Rolling brush floor sweeping structure and cleaning robot

Abstract

The utility model provides a rolling brush floor sweeping structure and a cleaning robot, the rolling brush floor sweeping structure comprises a shell, a rolling brush and a garbage box, a rolling brush accommodating space and an avoiding space are formed in the shell, the rolling brush is arranged in the rolling brush accommodating space and supported on the shell, and the garbage box is arranged on one side of the rolling brush and connected with the shell; an opening is formed in the side, close to the rolling brush, of the garbage box and communicates with the avoiding space, and the height of the lower edge of the opening is larger than that of a rotating center shaft of the rolling brush. The bottom face of the garbage box is higher than the bottom of the rolling brush sweeping structure. The lower edge of the opening is designed to be higher than the rotating center shaft of the rolling brush, so that the effective volume of the garbage box can be increased, and cleaning of large areas such as shopping malls, airports, exhibition halls and office buildings is facilitated; the bottom face of the garbage box is designed to be higher than the bottom of the rolling brush sweeping structure, so that the garbage box avoids garbage located in front of the rolling brush on the ground, and the rolling brush rotates to bring the garbage into the garbage box.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning robots, and particularly relates to a rolling brush floor sweeping structure and a cleaning robot. Background Art

[0002] A cleaning robot is a type of intelligent household appliance that can automatically complete floor cleaning (such as sweeping, vacuuming, mopping) work in a room by means of artificial intelligence. Cleaning robots are divided into household robots and commercial cleaning robots. Commercial cleaning robots are applicable to large areas such as shopping malls, airports, exhibition halls, and office buildings.

[0003] The capacity of the garbage box of existing related cleaning robots is small, which is not conducive to the cleaning of large areas such as shopping malls. If it is necessary to ensure the effective volume of the garbage box, the bottom area of the garbage box needs to be increased, but this will lead to an increase in the size of the machine and a reduction in the passing performance of the robot. Summary of the Utility Model

[0004] The purpose of the embodiments of this application is to provide a rolling brush floor sweeping structure and a cleaning robot to solve the technical problem of the relatively small volume of the garbage box of cleaning robots in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] The first aspect of this application provides a rolling brush floor sweeping structure, including:

[0007] A housing, which internally forms a rolling brush accommodation space and an avoidance space;

[0008] A rolling brush, which is arranged in the rolling brush accommodation space and supported on the housing, and the avoidance space is located above the rolling brush;

[0009] A garbage box, which is arranged on one side of the rolling brush and connected to the housing. An opening is formed on the side of the garbage box close to the rolling brush, and the opening is communicated with the avoidance space. The height of the lower edge of the opening is greater than the height of the rotation center axis of the rolling brush; the height of the bottom surface of the garbage box is greater than the height of the bottom of the rolling brush floor sweeping structure.

[0010] Preferably, the diameter range of the rolling brush is 50 mm to 75 mm. The rolling brush includes a rolling brush shaft and bristles arranged on the rolling brush shaft, and the diameter range of the rolling brush shaft is 15 mm to 25 mm; the volume height of the garbage box is greater than 20 mm, and the opening size of the garbage box in the height direction is greater than 20 mm.

[0011] Preferably, the housing includes a guiding area, which is located above the rolling brush and connected to the upper edge of the opening. The avoidance space is below the guiding area, and the guiding area is inclined upward from the direction away from the upper edge to the direction close to the upper edge.

[0012] Preferably, the height difference between the bottom surface of the trash box and the bottom of the rotary brush floor-sweeping structure is greater than 10 mm.

[0013] Preferably, the rotary brush floor-sweeping structure further includes a driving device disposed on one side of the rotary brush; the driving device includes a driving shaft inserted into the mounting hole of the rotary brush; the driving shaft includes a main body portion and an edge portion, and the edge portions are circumferentially spaced apart along the main body portion. The main body portion includes a first end and a second end, the second end is a free end, and the edge portions extend from the first end to the second end along the axis of the main body portion; the second end of the driving shaft is a tip, and the cross-sectional area of the main body portion decreases from the first end to the second end, and the height value of the edge portion in the radial direction of the driving shaft decreases from the first end to the second end.

[0014] Preferably, the number of the edge portions is six, and the six edge portions are evenly spaced apart in the circumferential direction of the main body portion; a groove arc surface is formed between two adjacent edge portions and the main body portion, and the curvature of the top arc surface of the edge portion is not less than a preset value, and the curvature of the groove arc surface is not less than a preset value, so as to facilitate the insertion of the driving shaft into the mounting hole.

[0015] Preferably, the rotary brush floor-sweeping structure further includes a scraping strip located on the side of the rotary brush facing away from the trash box; a rotary brush avoidance opening is formed at the bottom of the housing, the bottom of the rotary brush extends out through the rotary brush avoidance opening, and the scraping strip is installed along the lower edge of the rotary brush avoidance opening and extends downward out of the rotary brush accommodation space.

[0016] Preferably, the rotary brush floor-sweeping structure further includes a lifting device and a parallelogram link structure. The lifting device is connected to the top of the housing through a spring floating structure, and the parallelogram link structure is connected to the top of the housing. The lifting device can change the height of the rotary brush so that when the rotary brush floor-sweeping structure works, the bottom of the rotary brush is pressed against the ground. The rotary brush floor-sweeping structure further includes more than one height-fixed wheel, and the height-fixed wheel is installed on the housing and is located below the trash box.

[0017] Preferably, the dust box is arranged in the forward direction of the rotary brush, the bottom surface height of the dust box is greater than the height of the bottom of the rotary brush sweeping structure, the height difference between the bottom surface of the dust box and the bottom of the rotary brush sweeping structure is greater than 10 mm, the diameter range of the rotary brush is 50 mm to 75 mm, and the volume height of the dust box is 33 mm. The housing includes a guiding area, which is located above the rotary brush and connected to the upper edge of the opening. Below the guiding area is the avoidance space, and the guiding area is inclined upward from the direction away from the upper edge. The distance between the top structure of the guiding area and the upper edge is greater than 23 mm; the rotary brush sweeping structure further includes a driving device arranged on one side of the rotary brush. The driving device is connected to the rotary brush to drive the rotary brush to rotate. The driving device includes a motor and a reducer. A driving shaft is arranged on the reducer, and the driving shaft is inserted into the mounting hole of the rotary brush. When the motor operates, the driving shaft is driven to rotate through the reducer, and then the rotary brush is driven to rotate. The mounting hole is arranged on the end surface of the rotary brush shaft of the rotary brush, and the axis of the mounting hole is collinear with the axis of the rotary brush shaft.The brush roller shaft is provided with a chamfer at one end where the mounting hole is provided, for guiding the brush roller shaft to be inserted into the mounting hole. The drive shaft includes a main body portion and an edge portion. The edge portions are circumferentially spaced along the main body portion. The main body portion includes a first end and a second end, and the second end is a free end. The edge portions extend from the first end to the second end along the axis of the main body portion; the second end of the drive shaft is a tip, the cross-sectional area of the main body portion decreases from the first end to the second end, the height value of the edge portion in the radial direction of the drive shaft decreases from the first end to the second end, the number of the edge portions is six, and the six edge portions are evenly spaced along the circumferential direction of the main body portion. The cross-section of the drive shaft is in the shape of a hexagonal star, and the mounting hole correspondingly is a hexagonal star hole. The brush roller shaft is provided with a chamfer at one end where the mounting hole is provided, for guiding the brush roller shaft to be inserted into the mounting hole. A groove arc surface is formed between two adjacent edge portions and the main body portion, and the curvature of the top arc surface of the edge portion is not less than a preset value, and the curvature of the groove arc surface is not less than a preset value; the brush roller sweeping structure further includes a lifting device and a parallelogram link structure. The lifting device is used to raise or lower the housing. The lifting device drives the housing to move downward to a preset position, and the bottom of the brush roller is pressed against the ground. The parallelogram link structure is connected to the top of the housing, and the two parallelogram link structures are respectively arranged on both sides of the lifting device. The lifting device is connected to the top of the housing through a spring floating structure; the brush roller sweeping structure further includes a scraping strip. The scraping strip is located on the side of the brush roller away from the dust box. A brush roller avoidance opening is formed at the bottom of the housing, and the scraping strip is installed along the lower edge of the brush roller avoidance opening, and the scraping strip extends downward out of the brush roller accommodation space; the brush roller sweeping structure further includes one or more height-fixed wheels. The height-fixed wheels are installed on the housing, the height-fixed wheels are located below the dust box, and the height-fixed wheels are arranged at the other edge position opposite to the brush roller avoidance opening and the scraping strip.

[0018] The second aspect of the present application provides a cleaning robot, including the brush roller sweeping structure provided by any of the above technical solutions.

[0019] The beneficial effects of the present application are as follows: In the present application, while an opening is formed on one side of the dust box close to the brush roller, an avoidance space located above the brush roller is formed inside the housing. The opening of the dust box is communicated with the avoidance space, so that the garbage enters the dust box through the avoidance space after rotating half a circle with the brush roller; since the garbage enters the dust box after rotating half a circle with the brush roller, when the height of the lower edge of the designed opening is greater than the height of the rotation center axis of the brush roller, the brush roller can still rotate to bring the garbage into the dust box; by designing the height of the lower edge of the opening to be higher than the height of the rotation center axis of the brush roller, the effective volume of the dust box can be increased, which is beneficial to the cleaning of large areas such as shopping malls, airports, exhibition halls, and office buildings. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of the rotary brush floor sweeping structure provided by the embodiment of the present application;

[0022] Figure 2 It is another schematic structural diagram of the rotary brush floor sweeping structure provided by the embodiment of the present application;

[0023] Figure 3 It is a front view schematic diagram of the rotary brush floor sweeping structure provided by the embodiment of the present application;

[0024] Figure 4 It is Figure 3 a cross-sectional schematic diagram at A-A in

[0025] Figure 5 It is a schematic structural diagram of the driving device provided by the embodiment of the present application;

[0026] Figure 6 It is Figure 5 a partial enlarged view at A in

[0027] Among them, the reference numerals in the drawings are as follows:

[0028] The present application:

[0029] 1 - Rotary brush floor sweeping structure;

[0030] 11 - Housing; 12 - Rotary brush; 13 - Dust box; 14 - Driving device; 15 - Scraping strip; 16 - Lifting device; 17 - Parallelogram link structure; 18 - Constant height wheel; 19 - Spring floating structure;

[0031] 111 - Rotary brush avoidance opening; 112 - Avoidance space; 113 - Guide area;

[0032] 121 - Rotary brush shaft; 122, Bristles;

[0033] 131 - Opening; 1311 - Lower edge; 1312 - Upper edge;

[0034] 141 - Driving shaft; 142 - Motor; 143 - Reducer;

[0035] 1411 - Main body; 1412 - Edge part; 1413 - Top arc surface; 1414 - Groove arc surface; 1415 - First section; 1416 - Second section. Detailed implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the implementation of this application in detail with reference to the accompanying drawings. The embodiments described by referring to the accompanying drawings are exemplary and are intended to explain this application, and should not be construed as limiting this application.

[0037] In the description of this application, it should be understood that the orientation or positional relationships indicated by terms such as "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc. are based on the orientation or positional relationships shown in the accompanying drawings. These are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting this application.

[0038] To facilitate a clear description of the technical solutions of this application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and effects. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first" and "second" do not necessarily mean different.

[0039] In this application, unless otherwise clearly specified and limited, terms such as "connected" and "joined" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] In this application, " / and" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A / and B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0041] It should be noted that in this application, words such as "in one embodiment", "exemplarily", and "for example" are used to give examples, illustrations, or explanations. Any embodiment or design described as "in one embodiment", "exemplarily", or "for example" in this application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "in one embodiment", "exemplarily", or "for example" is intended to present the relevant concepts in a specific manner.

[0042] The sweeping module works by driving a rolling brush with a motor, which raises, drives, and flings a cleaning object of a certain weight into a dust box or a garbage box, and the dust box or the garbage box holds the cleaning object. Generally, in a specific scenario, the sweeping module is set at the bottom and is used to directly contact the ground to be cleaned, so as to collect the sundries on the ground. The specific scenarios include residences, office areas, shopping malls, etc.

[0043] The bottom space where the sweeping module structure is located may also include a body bracket, rollers, or an automatic chassis structure, resulting in a compact bottom space. Since the rollers or the chassis are common parts and their sizes cannot be adjusted unless necessary, in the structural design, the remaining space at the bottom is allocated to the sweeping module, resulting in the compression of the sweeping module structure, such as a small volume of the dust box or the garbage box. Since the volume ratio is a core parameter of the scenario, in a large commercial area scenario, if the volume of the box is too low, it will cause the device to frequently clean the dust box and cannot meet the scenario requirements. In order to meet the usage requirements of a scenario with an area of 40,000 square meters, for a device with a cleaning width greater than 55 cm, the volume of the dust box or the garbage box exceeds 2 L, and even reaches 3 L. This application provides a specific sweeping structure solution.

[0044] The following combines the attached Figures 1-6 to describe the rolling brush sweeping structure 1 provided in this embodiment in detail.

[0045] A rolling brush sweeping structure 1 includes a housing 11, a rolling brush 12, and a garbage box 13.

[0046] Please refer to Figure 1 which shows the positional relationship between the housing 11 and the garbage box 13. The housing 11 is used to support the rolling brush 12, and the rolling brush 12 can rotate around its axis. When the rolling brush 12 rotates, it can sweep up the garbage and directly bring it from the ground into the garbage box 13.

[0047] Regarding the positional relationship between the housing 11 and the rolling brush 12, please refer to Figure 2 and Figure 4 which shows that the rolling brush 12 is located inside the housing 11. A rolling brush accommodating space is formed inside the housing 11, and the rolling brush 12 is located in the rolling brush accommodating space inside the housing 11.

[0048] Please refer to Figure 4, which shows the positional relationship between the rotary brush 12 and the dust box 13. The dust box 13 is arranged on one side of the rotary brush 12 and is connected to the housing 11. An opening 131 is formed on the side of the dust box 13 close to the rotary brush 12. At the same time, an avoidance space 112 is formed in the housing 11. The avoidance space 112 is located above the rotary brush 12. The opening 131 of the dust box 13 is communicated with the avoidance space 112, so that when the rotary brush 12 rotates counterclockwise along the Figure 4 direction indicated by the arrow A in the figure, the garbage enters the dust box 13 through the avoidance space 112 after rotating half a circle with the rotary brush 12. It should be noted that the counterclockwise direction in this embodiment is relative to the position in the figure. If the overall installation position of the rotary brush is that the dust box is ahead, the rotary brush rotates in the clockwise direction.

[0049] Since the garbage is lifted by the rotary brush 12 and then enters the dust box 13, when the height of the lower edge 1311 of the opening 131 is designed to be greater than the height of the rotation center axis of the rotary brush 12, the rotary brush 12 can still rotate to bring the garbage into the dust box 13. Please refer to Figure 4 , which shows the lower edge 1311 of the opening 131, and shows that the height of the lower edge 1311 is greater than the height of the rotation center axis of the rotary brush 12.

[0050] In this embodiment, by designing the lower edge 1311 of the opening 131 to be greater than (higher than) the height of the rotation center axis of the rotary brush 12, the effective volume of the dust box 13 can be increased, which is beneficial to the cleaning of large areas such as shopping malls, airports, exhibition halls, and office buildings by the rotary brush sweeping structure 1 provided in this embodiment.

[0051] In this embodiment, the opening 131 of the dust box 13 is communicated with the avoidance space located above the rotary brush 12, which not only helps to increase the height of the dust box 13, but also is beneficial to increasing the opening 131 of the dust box 13 to accommodate larger-sized garbage.

[0052] In this embodiment, the bottom height of the axial plane of the rotation center axis of the rotary brush 12 is between the bottom height of the dust box 13 and the diameter of the opening 131. Specifically, the rotary brush includes a rotation center axis and bristles evenly arranged on the rotation center axis. When the rotary brush descends to the ground-touching state, the height of the axial plane of the rotation center axis from the ground is the bottom height of the axial plane, and this bottom height is between the height of the bottom of the dust box from the ground and the diameter size of the opening of the dust box.

[0053] Please refer to Figure 4 , when the rotary brush 12 rotates counterclockwise along the direction of arrow A in the figure, at this time, the preferred forward direction of the rotary brush sweeping structure 1 is Figure 4 the direction indicated by the arrow B in the figure, so as to facilitate the rotary brush 12 to rotate to bring the garbage into the dust box 13. Taking Figure 4 the direction indicated by the arrow B in the figure as the front, since the dust box 13 is arranged at Figure 4On the front side of the middle roller brush 12, the dustbin is arranged in the forward direction of the roller brush. Therefore, it is necessary to design the height of the dustbin 13 from the ground, that is, the bottom height of the dustbin 13 is greater than the height of the bottom of the roller brush sweeping structure 1, so that the dustbin 13 can avoid the garbage on the ground in front of the roller brush 12, facilitating the rotation of the roller brush 12 to bring the garbage into the dustbin 13.

[0054] Here, it should be noted that by reasonably setting the height of the dustbin 13 from the ground, while meeting the cleaning function of the roller brush sweeping structure 1, it can also minimize the impact on the effective volume of the dustbin 13.

[0055] In this embodiment, the height of the lower edge 1311 of the opening 131 is greater than the height of the rotation center axis of the roller brush 12. The specific distance value between the lower edge 1311 of the opening 131 and the rotation center axis of the roller brush 12 can be reasonably set according to the actual situation. For example, the distance value between the lower edge 1311 of the opening 131 and the rotation center axis of the roller brush 12 can be set related to the diameter of the roller brush 12. When the diameter of the roller brush 12 is large, the distance value between the lower edge 1311 of the opening 131 and the rotation center axis of the roller brush 12 can be set larger; when the diameter of the roller brush 12 is small, the distance value between the lower edge 1311 of the opening 131 and the rotation center axis of the roller brush 12 can be set smaller.

[0056] Next, the parameters of the roller brush 12 and the dustbin 13 are further defined.

[0057] In one embodiment, the diameter range of the roller brush 12 is 50mm - 75mm, and the diameter range of the roller brush shaft 121 is 15mm - 25mm.

[0058] Please refer to Figure 2 , generally, the roller brush 12 includes a roller brush shaft 121 and bristles 122 arranged on the roller brush shaft 121. The rotation of the roller brush shaft 121 drives the bristles 122 on the roller brush shaft 121 to rotate, and the rotating bristles 122 bring the garbage into the dustbin 13.

[0059] In this embodiment, the volume height of the dustbin 13 is greater than 20mm. That is, in the scenario where the diameter range of the roller brush 12 is 50mm - 75mm, the volume height of the dustbin 13 can be set greater than 20mm, which is beneficial for the dustbin 13 to hold more garbage, making the roller brush sweeping structure 1 more suitable for cleaning large areas such as shopping malls, airports, exhibition halls, and office buildings.

[0060] Specifically, for equipment with a cleaning width greater than 55cm, in the scenario where the volume of the dust box or dustbin exceeds 2 liters and even reaches 3L, the volume height of the dustbin 13 can be set to 33mm.

[0061] In this embodiment, the opening size of the garbage box 13 in the height direction is greater than 20 mm. As introduced above, the opening 131 of the garbage box 13 communicates with the avoidance space 112 above the rolling brush 12. Therefore, on the premise of ensuring the effective volume of the garbage box 13, it is possible to make the opening size of the garbage box 13 in the height direction greater than 20 mm. By setting the opening size of the garbage box 13 in the height direction to be greater than 20 mm, it is convenient for the garbage to enter the garbage box 13 through the avoidance space 112 and the opening 131 after the rolling brush 12 rotates half a week, and at the same time, it is beneficial to accommodate larger-sized garbage.

[0062] Regarding the height between the bottom surface of the garbage box 13 and the bottom of the rolling brush sweeping structure 1, in one embodiment, the height difference between the bottom surface of the garbage box 13 and the bottom of the rolling brush sweeping structure 1 is greater than 10 mm, so as to facilitate the garbage box 13 to avoid the target garbage in front of the rolling brush 12 on the ground, so that the rolling brush 12 rotates to bring the garbage into the garbage box 13.

[0063] Regarding the avoidance space 112 in the housing 11 above, the specific limitations are as follows:

[0064] In one embodiment, please refer to Figure 4 , the housing 11 includes a guiding area 113, that is, the guiding area 113 is a part of the structure of the housing 11. The guiding area 113 is located above the rolling brush 12 and is connected to the upper edge 1312 of the opening 131. The avoidance space 112 is below the guiding area 113. The guiding area 113 is inclined upward from the direction away from the upper edge 1312 to the direction close to the upper edge 1312. Optionally, the distance between the top structure of the guiding area and the upper edge of the opening is greater than 23 mm, so that most of the objects to be cleaned in, for example, shopping malls or office areas can be swept up and accommodated.

[0065] Please refer to Figure 4 , which shows that the guiding area 113 is connected to the upper edge 1312 of the opening 131. The guiding area 113 is inclined upward from the direction away from the upper edge 1312 to the direction close to the upper edge 1312, which not only increases the height of the garbage box 13, but also allows the garbage to be thrown out and enter the garbage box 13 earlier. At the same time, it is beneficial to increase the opening 131 of the garbage box 13 to accommodate larger-sized garbage.

[0066] Next, the driving device 14 of the rolling brush sweeping structure 1 will be further described.

[0067] Please refer to Figures 1-3 , the rolling brush sweeping structure 1 further includes a driving device 14 arranged on one side of the rolling brush 12. The driving device 14 is connected to the rolling brush 12. When the driving device 14 operates, it can drive the rolling brush 12 to rotate, and then the rolling brush 12 can bring the garbage into the garbage box 13.

[0068] In one embodiment, please refer toFigure 5 The driving device 14 includes a motor 142 and a speed reducer 143. The motor 142 is connected to the speed reducer 143. A driving shaft 141 is provided on the speed reducer 143, and the driving shaft 141 is inserted into the mounting hole of the rotary brush 12. When the motor 142 operates, the driving shaft 141 is driven to rotate by the speed reducer 143, and then the rotary brush 12 is driven to rotate.

[0069] Regarding the mounting hole on the rotary brush 12, it is provided on the rotary brush shaft 121 of the rotary brush 12 and is opened on the end face of the rotary brush shaft 121. The axis of the mounting hole is collinear with the axis of the rotary brush shaft 121. One end of the rotary brush shaft 121 provided with the mounting hole is provided with a chamfer for guiding the insertion of the rotary brush shaft 121 into the mounting hole.

[0070] Regarding the specific structure of the driving shaft 141, in one embodiment, please refer to Figure 5 and Figure 6 The driving shaft 141 includes a main body portion 1411 and an edge portion 1412. The edge portions 1412 are circumferentially spaced apart along the main body portion 1411. The main body portion 1411 includes a first end and a second end. The second end is a free end. The edge portions 1412 extend from the first end to the second end along the axis of the main body portion 1411; the second end of the driving shaft 141 is a tip, and the cross-sectional area of the main body portion 1411 decreases from the first end to the second end. The height value of the edge portion 1412 in the radial direction of the driving shaft 141 decreases from the first end to the second end.

[0071] In this embodiment, by setting the free end of the driving shaft 141 as a tip, it is convenient for the driving shaft 141 to be inserted into the mounting hole on the rotary brush 12; by setting the driving shaft 141 to include the main body portion 1411 and the edge portion 1412, it can play a guiding role during the process of inserting the driving shaft 141 into the mounting hole.

[0072] The number of the edge portions 1412 is multiple, and the multiple edge portions 1412 are circumferentially spaced apart along the main body portion 1411. The number of the edge portions 1412 can be two, three, four, five, six, etc. The edge portions 1412 can be reasonably set according to the diameter of the driving shaft 141.

[0073] Regarding the cross-sectional area of the main body portion 1411 decreasing from the first end to the second end, please refer to Figure 6 The driving shaft 141 includes a first section 1415 and a second section 1416 connected to the first section 1415. One end of the first section 1415 away from the second section 1416 is the first end, and one end of the second section 1416 away from the first section 1415 is the second end. The main body portion 1411 in the first section 1415 is called the first main body portion, and the first main body portion is cylindrical. The main body portion 1411 in the second section 1416 is called the second main body portion, and the cross-sectional area of the second main body portion gradually decreases from the first end to the second end.

[0074] Regarding the height value of the edge portion 1412 along the radial direction of the drive shaft 141, it shows a decreasing trend from the first end to the second end. The edge portion 1412 in the first section 1415 is called the first edge portion, and the height value of the first edge portion along the radial direction of the drive shaft 141 remains unchanged from the first end to the second end. The edge portion 1412 in the second section 1416 is called the second edge portion, and the height value of the second edge portion along the radial direction of the drive shaft 141 gradually decreases from the first end to the second end.

[0075] Based on the above structure of the drive shaft 141, for further limitation, in one embodiment, the number of the edge portions 1412 is six, and the six edge portions 1412 are evenly spaced along the circumferential direction of the main body portion 1411.

[0076] The cross-section of the drive shaft 141 is in a hexagonal star shape. At this time, the mounting holes on the roller brush shaft 121 correspond to hexagonal star holes, and a chamfer is provided at one end of the roller brush shaft 121 where the mounting holes are provided for guiding the insertion of the roller brush shaft 121 into the mounting holes.

[0077] Please refer to Figure 6 , a groove arc surface 1414 is formed between two adjacent edge portions 1412 and the main body portion 1411. The curvature of the top arc surface 1413 of the edge portion 1412 is not less than a preset value, and the curvature of the groove arc surface 1414 is not less than a preset value, which is beneficial to the insertion of the drive shaft 141 into the mounting hole.

[0078] In this embodiment, the preset value can be reasonably limited according to the specific actual situation. Preferably, the curvatures of the groove arc surface 1414 and the top arc surface 1413 are set to be larger. The larger the curvature, the less likely it is to get stuck during the blind insertion and misalignment docking process of the drive shaft 141, and the better the guiding performance.

[0079] Next, other structures on the roller brush floor sweeping structure 1 will be further described.

[0080] Please refer to Figures 1-3 , the roller brush floor sweeping structure 1 further includes a lifting device 16. The lifting device 16 is used to raise / lower the height of the housing 11. Since the roller brush 12 and the trash box 13 are both on the housing 11, it can further realize raising / lowering the roller brush 12 and the trash box 13.

[0081] Combining the roller brush floor sweeping structure 1 with a cleaning robot to specifically illustrate the operation of the lifting device 16: When it is necessary for the roller brush 12 of the roller brush floor sweeping structure 1 to clean the ground, control the lifting device 16 to act, so that the lifting device 16 drives the housing 11 to move downward to a preset position. At this time, the bottom of the roller brush 12 is pressed against the ground to keep the roller brush 12 from missing garbage during cleaning and ensure the cleaning effect. Please refer to Figure 4 , which shows that the roller brush 12 protrudes downwardFigure 4 A dotted line is provided so that the bottom of the rotary brush 12 can be pressed against the ground. When it is not necessary for the rotary brush 12 of the rotary brush floor sweeping structure 1 to clean the ground, the lifting device 16 is controlled to act, so that the lifting device 16 drives the housing 11 to move upward to a preset position to prevent the rotary brush 12 from affecting the movement of the rotary brush floor sweeping structure 1.

[0082] Exemplarily, the lifting device 16 can be a cylinder, a hydraulic cylinder or an electric push rod.

[0083] Preferably, the rotary brush floor sweeping structure 1 further includes a parallelogram link structure 17, and the parallelogram link structure 17 is connected to the top of the housing 11. Please refer to Figure 1 and Figure 3 , which shows the parallelogram link structure 17. Two parallelogram link structures 17 are respectively arranged on both sides of the lifting device 16, and the parallelogram link structure 17 is conducive to the stable rising and falling of the housing 11.

[0084] Regarding the parallelogram link structure 17, please refer to Figure 1 , the parallelogram link structure 17 includes two vertical short rods and two inclined long rods. The two inclined long rods are arranged parallel to each other up and down, and the two vertical short rods are arranged parallel to each other. The two vertical short rods and the two inclined long rods form a parallelogram structure, and the two ends of the long rods are respectively rotatably connected to the two vertical short rods. One of the vertical short rods is fixedly connected to the housing 11, and the other vertical short rod is connected to the cleaning robot.

[0085] Preferably, the lifting device 16 is connected to the top of the housing 11 through a spring floating structure 19 to ensure the interference fit of the rotary brush against the ground on the undulating ground, so that the cleaning effect is stable and excellent. Regarding the specific structure of the spring floating structure 19, the prior art can be adopted, and no specific limitation is made in this embodiment.

[0086] In one embodiment, please refer to Figure 4 , the rotary brush floor sweeping structure 1 further includes a scraping strip 15, and the scraping strip 15 is located on the side of the rotary brush 12 away from the dust box 13.

[0087] Regarding the specific position of the scraping strip 15 on the housing 11, please refer to Figure 4 , a rotary brush avoidance opening 111 is formed at the bottom of the housing 11, the bottom of the rotary brush 12 extends out through the rotary brush avoidance opening 111, and the scraping strip 15 is installed along the lower edge of the rotary brush avoidance opening 111 and the scraping strip 15 extends downward out of the rotary brush accommodation space.

[0088] The rotary brush 12 is horizontally arranged and its end is supported on the housing 11. The rotary brush 12 is rotatably connected to the housing 11. The length extension direction of the scraping strip 15 is arranged parallel to that of the rotary brush 12. The scraping strip 15 extends downward out of the rotary brush accommodation space. Under the action of the lifting device 16, the scraping strip 15 can be pressed against the ground together with the rotary brush 12 to keep the rotary brush 12 from missing garbage during cleaning and ensure the cleaning effect.

[0089] Preferably, the scraping strip is made of rubber material.

[0090] Preferably, please refer to Figure 4 , the scraping strip 15 fits the shape of the rotary brush 12 and the scraping strip 15 covers the rotary brush 12. The scraping strip 15 is arranged on the opposite side of the garbage box 13. Refer to Figure 4 , when the rotary brush 12 rotates counterclockwise in the direction indicated by the arrow A, the scraping strip 15 can block the garbage and facilitate the rotation of the garbage along with the rotary brush 12.

[0091] In an embodiment, please refer to Figure 3 and Figure 4 , the rotary brush floor sweeping structure 1 further includes one or more height-fixed wheels 18. The height-fixed wheels 18 are installed on the housing 11 and the height-fixed wheels 18 are located below the garbage box 13.

[0092] Please refer to Figure 4 , a rotary brush avoidance opening 111 is formed at the bottom of the housing 11. The bottom of the rotary brush 12 extends out through the rotary brush avoidance opening 111. The scraping strip 15 is installed along the lower edge of the rotary brush avoidance opening 111 and is arranged on the opposite side of the garbage box 13. The height-fixed wheels 18 are arranged at the other edge position opposite to the scraping strip 15 of the rotary brush avoidance opening 111.

[0093] The height-fixed wheels 18 are used to limit the height of the rotary brush floor sweeping structure 1 from the ground, that is, the height-fixed wheels 18 are in contact with the bottom surface. When the lifting device 16 is connected to the top of the housing 11 through the spring floating structure 19, the height-fixed wheels 18 cooperate with the spring floating structure 19 to ensure the interference amount of the rotary brush 12 and the scraping strip 15 on the undulating ground, so that the cleaning effect is stable and excellent.

[0094] Regarding the number of the height-fixed wheels 18, the number of the height-fixed wheels 18 can be one, two, three, etc. According to the size of the rotary brush floor sweeping structure 1 in the length direction, the number of the height-fixed wheels 18 is reasonably set. Preferably, two height-fixed wheels 18 are arranged on the housing 11 along the length direction of the rotary brush floor sweeping structure 1.

[0095] The embodiment of the present application provides a cleaning robot, including the above-mentioned rotary brush floor sweeping structure 1. Regarding the rotary brush floor sweeping structure 1, the specific structure has been described above and will not be elaborated here.

[0096] Regarding the connection between the rolling brush floor cleaning structure 1 and other structures on the cleaning robot except the rolling brush floor cleaning structure 1, in one embodiment, the rolling brush floor cleaning structure 1 further includes a lifting device 16 and a parallelogram linkage structure 17, and the lifting device 16 and the parallelogram linkage structure 17 are connected to the frame on the cleaning robot.

[0097] When it is necessary for the rolling brush floor cleaning structure 1 to clean the ground, control the lifting device 16 to act, so that the lifting device 16 drives the housing 11 of the rolling brush floor cleaning structure 1 to move downward to a preset position. At this time, the rolling brush 12 and the scraping strip 15 of the rolling brush floor cleaning structure 1 are pressed against the ground to keep the garbage from being missed during cleaning and ensure the cleaning effect. When it is not necessary for the rolling brush 12 of the rolling brush floor cleaning structure 1 to clean the ground, for example, when the cleaning robot moves from the charging position to the position to be cleaned, control the lifting device 16 to act, so that the lifting device 16 drives the housing 11 to move upward to a preset position to prevent the rolling brush 12 and the scraping strip 15 from affecting the movement of the rolling brush floor cleaning structure 1.

[0098] The cleaning robot may further include a dust suction module, a dust pushing module and a floor washing module for switching cleaning modes for different ground media. In addition, the mobile chassis and the algorithm board of the cleaning robot can realize autonomous cleaning of the robot without manual holding. For the convenience of operation, an operation screen is provided at the front end of the cleaning robot, and tasks can be issued to the cleaning robot through screen interaction.

[0099] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A roller brush sweeping structure, characterized in that: include: The housing (11) has a roller brush accommodating space and an escape space (112) formed therein; A roller brush (12) is arranged in the roller brush accommodating space and supported on the housing (11), and the avoidance space (112) is located above the roller brush (12); A trash box (13) is arranged on one side of the roller brush (12) and connected to the housing (11); an opening (131) is formed on one side of the trash box (13) close to the roller brush (12); the opening (131) is connected to the avoidance space (112); the height of the lower edge (1311) of the opening (131) is greater than the height of the rotation center axis of the roller brush (12); and the bottom surface height of the trash box (13) is greater than the height of the bottom of the roller brush sweeping structure.

2. The roller brush sweeping structure according to claim 1, characterized in that: The bottom surface height of the axis surface of the rotation center axis of the roller brush (12) is between the bottom surface height of the garbage box (13) and the diameter of the opening (131).

3. The roller brush sweeping structure according to claim 1, characterized in that: The shell (11) comprises a guide area (113), the guide area (113) is located above the roller brush (12) and connected to the upper edge (1312) of the opening (131), the avoidance space (112) is located below the guide area (113), and the guide area (113) is arranged to be inclined upward from a direction away from the upper edge (1312) to a direction close to the upper edge (1312).

4. The roller brush sweeping structure according to claim 1, characterized in that: The height difference between the bottom surface of the garbage box (13) and the bottom of the roller brush sweeping structure (1) is greater than 10 mm.

5. The roller brush sweeping structure according to claim 1, characterized in that: The roller brush sweeping structure (1) further comprises a driving device (14) arranged on one side of the roller brush (12); the driving device (14) comprises a driving shaft (141), and the driving shaft (141) is inserted into the mounting hole of the roller brush (12); The driving shaft (141) comprises a main body (1411) and an edge portion (1412), wherein the edge portions (1412) are spaced apart along the circumference of the main body (1411), the main body (1411) comprises a first end and a second end, wherein the second end is a free end, and the edge portion (1412) extends from the first end to the second end along the axis of the main body (1411); The second end of the drive shaft (141) is a pointed end, the cross-sectional area of ​​the main body (1411) tends to decrease from the first end to the second end, and the height of the edge portion (1412) in the radial direction of the drive shaft (141) tends to decrease from the first end to the second end.

6. The roller brush sweeping structure according to claim 5, characterized in that: The number of the edge portions (1412) is six, and the six edge portions (1412) are evenly spaced and distributed along the circumferential direction of the main body portion (1411); A groove arc surface (1414) is formed between two adjacent edge portions (1412) and the main body portion (1411); the curvature of the top arc surface (1413) of the edge portion (1412) is not less than a preset value; and the curvature of the groove arc surface (1414) is not less than a preset value, so as to facilitate the insertion of the drive shaft (141) into the mounting hole.

7. The roller brush sweeping structure according to claim 1, characterized in that: The roller brush sweeping structure further comprises a scraping strip (15), wherein the scraping strip (15) is located on the side of the roller brush (12) facing away from the garbage box (13); a roller brush avoidance opening (111) is formed at the bottom of the housing (11), the bottom of the roller brush (12) extends out through the roller brush avoidance opening (111), and the scraping strip (15) is installed along the lower edge of the roller brush avoidance opening (111) and extends downward out of the roller brush accommodating space.

8. The roller brush sweeping structure according to claim 1, characterized in that: The roller brush sweeping structure (1) further comprises a lifting device (16) and a parallelogram connecting rod structure (17); the lifting device (16) is connected to the top of the housing (11) via a spring floating structure (19); the parallelogram connecting rod structure (17) is connected to the top of the housing (11); the lifting device (16) can change the height of the roller brush (12), so that when the roller brush sweeping structure (1) is working, the bottom of the roller brush (12) is pressed against the ground. The roller brush sweeping structure further comprises one or more height-fixing wheels (18), wherein the height-fixing wheels (18) are mounted on the housing (11) and the height-fixing wheels (18) are located below the garbage box (13).

9. The roller brush sweeping structure according to claim 1, characterized in that: The trash box is arranged with the roller brush in the forward direction, the bottom surface height of the trash box is greater than the bottom height of the roller brush sweeping structure, the height difference between the bottom surface of the trash box and the bottom of the roller brush sweeping structure is greater than 10 mm, the diameter range of the roller brush is 50 mm to 75 mm, the volume height of the trash box is 33 mm, the roller brush (12) comprises a roller brush shaft (121) and bristles (122) arranged on the roller brush shaft (121), the diameter range of the roller brush shaft (121) is 15 mm to 25 mm, the volume height of the trash box (13) is greater than 20 mm, and the opening size of the trash box (13) along the height direction is greater than 20 mm. The housing includes a guide area, the guide area is located above the roller brush and connected to the upper edge of the opening, the lower part of the guide area is the avoidance space, the guide area is inclined upward from the direction away from the upper edge, and the distance between the top structure of the guide area and the upper edge is greater than 23 mm; The roller brush sweeping structure also includes a driving device arranged on one side of the roller brush, the driving device is connected to the roller brush to drive the roller brush to rotate, the driving device includes a motor and a reducer, the reducer is provided with a driving shaft, the driving shaft is inserted into the mounting hole of the roller brush, when the motor is actuated, the driving shaft is driven to rotate through the reducer, and then the roller brush is driven to rotate, the mounting hole is arranged on the end face of the roller brush shaft of the roller brush, the axis of the mounting hole is colinear with the axis of the roller brush shaft, the roller brush shaft is provided with a chamfer on one end where the mounting hole is arranged, for guiding the roller brush shaft to insert into the mounting hole, the driving shaft includes a main body and an edge portion, the edge portion is spaced apart along the circumference of the main body, the main body includes a first end and a second end, the second end is a free end, The edge portion extends from the first end to the second end along the axis of the main body; the second end of the drive shaft is a pointed end, the cross-sectional area of ​​the main body decreases from the first end to the second end, and the height of the edge portion along the radial direction of the drive shaft decreases from the first end to the second end. The number of the edge portions is six, and the six edge portions are evenly spaced along the circumferential direction of the main body. The cross section of the drive shaft is a hexagonal star, and the mounting hole corresponds to a hexagonal star hole. The roller brush shaft is provided with a chamfer on one end where the mounting hole is provided, for guiding the roller brush shaft to be inserted into the mounting hole, and a groove arc surface is formed between two adjacent edge portions and the main body, the curvature of the top arc surface of the edge portion is not less than a preset value, and the curvature of the groove arc surface is not less than a preset value; The roller brush sweeping structure also includes a lifting device and a parallelogram connecting rod structure, wherein the lifting device is used to lift or lower the shell, and the lifting device drives the shell to move downward to a preset position, the bottom of the roller brush is pressed against the ground, and the parallelogram connecting rod structure is connected to the top of the shell, and two parallelogram connecting rod structures are respectively arranged on both sides of the lifting device, and the lifting device is connected to the top of the shell through a spring floating structure; The roller brush sweeping structure further includes a scraping strip, which is located on a side of the roller brush away from the garbage box, a roller brush avoidance opening is formed at the bottom of the housing, the scraping strip is installed along the lower edge of the roller brush avoidance opening, and the scraping strip extends downwardly out of the roller brush accommodating space; The roller brush sweeping structure also includes one or more height-fixing wheels, which are mounted on the shell and located below the garbage box. The height-fixing wheels are arranged at the other edge of the roller brush avoidance opening opposite to the scraper strip.

10. A cleaning robot, characterized in that: It comprises the roller brush sweeping structure (1) described in any one of claims 1 to 9.

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