in the axial direction. The driving assembly is used for driving the telescopic rolling brush assembly to stretch out of or stretch into the rolling brush cavity. The driving assemblies are located at the two ends, perpendicular to the axial direction, of the telescopic rolling brush assembly correspondingly. One end of the driving assembly controls the telescopic rolling brush assembly, and the other end of the driving assembly drives the telescopic rolling brush assembly. Through the structure, the reliability of the rolling brush telescopic device of the floor washing robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of floor cleaning robots, and particularly relates to a floor cleaning robot brush telescoping device, method and medium. BACKGROUND

[0002] As a kind of efficient automatic cleaning equipment, floor cleaning robots have been widely used in family and commercial environment. In order to cope with different cleaning scenes such as deep into furniture bottom or clean edge corners and achieve self-cleaning function, modern floor cleaning robots are usually equipped with telescoping device that can automatically extend or retract the brush.

[0003] The existing device usually adopts unilateral drive scheme such as motor cooperating with screw rod, gear-rack or connecting rod, and the other end is passively supported by guide groove or sliding block. Such structure works in long-term humid, sand and hair containing working conditions, and the kinematic pair is easily invaded by pollutants and affected by abrasion, and the assembly tolerance, straightness and sealing design requirements are high.

[0004] Unilateral drive leads to asymmetric stress, and the brush assembly is prone to yaw and jam during telescoping. When pollution and abrasion are superimposed, the local resistance of the guide side rises, further amplifying the yaw, and showing telescoping disorder, unstable positioning and zero drift. The rigid meshing elements such as gear teeth or screw rod produce noise and impact under the inclusion of dirt, aggravate gear tooth pitting and bearing wear, reduce service life and increase maintenance frequency. At the same time, the through transmission shaft / gear passing through the water-containing cavity will increase the number of sealing points, and the risk of water and mud entering and winding will increase, which further limits the reliability.

[0005] Therefore, there is a need for a floor cleaning robot brush telescoping device, method and medium that improves reliability. SUMMARY

[0006] Therefore, it is necessary to provide a floor cleaning robot brush telescoping device, method and medium that improves reliability to solve the above problems.

[0007] Embodiments of the present application provide a floor cleaning robot brush telescoping device, comprising: A housing assembly is formed with a brush cavity arranged along the axial direction; A telescopic brush assembly is installed along the axial direction in the brush cavity; A drive assembly is axially magnetically engaged with the telescopic brush assembly and is used to drive the telescopic brush assembly to extend or retract into the brush cavity; The drive assembly is located at both ends of the telescopic brush assembly perpendicular to the axial direction, one end of the drive assembly controls the telescopic brush assembly, and the other end of the drive assembly drives the telescopic brush assembly.

[0008] In at least one embodiment of the present application, the telescopic brush assembly comprises: a rolling brush, which is attached to the ground to clean the ground; a rolling brush shell, which is arranged on the rolling brush and connected with the rolling brush, and located at one end of the rolling brush away from the ground; a magnetic element, which is fixedly installed on the rolling brush shell and located at one end of the rolling brush shell away from the ground.

[0009] In at least one embodiment of the present application, the magnetic element comprises: a rack structure, which is located on the surface away from the rolling brush shell and the magnetic element, and is in sliding engagement with the driving assembly; a flat structure, which is located on the surface away from the rolling brush shell and the magnetic element, and is arranged adjacent to the rack structure; Both the rack structure and the flat structure are distributed along the axial direction, the rack structure is close to the extended end of the telescopic rolling brush assembly, and the flat structure is close to the extended end of the telescopic rolling brush assembly.

[0010] In at least one embodiment of the present application, the rolling brush shell has a protruding structure arranged along the axial direction, and the protruding structure is located at one end away from the ground; The shell assembly is provided with a guide groove with an opening at the extended end along the axial direction, the protruding structure is located between the guide grooves, the protruding structure is in sliding connection with the guide grooves along the axial direction.

[0011] In at least one embodiment of the present application, the driving assembly comprises: a motor for outputting sliding force; an output shaft connected with the motor and located at one end of the telescopic rolling brush assembly perpendicular to the axial direction.

[0012] In at least one embodiment of the present application, the output shaft has a gear structure, and the gear structure is in engagement with the rack structure; When the gear structure is engaged with the rack structure, the telescopic rolling brush assembly is in the extended-in state or in the process of extending out; When the gear structure is not engaged with the rack and the output shaft is opposite to the flat structure, the telescopic rolling brush assembly is in the fully extended-out state.

[0013] In at least one embodiment of the present application, the driving assembly further comprises: a contact switch, which is located at the other end of the telescopic rolling brush assembly perpendicular to the axial direction; When the contact switch is attached to the magnetic element, the driving assembly is turned on; When the contact switch is not attached to the magnetic element, the driving assembly is turned off.

[0014] In at least one embodiment of the present application, the magnetic attraction member comprises: An inclined angle structure is located at the extension end of the telescopic rolling brush assembly, and is located at one end of the magnetic attraction member and the contact switch that can be attached and connected. The inclined angle structure is used to generate a distance gap between the magnetic attraction member and the inclined angle structure. The telescopic rolling brush assembly slides along the axial direction to the contact switch opposite the inclined angle structure, and there is a distance gap between the inclined angle structure and the contact switch. The driving assembly stops driving, and the telescopic rolling brush assembly is in a fully extended state.

[0015] A rolling brush telescoping method of a floor cleaning robot is applied to the rolling brush telescoping device of any of the above.

[0016] A rolling brush telescoping medium of a floor cleaning robot is applied to the rolling brush telescoping device of any of the above.

[0017] The rolling brush telescoping device of the floor cleaning robot provided above realizes symmetrical force and self-centering of the rolling brush in the telescopic stroke by magnetically engaging the driving assembly and the telescopic rolling brush assembly along the axial direction. The driving assembly adopts a structure of one end control and the other end driving.

[0018] The driving end provides stable axial pushing or pulling force, and the control end realizes alignment and start-stop determination, thereby eliminating the force bias of one-sided driving from the source, significantly reducing the risk of yaw and jamming. The magnetic attraction transmission is more friendly to assembly tolerances and pollution, and can maintain smooth movement and reduce noise and wear when sand, hair, and water vapor exist. At the same time, the dependence on sealing of the through mechanical transmission is reduced, the probability of water and mud entering is reduced, the overall reliability and service life are improved, and the positioning stability and consistency of extension or retraction are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a retracted state perspective view of the rolling brush telescoping device of the floor cleaning robot described in the present application. Figure 2 It is a perspective view of the rolling brush telescoping device of the floor cleaning robot described in the present application in the extended state or the retracted state. Figure 3 It is a retracted state perspective view of the rolling brush telescoping device of the floor cleaning robot described in the present application. Figure 4 It is a top view of the rolling brush telescoping device of the floor cleaning robot described in the present application in the extended state. Figure 5 It is a top view of the rolling brush telescoping device of the floor cleaning robot described in the present application in the retracted state. Figure 6 It is a perspective view of the magnetic attraction member described in the present application. Explanation of main component symbols 100, a rolling brush telescoping device of a floor cleaning robot; 10, a housing assembly; 11, a rolling brush cavity; 12, a guide groove; 20, a telescoping rolling brush assembly; 21, a rolling brush; 22, a rolling brush shell; 221, a convex structure; 23, a magnetic attraction member; 231, a rack structure; 232, a planar structure; 233, an inclined angle structure; 234, a distance gap; 30, a driving assembly; 31, a motor; 32, an output shaft; 33, a contact switch; F1, an axial direction; F2, a direction perpendicular to the axial direction; F3, an extending end of the telescoping rolling brush assembly; F4, a retracting end of the telescoping rolling brush assembly; 200, a rolling brush telescoping method of a floor cleaning robot; 300, a rolling brush telescoping medium of a floor cleaning robot. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0021] It should be noted that when one component is considered to be "connected" to another component, it can be directly connected to the other component or a middle component can exist at the same time. When one component is considered to be "provided on" another component, it can be directly provided on the other component or a middle component can exist at the same time. The terms "top", "bottom", "upper", "lower", "left", "right", "front", "back", and the like used herein are for illustrative purposes only.

[0022] The embodiments of the present application provide a rolling brush telescoping device of a floor cleaning robot, which comprises a housing assembly, a telescoping rolling brush assembly, and a driving assembly. The housing assembly is formed with a rolling brush cavity arranged in an axial direction. The telescoping rolling brush assembly is installed in the rolling brush cavity in the axial direction. The driving assembly is magnetically engaged with the telescoping rolling brush assembly in the axial direction. The driving assembly is used to drive the telescoping rolling brush assembly to extend into or retract out of the rolling brush cavity. The driving assembly is respectively located at two ends of the telescoping rolling brush assembly perpendicular to the axial direction. One end of the driving assembly controls the telescoping rolling brush assembly, and the other end of the driving assembly drives the telescoping rolling brush assembly.

[0023] The rolling brush telescoping device of the floor cleaning robot provided above achieves symmetrical force and self-centering of the rolling brush in the telescoping stroke by magnetically engaging the driving assembly with the telescoping rolling brush assembly in the axial direction, and adopting the structure of one end control and the other end driving of the driving assembly.

[0024] The driving end provides stable axial pushing or pulling force, and the control end realizes position determination and start-stop determination, thereby eliminating the stress bias of unilateral driving from the source, significantly reducing the risk of deviation and jamming. The magnetic attraction transmission is more friendly to assembly tolerance and pollution, and can maintain smooth movement and reduce noise and wear in the presence of sand, hair, water vapor, etc. At the same time, the dependence on sealing of the through mechanical transmission is reduced, the probability of water and mud entering and winding is reduced, the overall reliability and service life are improved, and the positioning stability and consistency of extension or insertion are ensured.

[0025] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] Please refer to Figures 1-6 The embodiment of the present application provides a rolling brush telescopic device 100 of a floor cleaning robot, which comprises a shell assembly 10, a telescopic rolling brush assembly 20 and a driving assembly 30. The shell assembly 10 is formed with a rolling brush cavity 11 arranged along an axial direction F1. The telescopic rolling brush assembly 20 is mounted in the rolling brush cavity 11 along the axial direction F1. The driving assembly 30 is magnetically attracted and engaged with the telescopic rolling brush assembly 20 along the axial direction F1. The driving assembly 30 is used to drive the telescopic rolling brush assembly 20 to extend out of or retract into the rolling brush cavity 11. The driving assembly 30 is located at two ends of the telescopic rolling brush assembly 20 perpendicular to the axial direction F2 respectively. One end of the driving assembly 30 controls the telescopic rolling brush assembly 20, and the other end of the driving assembly 30 drives the telescopic rolling brush assembly 20.

[0027] In this embodiment, it should be noted that the rolling brush 21 telescopic device of the floor cleaning robot of the present application adopts a driving layout of two-end cooperation and magnetic attraction engagement to solve the inherent defects of the existing unilateral driving scheme.

[0028] Specifically, the shell assembly 10 constitutes the main frame and protection structure of the device, and the rolling brush cavity 11 formed inside provides a track space for the telescopic rolling brush assembly 20 to accommodate and move, ensuring the accuracy of the movement direction. The telescopic rolling brush assembly 20 serves as an execution component, integrating cleaning and movement, and performs linear telescopic movement in the rolling brush cavity 11 through the power provided by the driving assembly 30.

[0029] The driving assembly 30 of the embodiment is not concentrated on one side as in traditional designs, but is divided into two ends of the telescopic roller brush assembly 20 perpendicular to the axial direction F1, i.e. the telescopic direction. The driving unit such as a motor 31 and a gear at one end is responsible for providing the main driving force, which is kept in meshing connection with the corresponding structure on the telescopic roller brush assembly 20 such as the rack on the magnetic attraction piece 23 through magnetic attraction. The magnetic attraction meshing means that there is a flexible connection interface maintained by magnetic force in the transmission process, which allows a certain range of tolerance for centering errors and provides a certain buffer when encountering incompressible contaminants, avoiding rigid jamming.

[0030] The driving unit at the other end is mainly responsible for control, which can be a contact switch 33 for sensing the position state. The two-end components work together. The driving end outputs torque, which is converted into axial F1 force to push the telescopic roller brush assembly 20 to telescope. The control end monitors the position of the assembly in real time and sends a signal to control the driving end to stop working when the preset limit position such as full extension is reached, thereby achieving precise control of the stroke. This two-end symmetrical layout makes the driving force and action point distributed on both sides of the roller brush 21 assembly, forming a symmetrical couple, effectively overcoming the deflection torque generated by single-sided driving, and fundamentally eliminating the phenomena of deflection and jamming during movement.

[0031] Firstly, the driving assembly 30 is divided into two ends and adopts magnetic attraction connection, which realizes symmetrical driving and automatic centering of the telescopic roller brush assembly 20, greatly reduces the risk caused by uneven movement resistance due to assembly errors, wear or accumulation of contaminants, and ensures smooth and smooth telescoping process without deflection.

[0032] Secondly, the magnetic attraction meshing form has better anti-pollution ability and fault tolerance than pure rigid meshing such as pure gear teeth. When small particles or hair invade the meshing pair, magnetic attraction can maintain effective transmission without easy top dead center or severe wear, and the running noise is lower. Furthermore, the dependence on long shaft, shaft coupling and other through-type mechanical transmission components is reduced, the structure is simplified, and the need for multiple dynamic sealing points caused by the transmission shaft passing through the cavity is significantly reduced, thereby fundamentally reducing the probability of water and mud entering and hair entanglement, and improving the reliability and durability of the entire device in harsh working conditions.

[0033] Finally, through the precise positioning feedback of the control end, the consistency of the telescoping stroke end position of the roller brush 21 is ensured, and the zero drift is avoided, so that the robot moves more accurately and reliably when self-cleaning or deep into the bottom of furniture.

[0034] In a specific embodiment, the telescopic rolling brush assembly 20 comprises a rolling brush 21, a rolling brush shell 22 and a magnetic attraction element 23. The rolling brush 21 is in contact with the ground and is used to clean the ground. The rolling brush shell 22 covers the rolling brush 21 and is connected to the rolling brush 21. The magnetic attraction element 23 is fixedly installed on the rolling brush shell 22 and is located at the end of the rolling brush shell 22 away from the ground.

[0035] In this embodiment, it is necessary to point out that the telescopic rolling brush assembly 20 is a modular unit integrating cleaning, transmission and support functions. The rolling brush 21 is the core component directly performing the cleaning operation. It is used to rub and roll up dirt by rotating and rubbing against the ground.

[0036] The rolling brush shell 22 is a bearing and protective structure of the rolling brush 21. Its key roles are as follows. Firstly, the rolling brush shell 22 wraps the rolling brush 21 and provides a streamlined shell, which helps to guide the airflow and sewage flow and optimize the dirt suction efficiency. Secondly, the rolling brush shell 22 is fixedly connected to the rolling brush 21, which ensures that the rotating power of the rolling brush 21 can be effectively transmitted from the robot body to the rolling brush 21 itself. Thirdly, the design that the rolling brush shell 22 is installed at the end of the rolling brush 21 away from the ground places the main transmission and connection structure at a higher position away from the ground, which can effectively avoid the most severe working conditions such as liquid splashing and large-particle impurities impact near the ground and improve the durability of the mechanism.

[0037] The magnetic attraction element 23 is a key element for realizing non-contact power transmission and connection in this embodiment. The magnetic attraction element 23 is fixedly installed on the rolling brush shell 22 and is also located at the end of the rolling brush shell 22 away from the ground. This positioning strategy has double advantages. Firstly, the magnetic attraction element 23 makes the interface between the magnetic attraction element 23 and the driving assembly 30 away from the ground pollution source, which greatly reduces the risk of direct invasion of sewage, sand, hair and other pollutants into the magnetic attraction working surface or the transmission meshing pair, ensuring the reliability of long-term work. Secondly, the magnetic attraction element 23 arranges the magnetic attraction force and the transmission action point at the upper part of the rolling brush 21 assembly, which makes the transmission path of the driving force closer to the central axis of the rolling brush 21 assembly, helps to form a more balanced torque, reduces the resistance torque in the telescopic motion, and makes the motion more stable. The fixed installation of the magnetic attraction element 23 and the rolling brush shell 22 ensures the lossless and efficient transmission of power from the driving assembly 30 to the rolling brush shell 22 and then to the rolling brush 21.

[0038] By integrating the rolling brush 21, the rolling brush shell 22 and the magnetic attraction element 23 into a modular telescopic rolling brush assembly 20, the structure is compact, the assembly is simple, and the maintenance and replacement are easy.

[0039] More importantly, by arranging the vulnerable and delicate transmission interface magnetic attraction piece 23 and the connecting structure of the roll brush shell 22 at a high position away from the ground, the space layout is ingeniously utilized to avoid the main pollution source, which significantly improves the anti-pollution, waterproof and anti-winding ability of the device from a physical point of view. This layout not only protects the magnetic engagement pair and maintains its transmission efficiency and stability, but also prolongs the service life of the entire roll brush 21 assembly.

[0040] At the same time, the design of the high driving point optimizes the stress line, which, in combination with the two-end driving layout, further enhances the stability and self-centering ability during the extension and retraction process, effectively preventing the "nodding" or "tail lifting" deviation phenomenon that may be caused by the low stress point, and ensuring that the roll brush 21 can maintain consistent with the preset trajectory throughout the extension and retraction process.

[0041] In a specific embodiment, the magnetic attraction piece 23 includes a rack structure 231 and a flat structure 232. The rack structure 231 is located away from the mating surface of the roll brush shell 22 and the magnetic attraction piece 23, and the rack structure 231 is in sliding engagement with the drive assembly 30. The flat structure 232 is located away from the mating surface of the roll brush shell 22 and the magnetic attraction piece 23, and the flat structure 232 is arranged adjacent to the rack structure 231. The rack structure 231 and the flat structure 232 are both distributed along the axial direction F1. The rack structure 231 is close to the extension end F3 of the telescopic roll brush assembly. The flat structure 232 is close to the extension end F4 of the telescopic roll brush assembly.

[0042] In this embodiment, it should be noted that the magnetic attraction piece 23 is not a simple magnetic strip, but a composite component that integrates transmission, adsorption and position feedback functions. Its rack structure 231 is precisely arranged on the side away from the mating surface of the roll brush shell 22, i.e. its exposed working surface. This rack structure 231 and the corresponding gear in the drive assembly 30 form a magnetic sliding engagement pair. The magnetic force ensures that the gear and the rack always maintain a stable engagement state. Even if there is a small centering error or a contaminant, the magnetic attraction force can effectively compensate for it, maintain the continuity of the transmission, and accurately convert the rotational motion of the motor 31 into a pushing or pulling force for the linear motion of the telescopic roll brush assembly 20.

[0043] A flat surface structure 232 is arranged adjacent to the rack structure 231. The flat surface structure 232 is also located on the working surface of the magnetic element 23 and is distributed along the axial direction F1 of the device, i.e. the extension direction. The rack structure 231 is close to the front end F3 of the extension of the extension and retraction brush assembly, while the flat surface structure 232 is close to the rear end. This specific spatial layout constitutes a clever mechanical stroke control mechanism. When the extension and retraction brush assembly 20 is in the retracted or extending stroke, the driving gear is always engaged with the rack part to provide power. When the assembly is about to reach the fully extended limit position, the driving gear moves to the end of the rack and finally enters the area opposite to the flat surface structure 232. Since the flat surface is smooth and toothless, the gear cannot form engagement with it, and the transmission function is automatically disabled.

[0044] Firstly, the transmission rack and the smooth flat surface are integrated on the same magnetic element 23, realizing the integrated design of driving and terminal position mechanical self-locking, and the structure is very compact, without the need for additional installation of independent limit switches or blocks, simplifying the structure and assembly. Secondly, this combination of rack and flat surface layout provides a pure mechanical, high-reliability hard limit protection method.

[0045] When the gear slides to the flat surface area, the transmission is cut off, and the motor 31 is in an idle state even if it is still rotating, thereby effectively preventing the risk of motor 31 burnout due to overload and avoiding the impact damage of mechanical structure due to continuous driving, greatly improving the safety and reliability of the system. Finally, it is ensured that the extension and retraction brush assembly 20 can stop at an accurate and consistent physical position every time it is fully extended, i.e. the point where the gear is opposite to the flat surface, fundamentally eliminating the problem of inconsistent terminal position caused by sensor drift and control error, i.e. the problem of zero drift, with high positioning accuracy and repeatability, ensuring the consistency of cleaning effect.

[0046] In a specific embodiment, the brush shell 22 has a protruding structure 221 arranged along the axial direction F1. The protruding structure 221 is located at the end away from the ground. The housing assembly 10 is provided with a guide groove 12 with an opening at the extension end in the axial direction F1. The protruding structure 221 is located between the guide grooves 12. The protruding structure 221 is fitted along the guide groove 12 in the axial direction F1, and the protruding structure 221 is in sliding connection with the guide groove 12.

[0047] In this embodiment, it is necessary to note that the guide and support structure between the extension and retraction brush assembly 20 and the housing assembly 10 is specifically limited. The protruding structure 221 designed on the brush shell 22 is one of its key features, which is arranged along the axial direction F1 of the brush 21 and also located at the high position away from the ground. This design ensures that the center of gravity and the main stress point of the entire extension and retraction brush assembly 20 can be effectively supported and constrained during movement.

[0048] Correspondingly, on the housing assembly 10, a specific guide slot 12 is opened along the axial direction F1. The guide slot 12 is provided with an opening at its extending end, so that the telescopic roller brush assembly 20 can extend from there. The protruding structure 221 on the roller brush shell 22 is precisely accommodated between the guide slots 12, and its shape is fitted with the inner wall of the guide slot 12. The cooperation of the protrusion and the guide slot 12 constitutes a precise sliding pair. When the drive assembly 30 provides power, the protruding structure 221 smoothly slides along the inner wall of the guide slot 12, converting the potential deflection tendency into the reaction force of the guide slot 12 wall on the protruding structure 221, thereby forcing the entire telescopic roller brush assembly 20 to strictly follow the axial F1 trajectory movement, and unable to rotate or sway radially.

[0049] Firstly, the cooperation of the protrusion and the guide slot 12 constitutes an efficient and reliable linear guide mechanism, which strictly limits the movement of the telescopic roller brush assembly 20 to the pre-set axial F1 path, completely eliminates the left and right shaking or torsional deformation that may occur during extension or retraction, and ensures the accuracy and stability of the movement.

[0050] Secondly, the guide structure cooperates with the high-position magnetic attraction driving point to form a stable support-driving system. The high-position driving avoids long force arm, and the high-position guide provides precise constraint. The two work together to solve the core problem of unilateral driving jam.

[0051] Furthermore, the large-area fitting and sliding of the protruding structure 221 and the guide slot 12 can disperse the contact stress on the movement pair to a larger area compared to the traditional point or line contact such as a sliding block, not only reducing wear and prolonging service life, but also greatly weakening the impact of even small contaminants, and having stronger anti-pollution ability.

[0052] In a specific embodiment, the drive assembly 30 includes a motor 31 and an output shaft 32. The motor 31 is used to output sliding force. The output shaft 32 is connected with the motor 31, and the output shaft 32 is located at one end of the telescopic roller brush assembly 20 perpendicular to the axial direction F2.

[0053] In this embodiment, it is necessary to note that the motor 31 is the driving source of the entire telescopic device, and its core function is to output sliding force in the form of rotation, i.e. torque. The selection and installation position of the motor 31 are crucial. The motor 31 is arranged at one end of the telescopic roller brush assembly 20 perpendicular to the axial direction F1, which means that the motor 31 is arranged laterally, and the center line of the output shaft 32 is parallel to the radial direction of the roller brush 21, rather than the push rod motor 31 coaxial with the roller brush 21 as in the conventional scheme.

[0054] The output shaft 32 is a key component for power transmission of the motor 31. The output shaft 32 is directly or through a reduction mechanism connected with the rotor of the motor 31 and outputs the torque of the motor 31. The axis direction of the output shaft 32 is also perpendicular to the axial direction F1 of the telescopic roller brush assembly 20. At the end of the output shaft 32, a gear structure is usually provided to engage with a rack structure 231.

[0055] The motor 31 drives the output shaft 32 and the gear on it to rotate, and the gear converts the circular motion into sliding force to drive the linear motion of the telescopic roller brush assembly 20 by engaging with the rack on the magnetic attraction piece 23.

[0056] This lateral motor 31 gear-rack transmission layout is compact and can efficiently transmit power to the roller brush 21 assembly, and it is convenient to place the motor 31 and its related electronic components in a position relatively far away from the ground wet and contaminated area.

[0057] Firstly, the transmission form of the lateral motor 31 with the output shaft 32 and the gear creates a non-direct contact driving interface, that is, the engagement is maintained by magnetic force, the power transmission is efficient and compact, the axial F1 space is saved, and the thin design of the overall structure of the floor cleaning robot is beneficial.

[0058] Secondly, the motor 31 is arranged laterally, which completely avoids the core sewage area and the space full of water vapor directly above the roller brush 21, fundamentally reduces the risk of water short circuit of the motor 31 due to sealing failure, and significantly improves the reliability and service life of the driving core element.

[0059] Furthermore, the gear and rack transmission has very high transmission accuracy and efficiency, which can accurately and without slip convert the rotary motion of the motor 31 into linear motion, ensuring accurate control and rapid response of the telescopic displacement of the roller brush 21.

[0060] In a specific embodiment, the output shaft 32 has a gear structure, and the gear structure is engaged with the rack structure 231. When the gear structure is engaged with the rack structure 231, the telescopic roller brush assembly 20 is in an extended state or is being extended. When the gear structure is not engaged with the rack and the output shaft 32 is opposite to the planar structure 232, the telescopic roller brush assembly 20 is in a fully extended state.

[0061] In this embodiment, it should be noted that when the gear structure is engaged with the rack structure 231, the torque of the motor 31 is effectively converted into the axial F1 force to push the telescopic roller brush assembly 20 to move. At this time, the roller brush 21 assembly may be in the process of being extended from the housing, or may be in a completely retracted state, i.e., in the extended state.

[0062] When the telescopic roller brush assembly 20 moves to the fully extended limit position, the gear on the output shaft 32 also moves to the end of the rack structure 231 and finally enters the area directly opposite the plane structure 232. At this time, the gear is disengaged from the rack, and the transmission function is physically cut off. Even if the motor 31 is still rotating, the output shaft 32 is only idling on the plane structure 232 and cannot transmit the axial F1 force any more.

[0063] Firstly, through the engagement and disengagement of the gear and the rack, a pure mechanical and non-contact hard limit function is realized. When the roller brush 21 reaches the fully extended position, the transmission is automatically disconnected, thereby fundamentally eliminating the risk of motor 31 stalling and overload burning due to mechanical jamming, and the system safety is extremely high.

[0064] Secondly, this limiting method does not rely on electronic sensors such as photoelectric switches and Hall sensors which are easily disturbed by environmental factors such as water vapor and dirt. Its reliability only depends on the machining precision of the mechanical structure, so it has strong anti-pollution ability, extremely stable operation and long service life. Finally, this scheme ensures that the fully extended position of the telescopic roller brush assembly 20 is an absolute physical position uniquely determined by the mechanical structure, achieving ultra-high repeat positioning accuracy, completely eliminating the "zero drift" problem caused by sensor drift, control error or software failure, and ensuring the consistency, reliability and repeatability of the cleaning effect of the floor cleaning robot when self-cleaning or deep into the bottom of furniture.

[0065] In a specific embodiment, the drive assembly 30 includes a contact switch 33. The contact switch 33 is located at the other end of the telescopic roller brush assembly 20 perpendicular to the axial F2. When the contact switch 33 is attached to the magnetic attraction piece 23, the drive assembly 30 is turned on. When the contact switch 33 is not attached to the magnetic attraction piece 23, the drive assembly 30 is turned off.

[0066] In this embodiment, it is necessary to define the functional unit responsible for controlling the start and stop of the drive assembly 30. The contact switch 33 is the core executor of this control function, and the contact switch 33 is arranged at the other end of the telescopic roller brush assembly 20 perpendicular to the axial F2, that is, on the other side opposite to the power supply motor 31 and the output shaft 32. This layout forms a symmetrical cooperative architecture of "one end driving and one end controlling".

[0067] The working logic of the contact switch 33 is direct and reliable. When the contact switch 33 physically contacts and presses the magnetic attraction piece 23 moving with the telescopic roller brush assembly 20, the contacts inside the switch are triggered and usually closed, thereby generating an electrical signal. This signal is used to turn on or maintain the operation of the drive assembly 30, that is, the motor 31, allowing the roller brush 21 to extend.

[0068] Conversely, when the telescopic roller brush assembly 20 moves to a position that causes the magnetic attraction piece 23 to separate from the contact switch 33, the contact switch 33 no longer adheres due to the elastic reset, and the switch contact state changes, usually open, and this signal is used to turn off the driving assembly 30 to stop the motor 31 from running, so that the roller brush 21 stops moving. This control method directly depends on the physical position relationship of mechanical components, the logic is clear, and the response is fast.

[0069] Firstly, this scheme sets up an independent and reliable control point on the other side of the driving end. The contact switch 33 is a mature and low-cost sensor device, and its reliability is much higher than that of optical or capacitive sensors that are prone to failure in humid and dirty environments. The contact switch 33 detects through direct physical contact, has strong resistance to water vapor and dirt interference, and is very suitable for the working environment of the floor cleaning robot.

[0070] Furthermore, the contact switch 33 separates the position detection function from the precise transmission meshing pair, i.e. the connection between the gear and the rack, realizes functional decoupling, so that the transmission system can focus on efficient power transmission, and the control system can focus on accurate positioning, without interference between the two, simplifying the system design and control logic.

[0071] Finally, this control method provides a clear and repeatable electrical signal point, which facilitates the control system to accurately determine the starting point of the roller brush 21 or whether it is fully retracted, ensuring the certainty and consistency of the action execution, and further enhancing the intelligence level and reliability of the entire machine.

[0072] In a specific embodiment, the magnetic attraction piece 23 includes an inclined corner structure 233. The inclined corner structure 233 is located at the insertion end F4 of the telescopic roller brush assembly. The inclined corner structure 233 is located at one end of the magnetic attraction piece 23 and the contact switch 33 that can be connected. The inclined corner structure 233 is used to generate a distance gap 234 between the magnetic attraction piece 23 and the inclined corner structure 233. The telescopic roller brush assembly 20 slides along the axial direction F1 to the contact switch 33 opposite the inclined corner structure 233, and there is a distance gap 234 between the inclined corner structure 233 and the contact switch 33, the driving assembly 30 stops driving, and the telescopic roller brush assembly 20 is in a fully extended state.

[0073] In this embodiment, it should be noted that first, the inclined corner structure 233 is located at the insertion end F4 of the telescopic roller brush assembly, i.e. near the end inside the machine. Second, the inclined corner structure 233 is located at the end of the magnetic attraction piece 23 and the contact switch 33 that can be connected.

[0074] The core function of the bevel structure 233 lies in its special geometry, which is used to generate a distance gap 234 between the magnetic attraction piece 23 and the contact switch 33 at a specific stroke position. The working principle is as follows: when the telescopic roller brush assembly 20 starts to extend outward from the retracted state, the main body part with a larger thickness on the magnetic attraction piece 23 can keep in contact with the contact switch 33, thereby maintaining the open state of the driving assembly 30. However, when the roller brush 21 assembly is about to reach the preset limit position of full extension, the bevel structure 233 on the magnetic attraction piece 23 moves to a position directly opposite the contact switch 33. Since the bevel is a slope or stepped surface, the thickness gradually decreases from the main body to the end of the magnetic attraction piece 23, which breaks the contact state between the magnetic attraction piece 23 and the contact switch 33, and an instantaneous "distance gap 234" is generated therebetween.

[0075] Firstly, the bevel structure 233 provides an extremely reliable and adjustment-free mechanical position triggering mechanism. Once moved to the point, the gap is inevitably generated, the switch state is inevitably changed, and the consistency of the triggering position is very high, completely avoiding the signal drift or critical point jitter problem that may exist in the use of traditional sensors, and the positioning accuracy is extremely high. Secondly, the bevel structure 233 realizes a soft separation.

[0076] The triggering and resetting of the contact switch 33 are smoothly completed in the slope transition, avoiding direct impact of rigid parts, reducing mechanical impact and wear of the switch, and prolonging the service life of electrical elements. Furthermore, the design integrates the precise stroke control function into a simple mechanical structure, eliminating complex and expensive electronic positioning sensors such as gratings, magnetic encoders and their supporting circuits, greatly reducing the system cost and complexity.

[0077] A roller brush telescoping method 200 of a floor cleaning robot, applied to any of the above-mentioned roller brush telescoping devices 100 of the floor cleaning robot. Therefore, no further description is made.

[0078] A roller brush telescoping medium 300 of a floor cleaning robot, applied to any of the above-mentioned roller brush telescoping devices 100 of the floor cleaning robot. Therefore, no further description is made.

[0079] Therefore, the above-mentioned roller brush telescoping device 100 of a floor cleaning robot is provided by magnetically engaging the driving assembly 30 and the telescopic roller brush assembly 20 along the axial direction F1, the driving assembly 30 adopts a structure of one-end control and the other-end driving, and symmetric force bearing and self-centering of the roller brush 21 in the telescopic stroke are realized.

[0080] The driving end provides stable axial F1 pushing or pulling force, and the control end realizes alignment and start-stop determination, thereby eliminating the stress bias of one-sided driving from the source, significantly reducing the risk of deviation and jamming. The magnetic attraction transmission is more friendly to assembly tolerance and pollution, and can maintain smooth movement and reduce noise and wear in the presence of sand, hair, water vapor, etc. At the same time, the dependence on sealing of the through mechanical transmission is reduced, the probability of water and mud entering and winding is reduced, the overall reliability and service life are improved, and the positioning stability and consistency of extension or insertion are ensured.

[0081] The above only describes the embodiments of the present application, and it should be pointed out that those skilled in the art can make improvements without departing from the inventive concept of the present application, but these all belong to the protection scope of the present application.

Claims

1. A retractable roller brush device for a floor cleaning robot, characterized in that, include: The housing assembly has a brush cavity arranged axially. A telescopic roller brush assembly is mounted axially in the roller brush cavity; A drive assembly is magnetically engaged with the telescopic roller brush assembly along the axial direction and is used to drive the telescopic roller brush assembly to extend out of or into the roller brush cavity. The drive components are located at both ends of the telescopic roller brush assembly perpendicular to the axial direction. One end of the drive component controls the telescopic roller brush assembly, and the other end of the drive component drives the telescopic roller brush assembly.

2. The roller brush telescopic device of the floor cleaning robot according to claim 1, characterized in that, The telescopic roller brush assembly includes: A roller brush, which is in contact with the ground, is used to clean the floor; A roller brush housing is fitted over the roller brush and connected to the roller brush, and is located at the end of the roller brush that is away from the ground; A magnetic attachment is fixedly installed on the roller brush housing and located at the end of the roller brush housing facing away from the ground.

3. The roller brush telescopic device of the floor cleaning robot according to claim 2, characterized in that, The magnetic attraction component includes: A rack structure is located on the mating surface opposite to the roller brush housing and the magnetic attractor, and the rack structure is slidably engaged with the drive assembly; A planar structure is located on the mating surface opposite to the roller brush shell and the magnetic attractor, and is arranged adjacent to the rack structure; Both the rack structure and the planar structure are distributed along the axial direction. The rack structure is close to the extended end of the telescopic roller brush assembly, and the planar structure is close to the inserted end of the telescopic roller brush assembly.

4. The roller brush telescopic device of the floor cleaning robot according to claim 2, characterized in that, The roller brush housing has a protruding structure arranged along the axial direction, and the protruding structure is located at the end facing away from the ground; The housing assembly has a guide groove with an open protruding end along the axial direction, and the protruding structure is located between the guide grooves. The protruding structure fits the guide groove along the axial direction and is slidably connected to the guide groove.

5. The roller brush telescopic device of the floor cleaning robot according to claim 3, characterized in that, The driving component includes: The motor is used to output sliding force; The output shaft is connected to the motor and located at one end of the telescopic roller brush assembly perpendicular to the axial direction.

6. The roller brush telescopic device of the floor cleaning robot according to claim 5, characterized in that, The output shaft has a gear structure, which meshes with the rack structure. When the gear structure meshes with the rack structure, the telescopic roller brush assembly is in an inserted state or is in a de-extended state. When the gear structure is not engaged with the rack and the output shaft is facing the planar structure, the telescopic roller brush assembly is in a fully extended state.

7. The roller brush telescopic device of the floor cleaning robot according to claim 2, characterized in that, The driving component also includes: A contact switch is located at the other end of the telescopic roller brush assembly perpendicular to the axial direction; When the contact switch is in contact with the magnetic component, the drive assembly is activated. When the contact switch is not in contact with the magnetic component, the drive assembly is turned off.

8. The roller brush telescopic device of the floor cleaning robot according to claim 7, characterized in that, The magnetic attraction component includes: An angled structure is located at the insertion end of the telescopic roller brush assembly, at the end where the magnetic suction element and the contact switch can be attached and connected. The angled structure is used to generate a distance gap between the magnetic suction element and the angled structure. The telescopic roller brush assembly slides axially until the contact switch is directly opposite the angled structure, and there is a gap between the angled structure and the contact switch. The drive assembly stops driving, and the telescopic roller brush assembly is in a fully extended state.

9. A method for extending and retracting the roller brush of a floor cleaning robot, characterized in that, The roller brush extension device is applied to the floor cleaning robot according to any one of claims 1-8.

10. A retractable roller brush media for a floor cleaning robot, characterized in that, The roller brush extension device is applied to the floor cleaning robot according to any one of claims 1-8.

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