Middle sweeping assembly and cleaning robot
By designing the middle sweeping component composed of floating plate, elastic parts and driving part, the problem of jamming when encountering obstacles by the cleaning robot is solved, and the obstacle avoidance and retrieval function of side brushes is realized to ensure the cleaning effect and the smooth progress of the robot.
Patent Information
- Application Number
- CN202422386058.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-08-05
- Estimated Expiration
- 2034-09-27
AI Technical Summary
During the process of traveling, the middle-sweep component is prone to contact or get stuck with obstacles, affecting the movement and work.
A middle sweeping assembly is designed, including a rolling brush assembly and a side brush assembly. The side brush assembly is formed by a floating plate, an elastic member and a driving portion. The floating plate is rotatable to avoid obstacles, the elastic member and the draw rope are balanced, and the driver controls the retraction and deployment of the side brush.
Effectively avoid obstacles, ensure smooth progress of cleaning robots, and retract side brushes when not needed to reduce volume, making it easier to store or avoid obstacles.
Smart Images
Figure CN223183481U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of cleaning robots, and in particular to a mid-sweep component and a cleaning robot. Background Art
[0002] Cleaning robots are now widely used, gaining popularity among users due to their ease of operation and user-friendliness. In their environments, cleaning robots often encounter various corners or difficult-to-clean areas. To improve cleaning effectiveness, some cleaning robots are equipped with a mid-sweep module. This module allows the robot to expand its cleaning range and clean corners between walls and floors as it moves.
[0003] However, during the movement of the cleaning robot, it will encounter various obstacles. At this time, the middle sweeping component is very likely to come into contact with the obstacle or even be stuck by the obstacle, affecting the movement and work of the cleaning robot. Utility Model Content
[0004] The purpose of this application is to provide a mid-sweep assembly and a cleaning robot to at least partially solve the above technical problems.
[0005] In a first aspect, an embodiment of the present application provides a center brush assembly, comprising a roller brush assembly and a side brush assembly, wherein the side brush assembly comprises a side brush holder, a floating plate, an elastic member, a side brush, and a drive unit. The side brush holder is disposed on the roller brush assembly, the floating plate comprises a first end and a second end connected to each other, the first end being rotatably mounted to the side brush holder along a first direction, one end of the elastic member being fixed to the side brush holder and the other end being fixed to the floating plate, the side brush being mounted to the second end, the drive unit comprising a first driver and a first pull rope, one end of the first pull rope being connected to the first driver and the other end being connected to the floating plate, the rotation axis of the floating plate being located within the angle formed by the direction of the tension applied to the floating plate by the elastic member and the direction of the tension applied to the floating plate by the first pull rope.
[0006] In some embodiments, the first driver is an electric linear actuator.
[0007] In some embodiments, the middle sweep assembly further includes a rope loop, which is fixed to the roller brush assembly, and the first pull rope is passed through the rope loop.
[0008] In some embodiments, the middle sweep assembly further comprises a pressing block, which is disposed on the roller brush assembly; the side brush is provided with a rope support, and the rope loop extends from the pressing block to the rope support.
[0009] In some embodiments, the middle sweep assembly further includes a driving device, which includes a second driver and a second pull rope, one end of the second pull rope is connected to the second driver, and the other end is connected to the roller brush assembly, and the second driver is used to drive the roller brush assembly to move vertically.
[0010] In some embodiments, the second driver includes a motor and a roller, the roller is mounted on an output shaft of the motor, and an end of the second pull rope away from the floating plate is wound around the roller.
[0011] In some embodiments, the side brush bracket includes a first plate and a second plate connected to each other, the first plate is connected to the roller brush assembly, the second plate is bent relative to the first plate, the elastic member is fixed to the second plate, and the floating plate is rotatably mounted on the second plate.
[0012] In some embodiments, the first plate body is provided with a first fixing hole and a second fixing hole, at least one of the first fixing hole and the second fixing hole is a strip hole, and the middle sweep assembly also includes a plurality of fixing parts, each fixing part is passed through the first fixing hole or the second fixing hole to connect the side brush bracket and the roller brush assembly.
[0013] In some embodiments, the second plate body is provided with a first fixing column, the floating plate is provided with a second fixing column, and both ends of the elastic member are respectively fixed to the first fixing column and the second fixing column.
[0014] In a second aspect, an embodiment of the present application provides a cleaning robot comprising the above-mentioned mid-sweep assembly.
[0015] In the middle sweep assembly and cleaning robot provided by the embodiments of the present application, the side brush is mounted on the side brush bracket via a floating plate, and the floating plate can rotate relative to the side brush bracket. When no obstacle is encountered, the floating plate is subjected to the tension of the elastic member and the tension of the first pull rope, maintaining balance and a fixed position. When an obstacle is encountered, the side brush contacts the obstacle, and the obstacle applies pressure to the side brush, causing the floating plate to rotate relative to the side brush bracket, thereby achieving the purpose of avoiding the obstacle. When the pressure of the obstacle on the side brush disappears, the elastic member can drive the side brush to return to its initial position. At the same time, when the side brush is no longer needed, the first actuator can also drive the first pull rope to retract the side brush.
[0016] These and other aspects of the present application will become more readily apparent from the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0018] Figure 1 This is a structural schematic diagram of a cleaning robot proposed in an embodiment of the present application from a first perspective.
[0019] Figure 2This is a schematic structural diagram of a cleaning robot proposed in an embodiment of the present application from a second perspective.
[0020] Figure 3 This is a schematic structural diagram of a side brush bracket in a cleaning robot proposed in an embodiment of the present application.
[0021] Figure 4 yes Figure 2 A partial enlarged view of point A in the middle. DETAILED DESCRIPTION
[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0023] Cleaning robots are now widely used, gaining popularity among users due to their ease of operation and user-friendliness. In their environments, cleaning robots often encounter various corners or difficult-to-clean areas. To improve cleaning effectiveness, some cleaning robots are equipped with a mid-sweep module. This module allows the robot to expand its cleaning range and clean corners between walls and floors as it moves.
[0024] However, during the movement of the cleaning robot, it will encounter various obstacles. At this time, the middle sweeping component is very likely to come into contact with the obstacle or even be stuck by the obstacle, affecting the movement and work of the cleaning robot.
[0025] Based on this, the inventor of this application proposed a middle sweeping assembly and a cleaning robot, in order to better enable the side brush assembly to avoid obstacles and facilitate the retraction of the side brush assembly. The present application is described in detail below in conjunction with specific embodiments.
[0026] See Figure 1 The present embodiment provides a cleaning robot 10, which is provided with a middle sweep assembly 30. The cleaning robot 10 includes a base 20 and the middle sweep assembly 30. The middle sweep assembly 30 is arranged on the base 20. In addition, the cleaning robot 10 can also selectively be provided with components such as a water tank (not shown) and a waste water tank (not shown), which is not limited in the present embodiment.
[0027] Please continue reading Figure 1 This embodiment provides a middle sweep assembly 30 , including a roller brush assembly 40 and a side brush assembly 50 , wherein the side brush assembly 50 is disposed on the roller brush assembly 40 .
[0028] Specifically, the roller brush assembly 40 includes a roller brush bracket and a roller brush (not shown). The roller brush is rotatably mounted on the roller brush bracket and is used to clean the floor while the cleaning robot 10 is moving. The roller brush bracket is mounted on the base 20 and can move vertically relative to the base 20. In this embodiment, please continue to refer to Figure 1 The roller brush bracket includes a first baffle 41 and a second baffle 42 opposite to each other. The first baffle 41 and the second baffle 42 are both mounted on the base 20. The roller brush is rotatably mounted between the first baffle 41 and the second baffle 42. In addition, the roller brush assembly 40 also includes a roller brush motor, which is used to drive the roller brush to rotate, thereby achieving floor cleaning.
[0029] The number of the side brush assembly 50 can be one, two or more. Figure 1 As shown, there are two side brush assemblies 50, and the two side brush assemblies 50 are symmetrically arranged on the roller brush bracket. Specifically, one side brush assembly 50 is arranged on the first baffle 41, and the other side brush assembly 50 is arranged on the second baffle 42.
[0030] Please combine Figure 1 and Figure 2 Each side brush assembly 50 includes a side brush bracket 53, a floating plate 55, an elastic member 54, a side brush 51 and a driving unit, wherein the side brush bracket 53 is installed on the roller brush assembly 40, the side brush 51 is installed on the floating plate 55, the floating plate 55 is rotatably installed on the side brush bracket 53, and the elastic member 54 and the driving unit can control the side brush 51 to maintain a balanced position.
[0031] Specifically, in this embodiment, the side brush bracket 53 is arranged on the roller brush bracket of the roller brush assembly 40. Specifically in this embodiment, the side brush bracket 53 of one side brush assembly 50 is arranged on the side surface of the first baffle 41 away from the second baffle 42, and the side brush bracket 53 of the other side brush assembly 50 is arranged on the side surface of the second baffle 42 away from the first baffle 41.
[0032] For ease of description, this embodiment is described by taking the side brush assembly 50 disposed on the first baffle 41 as an example. Correspondingly, the structure of the side brush assembly 50 disposed on the second baffle 42 is similar, and reference may be made to the following content.
[0033] In this embodiment, please refer to Figure 1 and Figure 3The side brush bracket 53 includes a first plate 531 and a second plate 532 connected to each other. The first plate 531 is connected to the roller brush assembly 40. Specifically, the first plate 531 can be attached to the surface of the first baffle 41 and fixed to the first baffle 41. Furthermore, the middle sweep assembly 30 also includes a plurality of fixing parts (not shown). The fixing parts pass through the first plate 531 and fix the first plate 531 to the first baffle 41. The fixing parts can be, for example, bolts, screws, etc., which are not limited in this embodiment. The second plate 532 is bent relative to the first plate 531. The bending angle of the second plate 532 relative to the first plate 531 can be, for example, 90°. The second plate 532 is used to install and fix the elastic member 54 and the floating plate 55.
[0034] Please combine Figure 3 and Figure 4 The floating plate 55 is rotatably mounted on the side brush bracket 53. The floating plate 55 is a generally plate-shaped structure, configured to be assembled approximately parallel to the second plate 532. The floating plate 55 includes a first end and a second end connected to each other. The first end is rotatably mounted on the side brush bracket 53 along a first direction, which is vertical. Specifically, the first end of the floating plate 55 is rotatably mounted on the second plate 532. In this embodiment, a step screw 552 is provided on the second plate 532. The first end defines a through hole, which is mounted on the step screw 552. A gap exists between the step screw 552 and the inner wall of the through hole, allowing the first end to rotate relative to the second plate 532. In some embodiments, a certain damping force may be provided between the step screw 552 and the through hole to control the rotational speed of the first end and the second plate 532 during relative rotation. For example, a structure such as rubber with a certain damping coefficient may be provided.
[0035] In other embodiments, the floating plate 55 and the side brush bracket 53 may be rotatably connected in other ways. For example, the floating plate 55 may be rotatably assembled with the side brush bracket 53 via a damping pin. For another example, the floating plate 55 may be rotatably assembled with the side brush bracket 53 via a meshing mechanism.
[0036] The second end of the floating plate 55 defines a mounting hole, into which the side brush 51 is mounted and connected to a side brush motor 52. The side brush motor 52 is configured to drive the side brush 51 to rotate, thereby cleaning the floor or wall. The rotation axis of the side brush 51 is the rotation axis of the output shaft of the side brush motor 52. The rotation axis of the side brush 51 is generally parallel to the first direction, meaning that the rotation axis of the side brush 51 is generally vertical. In some embodiments, the rotation axis of the side brush 51 may have a certain angle with the first direction, such as 0°-30°.
[0037] The elastic member 54 is fixed to the second plate 532 of the side brush bracket 53 and connected between the second plate 532 and the floating plate 55, providing tension to the floating plate 55. In this embodiment, the elastic member 54 is a spring with hooks at both ends. Specifically, the second plate 532 is provided with a first fixing post 533, and the floating plate 55 is provided with a second fixing post 551. The hooks at both ends of the elastic member 54 are respectively fixed to the first fixing post 533 and the second fixing post 551. When the elastic member 54 is stretched, the elastic member 54 applies a pulling force to the floating plate 55, and the pulling force is directed toward the outside of the roller brush assembly 40. For example, in the case of the side brush assembly 50 disposed on the first baffle 41, the pulling force is directed toward the side of the first baffle 41 away from the second baffle 42.
[0038] Please continue reading Figure 1 and Figure 2 The drive unit includes a first driver 61 and a first pull cord 62. One end of the first pull cord 62 is connected to the first driver 61, and the other end is connected to the floating plate 55. The first pull cord 62 also exerts tension on the floating plate 55. The rotation axis of the floating plate 55 is located within the angle formed by the direction of the tension applied by the elastic member 54 on the floating plate 55 and the direction of the tension applied by the first pull cord 62 on the floating plate 55. With this arrangement, when the side brush 51 is not in contact with an obstacle, the tension applied by the elastic member 54 on the floating plate 55 is balanced with the tension applied by the first pull cord 62 on the floating plate 55. This prevents the floating plate 55 from rotating relative to the side brush bracket 53, maintaining a fixed position and enabling stable cleaning. The first pull cord 62 can be, for example, a steel wire rope or other metal or alloy rope. In some embodiments, the first pull cord 62 can also be made of other high-strength nylon ropes, etc., but this embodiment is not limited to this.
[0039] In its natural state (i.e., when the side brush 51 is not in contact with an obstacle), the side brush 51 is located outside the roller brush holder. Specifically, the side brush 51 disposed on the first baffle 41 is at least partially located outside the first baffle 41, or on the side of the first baffle 41 away from the second baffle 42. The side brush 51 disposed on the second baffle 42 is at least partially located outside the second baffle 42, or on the side of the second baffle 42 away from the first baffle 41.
[0040] In this embodiment, the first driver 61 is an electric push rod. When powered, the first driver 61 can drive the first pull rope 62 to extend and retract, thereby driving the floating plate 55 to rotate relative to the side brush bracket 53. To further improve the stability of the first pull rope 62, the center sweep assembly 30 also includes a rope loop 63. The rope loop 63 is a hollow structure that is fixed to the roller brush assembly 40. The first pull rope 62 is inserted into the rope loop 63. When the electric push rod is activated, the first pull rope 62 moves within the rope loop 63, thereby driving the floating plate 55 to move. In other embodiments, the first driver can also be a motor, an electromagnet, a cylinder, etc., which is not limited in this embodiment.
[0041] Specifically, in this embodiment, the center sweep assembly 30 further includes a pressure block 64, which is mounted on the roller brush assembly 40. The side brush 51 is provided with a rope support 56, and a rope loop 63 extends from the pressure block 64 to the rope support 56. The rope loop 63 is secured at both ends to the pressure block 64 and the rope support 56. A through-hole is provided at the junction of the pressure block 64, the rope support 56, and the rope loop 63. The first pull rope 62 can pass through the through-hole and be routed within the rope loop 63. It should be noted that in this embodiment, the first actuator 61 is connected to two independent first pull ropes 62, each connected to the floating plates 55 of the two side brush assemblies 50. This arrangement reduces the number of first actuators 61 required, allowing a single first actuator 61 to control both side brush assemblies 50, saving costs and reducing the overall size of the center sweep assembly 30. It also allows for synchronized control of the two side brush assemblies 50.
[0042] When the first actuator 61 is tightened, the two first pull ropes 62 respectively drive the side brushes 51 of the two side brush assemblies 50 to retract inward, causing the side brushes 51 to be retracted to the position between the first baffle 41 and the second baffle 42, reducing the lateral size of the cleaning robot 10 and facilitating storage or obstacle avoidance. At this time, the elastic member 54 is in a stretched state. When the first actuator 61 is released, the tension exerted by the two first pull ropes 62 on the floating plate 55 is reduced, and the floating plate 55 is reset under the action of the elastic member 54. The floating plate 55 drives the side brushes 51 to reset outward until the tension exerted by the elastic member 54 on the floating plate 55 and the tension exerted by the first pull ropes 62 on the floating plate 55 reach equilibrium. It can be understood that there are also two rope loops 63, and the two first pull ropes 62 are respectively inserted into one rope loop 63.
[0043] In some other implementations, two first drivers 61 may also be provided to control the retraction or extension of the two side brush assemblies 50 respectively, which is not limited in this embodiment.
[0044] Please combine Figure 4The side brush 51 is mounted on the side brush bracket 53 via a floating plate 55, which can rotate relative to the side brush bracket 53. When no obstacle is encountered, the floating plate 55 is balanced and fixed in position due to the tension of the elastic member 54 and the first pull cord 62. When an obstacle is encountered, the side brush 51 contacts the obstacle, which exerts pressure on the side brush 51, causing the floating plate 55 to rotate relative to the side brush bracket 53, thereby avoiding the obstacle. When the pressure of the obstacle on the side brush 51 disappears, the elastic member 54 can drive the side brush 51 to return to its original position. Furthermore, when the side brush 51 is no longer needed, the first actuator 61 can also drive the first pull cord 62 to retract the side brush 51.
[0045] The side brush assembly 50 may be used in a variety of environments. In order to achieve a better cleaning effect in these environments, the inclination angle of the side brush 51 is crucial. For example, if the side brush 51 is completely parallel to the ground, it is easy for it to gather garbage and then fling it backwards in a circular motion, resulting in missed garbage or incomplete cleaning. Therefore, it is generally required that the side brush 51 has a pitch angle relative to the vertical plane, i.e., an inclination angle.
[0046] The inclination angle of the side brush 51 refers to the angle between the rotation axis of the side brush 51 and the horizontal plane. In this embodiment, the inclination angle of the side brush 51 can be adjusted. Specifically, in this embodiment, the first plate 531 is provided with a first fixing hole 534 and a second fixing hole 535. The number of the first fixing hole 534 can be one or more, and the number of the second fixing hole 535 can also be one or more. At least one of the first fixing hole 534 and the second fixing hole 535 is a strip-shaped hole. Each fixing member can be inserted into the first fixing hole 534 or the second fixing hole 535 to connect the side brush bracket 53 to the roller brush assembly 40. Specifically, in this embodiment, there is one first fixing hole 534, which is located approximately in the middle of the first plate 531. There are two second fixing holes 535, which are located near the edge of the first plate 531 and on opposite sides of the first fixing hole 534. Specifically in this embodiment, the second fixing hole 535 is a strip-shaped hole, further a waist-shaped hole, and the fixing part can move in the second fixing hole 535, so that when the side brush bracket 53 is assembled on the roller brush bracket of the roller brush assembly 40, the angle of the second plate 532 of the side brush bracket 53 relative to the roller brush bracket can be changed, thereby changing the inclination angle of the floating plate 55 and the side brush 51. The user can adjust the position of the fixing part between the fixed side brushes 51 according to the use requirements, thereby adjusting the inclination angle of the floating plate 55 and the side brush 51. The cleaning robot 10 can also pre-set the inclination angle of the side brush 51 when it leaves the factory. In some other embodiments, the first fixing hole 534 can also be set to a strip-shaped hole, which is not limited in this embodiment.
[0047] In some other embodiments, the inclination angle of the side brush assembly 50 can also be adjusted in other ways. For example, the side brush assembly 50 can be connected to the roller brush assembly 40 by other detachable connection methods. For example, a plurality of connection holes for connecting with the roller brush assembly 40 are provided on the side brush bracket 53. By selecting different connection holes, the angle of the side brush bracket 50 relative to the roller brush bracket can be achieved, thereby changing the inclination angle of the floating plate 55 and the side brush 51.
[0048] During the movement of the cleaning robot 10, the roller brush contacts the ground, and the travel speed of the cleaning robot 10 will decrease. Therefore, in some application scenarios, in order to increase the travel speed of the cleaning robot 10 or avoid repeated cleaning, the roller brush can be separated from the ground. In this embodiment, the middle sweep assembly 30 also includes a driving device, which includes a second driver 71 and a second pull rope 73. The second driver 71 can be set on the base 20. One end of the second pull rope 73 is connected to the second driver 71, and the other end is connected to the roller brush assembly 40. The second driver 71 is used to drive the roller brush assembly 40 to move vertically. When it is necessary to control the roller brush to move vertically, it is sufficient to control the second driver 71 to operate. During the vertical movement of the roller brush assembly 40, the side brush assembly 50 moves vertically synchronously with the roller brush assembly 40.
[0049] As a more specific embodiment, in this embodiment, the second driver 71 includes a motor and a roller 72. The roller 72 is mounted on the output shaft of the motor. The end of the second pull rope 73 away from the floating plate 55 is wound around the roller 72. After being wound from the roller 72, the second pull rope 73 is pulled outward in a direction generally along the first direction. When the motor rotates, the roller 72 rotates, causing the second pull rope 73 to tighten or loosen, thereby driving the roller brush assembly 40 to move vertically. Simultaneously, the side brush assembly 50 moves vertically along with the roller brush assembly 40. The second driver can also be other structures such as a cylinder or an electric push rod, and this embodiment is not limited to this.
[0050] The working principle of the middle sweep assembly 30 provided in this embodiment is as follows:
[0051] When the side brush 51 needs to be lifted and lowered vertically, the second driver 71 of the control driving device drives the second pull rope to move, and the pull rope roller brush assembly 40 moves vertically, thereby driving the side brush assembly 50 to be lifted and lowered vertically.
[0052] When the side brush 51 needs to move horizontally, i.e., to retract inward or expand outward, the first driver 61 of the control driving unit drives the first pull cord 62 to tighten or loosen, thereby changing the tension of the first pull cord 62 on the floating plate 55, thereby controlling the inward contraction or outward expansion of the side brush 51. Specifically, when the side brush 51 needs to be retracted inward, the first pull cord 62 is tightened. At this time, the tension of the first pull cord 62 on the floating plate 55 is greater than the tension of the elastic member 54 on the floating plate 55, and the floating plate 55 retracts inward relative to the side brush bracket 53. When the side brush 51 needs to be expanded outward, the first pull cord 62 is loosened. At this time, the tension of the first pull cord 62 on the floating plate 55 is less than the tension of the elastic member 54 on the floating plate 55, and under the action of the elastic member 54, the floating plate 55 expands outward relative to the side brush bracket 53.
[0053] When the inclination angle of the side brush 51 needs to be adjusted, the fixing piece is loosened to allow the side brush bracket 53 to slide along the extension direction of the second fixing hole 535, thereby changing the inclination angle of the side brush bracket 53, and then the fixing piece is fixed in a suitable position, thereby changing the pitch angle of the entire side brush 51.
[0054] When the cleaning robot 10 is moving and working, and there are no obstacles, the floating plate 55 is balanced and fixed in position due to the tension of the elastic member 54 and the first pull rope 62. When an obstacle is encountered, the side brush 51 contacts the obstacle, which exerts pressure on the side brush 51, causing the floating plate 55 to rotate relative to the side brush bracket 53, thereby avoiding the obstacle. When the pressure of the obstacle on the side brush 51 disappears, the elastic member 54 can drive the side brush 51 to return to its original position.
[0055] It should also be noted that, in this embodiment, expressions such as "first", "second", "third", and "fourth" are only used for distinction and do not represent limitations on specific structures.
[0056] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.
Claims
1. A mid-sweep assembly, characterized in that: It includes a roller brush assembly and a side brush assembly, and the side brush assembly includes: A side brush bracket, the side brush bracket being arranged on the roller brush assembly; a floating plate, the floating plate comprising a first end and a second end connected to each other, the first end being rotatably mounted on the side brush bracket along a first direction; an elastic member, one end of the elastic member being fixed to the side brush bracket and the other end being fixed to the floating plate; a side brush mounted on the second end; The driving part includes a first driver and a first pull rope, one end of the first pull rope is connected to the first driver, and the other end is connected to the floating plate, and the rotation axis of the floating plate is located within the angle range formed by the direction of the tension applied by the elastic member to the floating plate and the direction of the tension applied by the first pull rope to the floating plate.
2. The middle sweep assembly according to claim 1, characterized in that: The first driver is an electric push rod.
3. The middle sweep assembly according to claim 1, characterized in that: The middle sweep assembly further comprises a rope loop, which is fixed to the roller brush assembly, and the first pull rope is passed through the rope loop.
4. The middle sweep assembly according to claim 3, characterized in that: The middle sweep assembly further comprises a pressing block, which is arranged on the roller brush assembly. The side brush is provided with a rope support, and the rope loop extends from the pressing block to the rope support.
5. The middle sweep assembly according to claim 1, characterized in that: The middle sweep assembly also includes a driving device, which includes a second driver and a second pull rope. One end of the second pull rope is connected to the second driver, and the other end is connected to the roller brush assembly. The second driver is used to drive the roller brush assembly to move vertically.
6. The middle sweep assembly according to claim 5, characterized in that: The second driver includes a motor and a roller. The roller is mounted on the output shaft of the motor. One end of the second pull rope away from the floating plate is wound around the roller.
7. The middle sweep assembly according to any one of claims 1 to 6, characterized in that: The side brush bracket includes a first plate and a second plate connected to each other, the first plate is connected to the roller brush assembly, the second plate is bent relative to the first plate, the elastic member is fixed to the second plate, and the floating plate is rotatably mounted on the second plate.
8. The middle sweep assembly according to claim 7, characterized in that: The first plate body is provided with a first fixing hole and a second fixing hole, at least one of the first fixing hole and the second fixing hole is a strip hole, and the middle sweep assembly also includes a plurality of fixing parts, each of the fixing parts is passed through the first fixing hole or the second fixing hole to connect the side brush bracket and the roller brush assembly.
9. The middle sweep assembly according to claim 7, characterized in that: The second plate body is provided with a first fixing column, the floating plate is provided with a second fixing column, and both ends of the elastic member are respectively fixed to the first fixing column and the second fixing column.
10. A cleaning robot, characterized in that: The invention comprises a middle sweep assembly as described in any one of claims 1 to 9.