Autonomous cleaning robot and side brush

Abstract

The present disclosure provides an autonomous cleaning robot and an edge brush. The autonomous cleaning robot and the edge brush comprise: a driving device configured to move the autonomous cleaning robot to travel on a surface to be cleaned; a motor; and an edge brush driven to rotate by the motor to agitate debris on the surface to be cleaned, the edge brush comprising: a hub configured to be coupled to a driving shaft of the motor; two arm portions, the two arm portions being located on the same side of the hub relative to the hub and extending outward relative to the hub; and a bundle of bristles, each arm portion being provided with one bundle of bristles, wherein each arm portion comprises a first segment extending from the hub and a second segment extending from the first segment, the bundle of bristles being attached to the second segment, the first segment and the second segment are bent against a working rotation direction of the edge brush, and in a horizontal direction, a bending angle of the first segment is different from a bending angle of the second segment.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning appliances, and more particularly to an autonomous cleaning robot and its side brush. Background Technology

[0002] Autonomous cleaning robots, such as robotic vacuum cleaners, typically include side brushes. The rotation of these brushes agitates dust on the surface to be cleaned, and a cleaning assembly located behind the brushes (behind the robot's direction of travel) performs the cleaning task. However, as the brushes rotate, long, thin objects such as hair often become entangled. This hair is difficult to remove and increases the risk of damage to the brushes. Utility Model Content

[0003] This disclosure provides an autonomous cleaning robot and its side brush.

[0004] According to one aspect of this disclosure, an autonomous cleaning robot is provided, comprising: a drive unit configured to move the autonomous cleaning robot across a surface to be cleaned; a motor; and a side brush driven by the motor to rotate and agitate debris on the surface to be cleaned, the side brush comprising: a hub configured to be coupled to a drive shaft of the motor; two arms located on the same side of the hub and extending outward relative to the hub; and a bristle bundle, each arm having a bristle bundle, wherein each arm comprises a first segment and a second segment, the first segment extending from the hub and the second segment extending from the first segment, the bristle bundle being attached to the second segment, the first segment and the second segment being bent in the direction of rotation of the side brush, and in the horizontal direction, the bending angle of the first segment being different from that of the second segment.

[0005] According to at least one embodiment of the autonomous cleaning robot, in the horizontal direction, the bending angle of the first segment is smaller than the bending angle of the second segment.

[0006] According to at least one embodiment of the autonomous cleaning robot, the projection of the extension axis of the first segment onto the plane in the horizontal direction is a first straight line segment, and the projection of the extension axis of the second segment onto the plane in the horizontal direction is a second straight line segment.

[0007] According to at least one embodiment of the autonomous cleaning robot, the angle between the first straight line segment and the second straight line segment is not less than 90° and not greater than 120°.

[0008] According to at least one embodiment of the autonomous cleaning robot, the first segment and the second segment extend downward in the vertical direction, wherein the angle between the extension axis of the first segment and the vertical direction is greater than the angle between the extension axis of the second segment and the vertical direction.

[0009] According to at least one embodiment of the autonomous cleaning robot, the longitudinal cross-sectional dimension of the first segment is smaller than the longitudinal cross-sectional dimension of the second segment.

[0010] According to at least one embodiment of the autonomous cleaning robot, the first segment has a longitudinal cross-section of uniform size.

[0011] According to at least one embodiment of the autonomous cleaning robot, the longitudinal cross-sectional dimensions of the second segment gradually increase from the first segment.

[0012] According to at least one embodiment of the autonomous cleaning robot, the second segment includes: an end face for connecting the bristle bundle, wherein the bristle bundle extends outward relative to the end face; and a protrusion extending outward relative to the end face and disposed on one side of the bristle bundle, wherein the one side is one side of the second segment facing the working rotation direction of the side brush.

[0013] According to at least one embodiment of the autonomous cleaning robot, the protrusions and the bristle bundles are spaced apart, and the projections of the protrusions and the bristle bundles on the horizontal plane do not overlap.

[0014] According to another aspect of this disclosure, a side brush is provided for mounting to an autonomous cleaning robot, comprising: a hub configured to be coupled to a drive shaft of a motor of the autonomous cleaning robot; two arms, the two arms being located on the same side of the hub and extending outward relative to the hub; and a bristle bundle, each arm being provided with a bristle bundle, wherein each arm includes a first segment and a second segment, the first segment extending from the hub and the second segment extending from the first segment, the bristle bundle being attached to the second segment, the first segment and the second segment being bent in the direction of rotation of the side brush, and in the horizontal direction, the bending angle of the first segment being different from that of the second segment.

[0015] According to at least one embodiment of the side brush, in the horizontal direction, the bending angle of the first segment is smaller than the bending angle of the second segment.

[0016] According to at least one embodiment of the brush, the projection of the extension axis of the first segment onto the plane in the horizontal direction is a first straight line segment, and the projection of the extension axis of the second segment onto the plane in the horizontal direction is a second straight line segment.

[0017] According to at least one embodiment of the edge brush, the angle between the first straight line segment and the second straight line segment is not less than 90° and not greater than 120°.

[0018] According to at least one embodiment of the side brush, the first segment and the second segment extend downward in the vertical direction, wherein the angle between the extension axis of the first segment and the vertical direction is greater than the angle between the extension axis of the second segment and the vertical direction.

[0019] According to at least one embodiment of the side brush, the dimension of the longitudinal section of the first segment is smaller than the dimension of the longitudinal section of the second segment.

[0020] According to at least one embodiment of the side brush, the first segment has a longitudinal cross-section with uniform dimensions.

[0021] According to at least one embodiment of the side brush, starting from the first segment, the longitudinal cross-sectional dimensions of the second segment gradually increase.

[0022] According to at least one embodiment of the side brush, the second segment includes: an end face for connecting the bristle bundle, wherein the bristle bundle extends outward relative to the end face; and a protrusion extending outward relative to the end face and disposed on one side of the bristle bundle, wherein the one side is one side of the second segment facing the working rotation direction of the side brush.

[0023] According to at least one embodiment of the side brush, the protrusions and the bristle bundles are spaced apart, and the projections of the protrusions and the bristle bundles on the horizontal plane do not overlap. Attached Figure Description

[0024] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0025] Figure 1 This is a structural schematic diagram of an autonomous cleaning robot according to one embodiment of the present disclosure.

[0026] Figure 2 This is a structural schematic diagram of an autonomous cleaning robot according to one embodiment of the present disclosure from another angle.

[0027] Figure 3 This is a schematic diagram of the side brush of an autonomous cleaning robot according to an embodiment of the present disclosure.

[0028] Figure 4 This is a schematic diagram of the side brush of an autonomous cleaning robot according to an embodiment of the present disclosure.

[0029] Figure 5 This is a schematic diagram of the side brush of an autonomous cleaning robot according to an embodiment of the present disclosure.

[0030] Figure 6 This is a schematic diagram of the side brush of an autonomous cleaning robot according to an embodiment of the present disclosure.

[0031] Figure 7 This is a schematic diagram of the side brush of an autonomous cleaning robot according to an embodiment of the present disclosure. Detailed Implementation

[0032] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0033] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0035] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0036] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0037] Traditional side brushes used in autonomous cleaning robots such as robotic vacuums face several technical challenges affecting their performance and lifespan. One issue is the symmetrical arrangement of the brush arms, typically evenly distributed around the rotating hub. This arrangement increases the contact area with the surface to be cleaned, leading to excessive friction and accelerating brush bristle wear. Over time, this wear reduces cleaning efficiency, necessitating frequent brush replacements. Another problem is that hair or lint can easily become entangled in the side brushes and move towards the hub, potentially tangling with the robot vacuum's motor drive shaft, causing motor stalling or damage.

[0038] To this end, this disclosure provides a side brush and an autonomous cleaning robot equipped with the side brush.

[0039] Figure 1 This is a schematic diagram of an autonomous cleaning robot from one perspective according to one embodiment of the present disclosure. Figure 2 This is a schematic diagram from another angle of an autonomous cleaning robot according to one embodiment of the present disclosure. (See diagram below.) Figure 1 and Figure 2 As shown, self-moving surface cleaners can be cleaning devices such as robot vacuums, robot mops, autonomous cleaning robots, or robot vacuums and mops. Among them, autonomous cleaning robots can move autonomously on the surface to be cleaned to sweep and pick up particles and other debris from different parts of the surface.

[0040] by Figure 1 and Figure 2 Taking the autonomous cleaning robot shown as an example, let's denote the forward direction as A. (Reference) Figure 1 and Figure 2 In the view orientation, the autonomous cleaning robot's forward direction is upward. The direction opposite to the robot's forward direction is denoted as the backward direction. (Reference) Figure 1 and Figure 2 The direction of view, the direction opposite to the forward direction, is the downward direction. Correspondingly, the direction perpendicular to the forward and backward direction can be defined as the left and right direction.

[0041] The autonomous cleaning robot may include a chassis assembly 100, which can be formed as part of the robot's body. The chassis assembly 100 has steering wheels 400 and driving wheels 500 at its bottom. The steering wheels 400 are used to control the robot's direction of travel. The driving wheels 500 are used to propel the robot forward. The steering wheels 400 are located at the front of the chassis assembly 100. The driving wheels 500 may be located on the left or right sides of the chassis assembly 100.

[0042] like Figure 2As shown, the present disclosure provides two walking wheels 500, which are located approximately at the center of the chassis assembly 100 in the front-rear direction and on both sides of the chassis assembly 100 in the left-right direction. One steering wheel 400 is provided, which can be a caster wheel. Accordingly, the caster wheel is positioned at the center of the autonomous cleaning robot in the left-right direction and near the front end of the autonomous cleaning robot. Of course, the present disclosure also provides two or more steering wheels 400.

[0043] In practical use, the walking wheels 500 can be driven and rotated. By controlling the walking wheels 500 to rotate at a constant speed, the autonomous cleaning robot can move forward. Conversely, by controlling the walking wheels 500 to rotate at non-constant speeds, the autonomous cleaning robot can be controlled to turn.

[0044] Additionally, a cleaning component 300 is provided on the chassis assembly 100. This cleaning component 300 is located at the midpoint of the chassis assembly 100 in the front-rear direction. The length direction of the cleaning component 300 is the same as the width direction of the chassis assembly 100. More specifically, the cleaning component 300 can be a roller brush. The roller brush is rotatably connected to the chassis assembly 100. The axis of rotation of the roller brush is parallel to the surface to be cleaned, for example, parallel to the ground.

[0045] In this disclosure, a side brush 200 is also provided on the chassis component 100. The side brush 200 can be one or two. Figure 2 In this configuration, one side brush 200 is provided. The side brush 200 can be positioned on the right or left side of the front end of the chassis assembly 100. By rotating the side brush 200, dirt on the surface to be cleaned can be agitated, thereby cleaning the surface.

[0046] Side brush 200 extends beyond the outer edge of the autonomous cleaning robot and is unidirectionally rotatable in the direction of rotation. Side brush 200 sweeps dirt and debris from the periphery of the autonomous cleaning robot toward the cleaning assembly 300 of the autonomous cleaning robot. For example, side brush 200 sweeps dirt and debris in the area in front of the autonomous cleaning robot, or sweeps debris into the projected cleaning path of the autonomous cleaning robot. During obstacle following motion, as the autonomous cleaning robot travels along the periphery of an obstacle and its side tracks the obstacle, side brush 200 sweeps debris along the obstacle. Side brush 200 can rotate to sweep the surface to be cleaned and propel debris toward the cleaning assembly 300 (roller brush). Side brush 200 rotates about its axis of rotation. As described herein, side brush 200 is able to sweep a portion of the surface to be cleaned below the roller brush while the roller brush rotates to pick up dirt particles from the surface to be cleaned. This allows the roller brush to extend along a larger portion of the total width of the autonomous cleaning robot without interfering with the operation of the roller brush and side brush 200 during autonomous cleaning operations. Side brush 200 extends outwards from and away from the bottom surface of the autonomous cleaning robot. Side brush 200 is mounted to the motor of the autonomous cleaning robot. This motor is operatively connected to a controller. By being positioned such that at least a portion of side brush 200 extends beyond the contour of the robot body, side brush 200 can easily access and contact debris on the ground surface outside the area directly below the autonomous cleaning robot. Side brush 200 can be mounted to a drive shaft. This drive shaft is connected to the motor that drives side brush 200.

[0047] Figure 2 The diagram shows the specific structure when the cleaning component is a roller brush. The rotation axis of the roller brush is parallel to the surface to be cleaned. When the roller brush rotates, it can clean the surface to be cleaned.

[0048] Thus, the rotating roller brush of the cleaning component 300 can agitate the dirt on the surface to be cleaned. This dirt can be sucked into the dust box or other device by negative pressure adsorption, and the solid particles are separated in the dust box or other device, thereby achieving the cleaning operation of the surface to be cleaned.

[0049] In this disclosure, the chassis assembly 100, steering wheels 400, and walking wheels 500 are able to form part of the robot body.

[0050] Figures 3 to 7 Schematic diagrams of different angles of the side brush according to embodiments of the present disclosure are shown.

[0051] The side brush 200 of this disclosure is disposed on the robot body and can be driven by a drive motor. The side brush 200 is rotatable relative to the chassis assembly 100 of the robot body. Although not illustrated in this disclosure, those skilled in the art will understand that the drive motor can be directly or indirectly fixed to the chassis assembly 100. The drive motor may include an output shaft (drive shaft). The output shaft has a vertical axis of rotation (i.e., a axis of rotation that can be perpendicular to the surface to be cleaned). The side brush 200 can be directly fixed to the output shaft of the drive motor. The drive motor can drive the side brush 200 to rotate about the axis of rotation. In another embodiment, the drive motor can be connected to a gearbox, in which case the gearbox has an output shaft with a vertical axis of rotation (i.e., a axis of rotation perpendicular to the surface to be cleaned). The side brush 200 can be directly fixed to the output shaft of the gearbox, so that the drive motor can drive the side brush 200 to rotate about the axis of rotation. More preferably, the axis of rotation is substantially perpendicular to the surface to be cleaned. Related technologies of the drive motor and gearbox, etc., can be referred to in the prior art and will not be described in detail herein.

[0052] Figures 3 to 7 An embodiment of a side brush 200 is described. This embodiment is described with respect to the X-axis, Y-axis, and Z-axis. The axis of rotation O of the side brush 200 is along the direction of the Z-axis and perpendicular to the XY plane. As described herein, in some cases, the XY plane is parallel to the surface to be cleaned, and the Z-axis is perpendicular to the surface to be cleaned.

[0053] Side brush 200 is a side brush for an autonomous cleaning robot, including a hub 210, two arms 220A and 220B, and two bristle bundles 230A and 230B. In the example disclosed herein, side brush 200 is generally asymmetrical about the axis of rotation O. Hub 210 is configured to cooperate with a motor of the autonomous cleaning robot, for example, it can be fixed to the drive shaft of the motor. Side brush 200 is mounted such that when side brush 200 rotates about the axis of rotation O, it can clean a portion of the ground surface below the robot and propel debris on the ground surface toward cleaning assembly 300. The portion of the ground surface cleaned by side brush 200 also includes at least a portion directly below cleaning assembly 300. As described herein, hub 210, arms 220A and 220B, and bristle bundles 230A and 230B are configured so that side brush 200 can clean the area below cleaning assembly 300 without interfering with the operation of cleaning assembly 300. For example, during rotation, the bristle bundles 230A and 230B can sweep across the area directly below the cleaning component 300.

[0054] The hub 210 includes a hemispherical portion 210A with a circular cross-section (in the XY plane). Of course, the shape or cross-section of the hub 210 can also be any other suitable shape or cross-section. The hub 210 is configured to engage the drive shaft of the motor of the autonomous cleaning robot. For example, as... Figure 3 As shown, the hub 210 includes a square bore 210B. The size and dimensions of the square bore 210B are adapted for connection to a drive shaft. When the square bore 210B is engaged with the drive shaft, torque can be transmitted from the motor to the hub 210, enabling the motor to rotate the side brush 200. The height of the hub 210 is defined by the lowest point of the arms 220A and 220B attached to the hub 210 and the highest surface of the square bore 210B.

[0055] The hub 210, arms 220A and 220B, and bristle bundles 230A and 230B can be made of different materials. For example, the hub 210 is a single piece of plastic, and the arms 220A and 220B, bristle bundles 230A and 230B, or both, extend from the hub 210. The hub 210 is made of a rigid polymer material, and the arms 220A and 220B are made of an elastomer material. The arms 220A and 220B are more deformable than the hub 210, acting as support and cushioning for the bristle bundles 230A and 230B, keeping the bristles concentrated, and deforming in response to contact with ground surfaces and obstacles to prevent damage to the bristle bundles 230A and 230B. Alternatively, the hub and arms can also be molded as a single piece.

[0056] In some examples, bristle bundles 230A, 230B are composed of multiple flexible fibers. Each bristle bundle 230A, 230B extends outward from the end face 222B of the second segment 222 of the arms 220A, 220B. The bristle bundles 230A, 230B extend from the arms 220A, 220B along an extension axis perpendicular to the end face 222B. The length of the bristle bundles 230A, 230B beyond the arms 220A, 220B is greater than 45 mm (e.g., 46 mm). The bristle bundle is the straight-line length from the first segment 222A of the arms 220A, 220B to the distal end of the bristle bundle 230A, 230B.

[0057] In this application, the number of arms can be multiple, preferably two. The two arms are located on the same side of the hub and extend outwards relative to the hub. For example... Figure 3 As shown, the two arms are located on the same side of the hub relative to the dashed line D passing through the center point of the hub. Each arm is equipped with a bristle bundle.

[0058] The shape of each arm can be set to be the same or different. In this application, each arm includes a first segment 221 and a second segment 222. The first segment 221 extends outward from the hub 210, and the direction of extension is also towards the surface to be cleaned. The second segment 222 extends outward from the first segment 221, and the direction of extension is also towards the surface to be cleaned. Thus, the overall extension direction of the arm is outward and towards the surface to be cleaned.

[0059] Additionally, the first segment 221 and the second segment 222 also bend in the direction of the side brush's rotation. Figure 3 In the image, the working rotation direction of the side brush is indicated by an arc with an arrow. (For example...) Figure 3 It can be seen that both the first segment 221 and the second segment 222 bend in the direction of the side brush's rotation. Alternatively, it can be said that the first segment 221 and the second segment 222 bend in the XY plane (horizontal direction) in the direction of the side brush's rotation. Figure 3 As can be seen, the bending angles of the first segment 221 and the second segment 222 are significantly different. That is, in this application, the first segment 221 and the second segment 222 are not continuous arc shapes. Therefore, compared to an arm formed by a continuous arc shape, the arm shape of this application can better prevent hair and other substances from tangling.

[0060] exist Figure 3 In the diagram, the first segment 221 and the second segment 222 are shown with respect to their horizontal extension axes, respectively, using dashed lines. With the dashed lines as a reference, the bending angle of the first segment is smaller than that of the second segment relative to the radial direction of the wheel hub. Figure 3 In the figure, the radial direction of the hub is shown by a double-dotted line. It can be seen from the figure that the angle between the extension axis of the first segment 221 and the radial direction is smaller than the angle between the extension axis of the second segment 222 and the radial direction.

[0061] exist Figure 3 The extended axis of the first segment 221 shown can be considered as being in the XY plane (horizontal direction), and it can be seen that it is a straight line segment, referred to as the first straight line segment in this paper. Figure 3 The extended axis of the second segment 222 shown can be considered as being in the XY plane (horizontal direction), and it can be seen that it is a straight line segment, referred to herein as the second straight line segment. In order to better prevent hair and other objects from tangling and to achieve a better cleaning effect, in this application, the angle between the first straight line segment and the second straight line segment is not less than 90° and not greater than 120°.

[0062] As described above, the arm of the side brush extends towards the surface to be cleaned, that is, it extends downwards in the vertical direction. The angle between the extension axis of the first segment and the vertical direction is greater than the angle between the extension axis of the second segment and the vertical direction. Figure 7 In the diagram, the extension axis 221E of the first segment and the extension axis 222E of the second segment are shown by dashed lines, and the vertical direction is indicated by a double-dotted line V. From Figure 7 As can be seen from the diagram, the angle between the extension axis 221E of the first segment and the double-dotted line V is θ1, and the angle between the extension axis 222E of the second segment and the double-dotted line V is θ2, where θ1 > θ2.

[0063] Furthermore, in this application, the longitudinal cross-sectional dimension of the first segment is larger than that of the longitudinal cross-sectional dimension of the second segment. For example, it can be seen from... Figure 3 As can be seen, the longitudinal cross-sectional dimensions of the first segment are basically the same along its length. For the second segment, the longitudinal cross-sectional dimensions gradually increase from the first segment onwards.

[0064] Two arms 220A and 220B extend outward from the hub 210, away from the rotation axis O of the side brush 200. The two arms 220A and 220B are configured to be spaced apart and inclined on the semicircular side of the hemispherical body 210A of the hub 210, with the inclination direction opposite to the unidirectional rotation direction (working rotation direction) of the hub 210. In conventional brush arrangements, two or more arms are directly and symmetrically distributed around the hub, which increases the friction area between the bristles and the surface to be cleaned during the cleaning process, making the bristles prone to dispersion, potentially damaging them and affecting the cleaning effect. In this disclosure, the two arms 220A and 220B are spaced apart and arranged on the semicircular side of the hub, forming an asymmetrical vortex arrangement relative to the rotation axis O. Each arm is inclined so that its longitudinal axis is opposite to the unidirectional rotation direction of the hub, thereby reducing the contact area between the arm and the surface to be cleaned during rotation compared to symmetrically arranged arms evenly distributed around the hub. The angled arrangement minimizes the dispersion of bristles adhering to the arm, thereby reducing bristle damage and improving cleaning efficiency.

[0065] In some examples, each arm 220A, 220B is angled relative to an orthogonal plane perpendicular to the rotation axis O of the side brush 200. Each arm 220A, 220B includes a first segment 221 extending outward from the hub 210 and a second segment 222 extending outward from the first segment 221, both away from the rotation axis O. The first segment 221 is configured to connect the arms 220A, 220B to the hub 210, while the second segment 222 is configured to connect the bristle bundles 230A and 230B. The first segment 221 is mounted on the hub 210 in the aforementioned inclined manner, with the inclination direction opposite to the unidirectional rotation direction of the hub 210. When the side brush 200 is mounted to the drive shaft, both the first segment 221 and the second segment 222 extend downward toward the ground surface. Although the hub 210 is relatively low in height, positioning itself above the ground surface with a certain gap, the downward extension of the first segment 221 and the second segment 222 allows the bristle bundles 230A and 230B to contact the ground surface. The angle between the first segment 221 of each arm 220A and 220B and the orthogonal plane of the axis of rotation is greater than the angle between the second segment 222 and the orthogonal plane of the axis of rotation. The first segment 221 and the second segment 222 extend outward from the hub 210. The first segment 221 is attached to the hub 210 at the connecting end 221A of each arm 220A and 220B and extends outward from the hub 210, away from the axis of rotation O. The second segment 222 extends outward from the first segment 221, away from the axis of rotation O, and terminates at the free end 222A of each arm 220A and 220B.

[0066] For example, both the first segment 221 and the second segment 222 extend outwards, away from the rotation axis O, so that when the side brush 200 rotates, the free end 222A of each arm 220A, 220B sweeps across an imaginary circle. When viewed along the Y-axis, this circle sweeps across the outer edge of the free end 222A of each arm 220A, 220B. By extending outwards, the first segment 221 and the second segment 222 enable the side brush 200 to extend outwards from the autonomous cleaning robot, covering the outer perimeter of the autonomous cleaning robot and the area outside and below the cleaning width.

[0067] In some embodiments, a first segment 221 extends downward from the hub 210. A second segment 222 extends further downward from the first segment 221. By extending downward, the arms 220A, 220B allow the bristle bundles 230A, 230B to contact the ground surface below the side brush 200. In some embodiments, the angle between the first segment 221 of each arm 220A, 220B and the orthogonal plane of the rotation axis is greater than the angle between the second segment 222 and the orthogonal plane of the rotation axis. The first segment 221 is angled upward relative to the second segment 222, such that the angle between the first segment 221 and the orthogonal plane of the rotation axis is greater than the angle between the second segment 222. In some embodiments, the second segment 222 of each arm 220A, 220B is angled relative to the first segment 221 in a direction opposite to the unidirectional rotation direction of the side brush 200. For example, the angle between the first segment 221 of each arm 220A, 220B and the plane containing the rotation axis O is smaller than the angle between the second segment 222 and the plane containing the rotation axis.

[0068] In some embodiments, two bristle bundles 230A and 230B are respectively connected to and extend outward from two arms 220A and 220B. Each bristle bundle 230A and 230B includes a plurality of bristles that sweep the floor surface as the side brush 200 rotates during autonomous cleaning operation. The bristle bundles 230A and 230B of the side brush 200 can sweep the surface to be cleaned and push debris toward the cleaning assembly 300. During rotation, at least a portion of the bristle bundles 230A and 230B can be positioned below the cleaning assembly 300 during the rotation of the side brush 200 and the cleaning assembly 300.

[0069] In this disclosure, the cross-sectional area of ​​the second segment 222 is larger than that of the first segment 221, which enhances the arm's ability to deflect flexible debris (such as hair) outward. In one example, the cross-sectional area of ​​the free end 222A of the second segment 222 is larger than that of the connecting end 221A of the first segment 221. This configuration provides overall structural stability and a wider surface for mounting the bristle bundles. In some examples, the free end 222A includes an end face 222B for connecting the bristle bundles 230A and 230B, and bristle bundles 230A and 230B and a protrusion 230C extending outward from the end face 222B. The protrusion 230C facilitates further blocking of flexible debris (such as hair) from migrating further onto the free end 222A, ensuring that the hub is not entangled in flexible debris (such as hair) leading to rotational failure.

[0070] To facilitate the capture of flexible debris, in some examples, protrusions 230C are positioned on the side of the bristle bundles 230A and 230B opposite to the unidirectional rotation direction of the hub 210. After the bristle bundles 230A and 230B sweep and pick up the flexible debris, such as hair or thread, the protrusions 230C, along with the bristle bundles 230A and 230B and the end face 222B, collectively prevent the flexible debris from further migrating centripetally. In some embodiments, the protrusions 230C and the bristle bundles 230A and 230B are spaced apart on the end face, and the projections of the protrusions and the bristle bundles on the horizontal plane do not overlap. Furthermore, when the rotation axis O of the hub 210 is orthogonal to the horizontal plane, the projections of the protrusions 230C and the bristle bundles 230A and 230B on the horizontal plane do not coincide, ensuring that the spacing between the protrusions 230C and the bristle bundles 230A and 230B can hold the flexible debris in place, preventing the flexible debris from affecting the rotation of the hub. In summary, in the embodiments of this disclosure, the above-described configuration of the side brush prevents flexible debris (such as hair or thread) entangled in the bristle bundles from moving along the arm towards the hub. The spaced arrangement of the protrusions and bristle bundles on the end face increases the difficulty of moving flexible debris, confining it towards the hub between the protrusions and the bristle bundles. This effectively prevents flexible debris from becoming entangled on the drive shaft operatively connected to the hub of the cleaning device, thereby reducing the risk of the drive shaft stopping due to entanglement. Therefore, the cleaning device can maintain consistent cleaning performance, ensure uninterrupted operation, and improve the user experience by reducing maintenance requirements related to debris removal.

[0071] In some embodiments, the second segment 222 further includes a gradient 222C located on its underside. The gradient 222C includes an inclined surface 222D facing the unidirectional rotation direction of the hub 210. The gradient 222C increases the contact area of ​​the second segment 222, making it more difficult for flexible debris to migrate through the second segment 222, thus preventing flexible debris from gathering towards the hub. The inclined surface 222D can guide obstacles on the ground during the unidirectional rotation of the hub 210, preventing the second segment 222 from being stuck by obstacles and causing abnormal deformation. In some examples, the inclined surface 222D has a tendency to tilt towards the end face 222B on the second segment 222, thereby guiding dirt particles, especially flexible debris (such as hair), present on the surface to be cleaned towards the end face 222B during rotation, further preventing flexible debris from migrating towards the hub.

[0072] Although the side brush 200 is described as extending beyond the front surface and sides of the autonomous cleaning robot, in some embodiments, the side brush 200 extends only beyond the front surface or only beyond the sides of the autonomous cleaning robot. Although the autonomous cleaning robot is depicted in the figures as including one side brush 200, in some embodiments, the autonomous cleaning robot includes multiple side brushes. For example, one side brush is positioned near one side, while another side brush is positioned near the other side. In some embodiments, if the autonomous cleaning robot includes multiple side brushes, either side can be positioned as adjacent to the obstacle during obstacle-following behavior. The autonomous cleaning robot does not have a primary obstacle-following side. In this respect, the autonomous cleaning robot does not need to be repositioned to position its following side near the obstacle in order to clean near the obstacle. Although the side brush 200 is shown and positioned adjacent to the right side of the autonomous cleaning robot, in some embodiments, the side brush may instead be positioned on the left side of the autonomous cleaning robot. The primary obstacle-following side of the autonomous cleaning robot may correspond to the left side of the autonomous cleaning robot rather than the right side.

[0073] Each arm is tilted relative to the normal plane of the rotation axis, in the opposite direction to the unidirectional rotation direction. This asymmetrical tilt arrangement reduces the contact area with the cleaning surface, thereby minimizing friction and bristle wear. Each arm includes a first section for securing the arm to the hub and a second section for supporting the bristle tuft. The first section has a larger angle relative to the normal plane compared to the second section, allowing the bristle tuft to contact the cleaning surface while the hub remains elevated to avoid obstructions. The second section has a larger cross-sectional area than the first section, providing structural stability and a wider bristle tuft mounting surface. The bristle tuft extends outward from the second section, sweeping debris toward the main roller brush. In some embodiments, the end face of the second section has a protrusion that maintains a distance from the bristle tuft to reduce debris entanglement. This configuration allows the side brushes to sweep debris undisturbed, including the area below the main roller brush, while reducing the risk of wear and entanglement. A cyclone-guided brush body design, along with increased ramp steps, prevents hair from climbing and entangled in the side brushes.

[0074] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0075] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0076] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. An autonomous cleaning robot, characterized in that, include: A drive unit is configured to move the autonomous cleaning robot across the surface to be cleaned; motor; as well as The side brush, driven by the motor, rotates to agitate debris on the surface to be cleaned. The side brush includes: A hub configured to be coupled to the drive shaft of the motor; The arm, of which there are two, is located on the same side of the hub and extends outward relative to the hub; and Each arm is equipped with one bristle bundle. Each arm includes a first section and a second section. The first section extends from the hub, and the second section extends from the first section. The bristle bundle is attached to the second section. The first and second sections bend in the direction of the working rotation of the side brush, and in the horizontal direction, the bending angle of the first section is different from that of the second section.

2. The autonomous cleaning robot as described in claim 1, characterized in that, In the horizontal direction, the bending angle of the first segment is smaller than that of the second segment.

3. The autonomous cleaning robot as described in claim 2, characterized in that, The projection of the extension axis of the first segment onto the plane in the horizontal direction is the first straight line segment, and the projection of the extension axis of the second segment onto the plane in the horizontal direction is the second straight line segment.

4. The autonomous cleaning robot as described in claim 3, characterized in that, The angle between the first straight line segment and the second straight line segment is not less than 90° and not greater than 120°.

5. The autonomous cleaning robot as described in any one of claims 1 to 4, characterized in that, The first segment and the second segment extend downward in the vertical direction, wherein the angle between the extension axis of the first segment and the vertical direction is greater than the angle between the extension axis of the second segment and the vertical direction.

6. The autonomous cleaning robot as described in claim 5, characterized in that, The longitudinal cross-section of the first segment is smaller than that of the longitudinal cross-section of the second segment.

7. The autonomous cleaning robot as described in claim 5, characterized in that, The first segment has a longitudinal cross-section with uniform dimensions.

8. The autonomous cleaning robot as described in claim 5, characterized in that, Starting from the first segment, the longitudinal cross-sectional dimensions of the second segment gradually increase.

9. The autonomous cleaning robot as described in any one of claims 1 to 4, characterized in that, The second paragraph includes: An end face for connecting the bristle bundle, and the bristle bundle extending outward relative to the end face; and A protrusion extends outward relative to the end face and is provided on one side of the bristle bundle, wherein the side is the side of the second segment facing the working rotation direction of the side brush.

10. The autonomous cleaning robot as described in claim 9, characterized in that, The protrusions and the bristle bundles are spaced apart, and the projections of the protrusions and the bristle bundles on the horizontal plane do not overlap.

11. A side brush, installed on an autonomous cleaning robot, characterized in that, include: The hub is configured as a drive shaft for the motor of the autonomous cleaning robot; The arm portion, the number of which is two, is located on the same side of the wheel hub and extends outward relative to the wheel hub; as well as Each arm is equipped with one bristle bundle. Each arm includes a first section and a second section. The first section extends from the hub, and the second section extends from the first section. The bristle bundle is attached to the second section. The first and second sections bend in the direction of the working rotation of the side brush, and in the horizontal direction, the bending angle of the first section is different from that of the second section.

12. The side brush as described in claim 11, characterized in that, In the horizontal direction, the bending angle of the first segment is smaller than that of the second segment.

13. The side brush as described in claim 12, characterized in that, The projection of the extension axis of the first segment onto the plane in the horizontal direction is the first straight line segment, and the projection of the extension axis of the second segment onto the plane in the horizontal direction is the second straight line segment.

14. The side brush as described in claim 13, characterized in that, The angle between the first straight line segment and the second straight line segment is not less than 90° and not greater than 120°.

15. The edge brush as described in any one of claims 11 to 14, characterized in that, The first segment and the second segment extend downward in the vertical direction, wherein the angle between the extension axis of the first segment and the vertical direction is greater than the angle between the extension axis of the second segment and the vertical direction.

16. The side brush as described in claim 15, characterized in that, The longitudinal cross-section of the first segment is smaller than that of the longitudinal cross-section of the second segment.

17. The side brush as described in claim 15, characterized in that, The first segment has a longitudinal cross-section with uniform dimensions.

18. The side brush as described in claim 15, characterized in that, Starting from the first segment, the longitudinal cross-sectional dimensions of the second segment gradually increase.

19. The edge brush as claimed in any one of claims 11 to 14, characterized in that, The second paragraph includes: An end face for connecting the bristle bundle, and the bristle bundle extending outward relative to the end face; and A protrusion extends outward relative to the end face and is provided on one side of the bristle bundle, wherein the side is the side of the second segment facing the working rotation direction of the side brush.

20. The side brush as described in claim 19, characterized in that, The protrusions and the bristle bundles are spaced apart, and the projections of the protrusions and the bristle bundles on the horizontal plane do not overlap.

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