Automatic cleaning machine

Abstract

The automatic cleaning device includes a moving platform (1000) arranged to move automatically over an operating surface, and a cleaning module (5000) assembled to the moving platform (1000) and arranged to clean the operating surface, the cleaning module (5000) including a roller brush frame (200), a roller brush (300) mounted within the roller brush frame and arranged to interfere with the operating surface, and a support assembly (400) assembled on the roller brush frame and arranged to contact the operating surface in an operating state and control a predetermined amount of interference between the roller brush and the operating surface.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority from Chinese Patent Application No. 202223604720.8, filed on December 30, 2022, the contents of which are incorporated by reference in their entirety as part of this application.

[0002] FIELD OF THE DISCLOSURE The present disclosure relates to the field of self-propelled equipment, and in particular to automatic cleaning equipment. [Background technology]

[0003] With the continuous development of science and technology, automatic cleaning devices such as robot vacuum cleaners, wet / dry vacuum cleaners, etc. are widely used in homes. To achieve the cleaning function, the cleaning robot is equipped with a cleaning brush to pick up different sizes of debris on the ground and then suck it into a debris collection box.

[0004] The structure, installation method, and degree of interference with the cleaning brush and its frame are important factors that affect the cleaning effect of automatic cleaning equipment. There is still room for improvement in the optimization of the structure, installation direction, and ease of installation of each cleaning brush assembly.

[0005] Therefore, there is a need to provide an automatic cleaning device with an improved structure to solve the above problems. Summary of the Invention

[0006] Some embodiments of the present disclosure provide an automatic cleaning device, the automatic cleaning device comprising: a moving platform arranged to move automatically on the operating surface; a cleaning module assembled to the moving platform and arranged to clean the operating surface, the cleaning module comprising: A roller brush frame; a roller brush attached within the roller brush frame and arranged to interfere with the operation surface; and a support assembly assembled on the roller brush frame and arranged to contact the operating surface in an operative state and control a predetermined amount of interference between the roller brush and the operating surface.

[0007] The drawings herein are incorporated into the specification and constitute a part of this specification, show embodiments corresponding to the present disclosure, and are used in conjunction with the specification to explain the principles of the present disclosure. Of course, the drawings described below are merely some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without any creative effort. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a structural schematic diagram of an automatic cleaning device provided by the present disclosure; [Figure 2] FIG. 2 is a schematic diagram of the bottom structure of the automatic cleaning device in FIG. [Figure 3] 1 is a schematic diagram of the local structure of a cleaning module of an automatic cleaning device provided by the present disclosure; [Figure 4] FIG. 4 is a structural schematic diagram of the brush structural member of the cleaning module of FIG. 3; [Figure 5] 4 is a schematic diagram of the local structure of the cleaning module of FIG. 3 from another angle. [Figure 6] 1 is a structural schematic diagram of an example of a cleaning module of an automatic cleaning device provided by the present disclosure; FIG. [Figure 7] FIG. 7 is a schematic diagram of the local structure of the cleaning module of FIG. 6 from another angle. [Figure 8] FIG. 2 is a structural schematic diagram of another example of a cleaning module of an automatic cleaning device provided by the present disclosure. [Figure 9] FIG. 9 is an enlarged schematic structural diagram of region M in FIG. 8. DETAILED DESCRIPTION OF THE INVENTION

[0009] In order to clarify the technical solutions and technical effects of the present disclosure, the present disclosure will be described in more detail below with reference to the drawings, but of course, the described embodiments are only a part of the embodiments of the present disclosure, and do not represent all of the embodiments. All other embodiments that can be obtained by a person skilled in the art based on the embodiments of the present disclosure without any creative work are also within the scope of protection of the present disclosure.

[0010] The terms used in the embodiments of the present disclosure are merely for the purpose of describing particular embodiments and are not intended to limit the present disclosure. As used in the embodiments of the present disclosure and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms unless the context clearly indicates otherwise, and "plurality" generally includes at least two.

[0011] As will be understood, the term "and / or" as used herein merely describes the relation between related objects, and indicates that three types of relations may exist, for example, A and / or B can indicate three situations: A exists alone, A and B exist simultaneously, and B exists alone. Also, the character " / " in this specification generally indicates that the related objects before and after it are in an "or" relationship.

[0012] As should be further explained, the terms "comprises," "including," or any other variations thereof, are intended to cover non-exclusive inclusions, whereby a product or device comprising a set of elements not only includes those elements, but also includes other elements not expressly listed or inherent in such product or device. In the absence of further limitations, elements qualified by the phrase "comprises a..." do not exclude the presence of other similar elements in the product or device comprising said elements.

[0013] In the related art, automatic cleaning devices such as robot vacuum cleaners include single roller brush type and double roller brush type models, but both types of models have problems such as significant wear and even damage to the roller brush due to excessive interference between the roller brush and the operating surface, noise problems due to an inability to control the amount of interference between the roller brush and the operating surface, and reduced cleaning effectiveness due to significant wear of the roller brush.

[0014] In view of the above problems, the present disclosure provides an automatic cleaning device, which provides a wear-resistant assembly on a roller brush frame, and arranges the wear-resistant assembly to contact the operating surface and support the roller brush frame, thereby separating the roller brush frame from the operating surface by a predetermined distance to control the amount of interference between the roller brush and the operating surface, thereby further optimizing the structure of the assembly related to the roller brush frame and effectively controlling the amount of interference between the roller brush and the operating surface. Furthermore, it can effectively suppress operating noise caused by the amount of interference with the operating surface not being able to be controlled within a specified range, while effectively avoiding problems such as significant wear on the roller brush and therefore reduced cleaning effect caused by the amount of interference between the roller brush and the operating surface not being able to be controlled.

[0015] The solution of the present disclosure is particularly suitable for controlling the amount of interference between a roller brush with low compressibility (i.e., a hard core roller brush) and the ground, as such roller brushes have a good ability to maintain their shape and have a relatively large cleaning power, but tend to be noisier, for example, when the roller brush is a dual brush and the roller brush with low compressibility comes into contact with the ground, or when the roller brush is a single brush and the ground needs to be cleaned with the roller brush with low compressibility.

[0016] For purposes of illustration, in this disclosure, the left side of a drawing page will be referred to as the first side, the right side of a drawing page will be referred to as the second side, the top side of a drawing page will be referred to as the top side, the bottom side of a drawing page will be referred to as the bottom side, the back side of a drawing page will be referred to as the back side, and the front side of a drawing page will be referred to as the front side.

[0017] The following description of the present disclosure will be given taking a robot vacuum cleaner as an example.

[0018] Selected embodiments of the present disclosure will now be described in detail with reference to the drawings.

[0019] Fig. 1 is a structural schematic diagram of an automatic cleaning device provided by some embodiments of the present disclosure, and Fig. 2 is a bottom structural schematic diagram of the automatic cleaning device of Fig. 1. As shown in Fig. 1, the automatic cleaning device may be a vacuum suction robot, a mop / scrub robot, a window climbing robot, etc.

[0020] To more clearly describe the behavior of the automatic cleaning equipment, directions are defined as follows: the automatic cleaning equipment can move on the ground along a combination of three mutually perpendicular axes: the lateral axis Y, the front-to-rear axis X, and the central vertical axis Z. The front-to-rear axis X represents the forward or backward direction of the automatic cleaning equipment (or the width direction of the roller brush frame), XY represents the horizontal plane in which the automatic cleaning equipment is located, the central vertical axis Z is a direction perpendicular to the XY horizontal plane, and the automatic cleaning equipment can rotate around the Z axis.

[0021] 1 and 2, the present disclosure provides an automatic cleaning device, for example, a robot vacuum cleaner, which includes a moving platform 1000 arranged to automatically move on an operating surface, and the operating surface may be, for example, the ground, a desk, a roof, a platform, etc., or may be any operating surface.

[0022] Furthermore, the automatic cleaning device may be a vacuum suction robot, a mop / scrub robot, a window climbing robot, etc., and the automatic cleaning device may include a sensing system 2000, a control system (not shown), a drive system 3000, an energy system (not shown), a human-machine interaction system 4000, and a cleaning module 5000.

[0023] In some embodiments, the mobile platform 1000 may be an autonomous mobile platform or a non-autonomous mobile platform. The term "autonomous mobile platform" refers to the mobile platform 1000 itself being capable of automatically and adaptively making operational decisions based on unexpected environmental inputs, while the non-autonomous mobile platform itself is not capable of adaptively making operational decisions based on unexpected environmental inputs, but can execute a predetermined program or operate according to a certain logic. Accordingly, if the mobile platform 1000 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device, while if the mobile platform 1000 is a non-autonomous mobile platform, the target direction may be established by a system or artificially.

[0024] The sensing system 2000 includes sensing devices such as a positioning device (not shown) located above the mobile platform 1000, a buffer located in the front portion of the mobile platform 1000, cliff sensors and ultrasonic sensors located at the bottom of the mobile platform, and provides various position and operating status information of the machine to the control system.

[0025] The control system (not shown) is installed on a circuit board within the mobile platform 1000 and includes a computing processor such as a central processing unit or an application processor that communicates with a non-transitory storage medium such as a hard disk, flash memory, or random access memory, and is configured to receive environmental information sensed by the plurality of sensors transmitted from the sensing system, create a real-time map of the environment in which the automatic cleaning device exists using a position estimation algorithm such as SLAM based on obstacle information fed back from the positioning device, and autonomously determine a driving path based on the environmental information and the environmental map, and then control the drive system 3000 to perform operations such as moving forward, backward, and / or steering based on the autonomously determined driving path. Furthermore, the control system can also determine whether to activate the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

[0026] The drive system 3000 may be based on specific distance and angle information. The drive system 3000 includes a drive wheel assembly, and the drive system 3000 can control the left and right wheels simultaneously. The energy system includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery.

[0027] The human-machine interaction system 4000 includes buttons on the main body panel for the user to select functions, and may further include a display screen and / or indicator lights and / or a speaker for displaying the current machine status or function selection items to the user. The human-machine interaction system 4000 may further include a mobile phone client program. For a route navigation type cleaning device, the mobile phone client can display a map of the environment in which the machine is located and the location of the device to the user, thereby providing the user with richer and more user-friendly functions.

[0028] FIG. 2 is a schematic diagram of the bottom structure of the automatic cleaning equipment in FIG. 1. As shown in FIG. 2, the automatic cleaning equipment includes a moving platform 1000, which is arranged to move freely on an operating surface, and a cleaning module 5000 is installed at the bottom of the moving platform 1000, which is arranged to clean the operating surface.

[0029] As shown in FIG. 2, the cleaning module 5000 includes a dust box, a fan, and a main brush module.

[0030] Specifically, the cleaning module 5000 includes a driving unit, a roller brush frame 200, and a roller brush 300 assembled in the roller brush frame 200. The driving unit provides a forward or reverse driving force, which is applied to the roller brush 300 through a multi-stage gear set, so that the roller brush 300 rotates under the action of the driving force to clean the operating surface, or the roller brush 300 rotates under the action of the driving force to collect dust.

[0031] 3 is a partial structural schematic diagram of a cleaning module of the automatic cleaning device provided by the present disclosure, and FIG. 4 is a structural schematic diagram of a brush structure member of the cleaning module of FIG.

[0032] As shown in Figures 1 to 4, the present disclosure provides a cleaning device, which includes a mobile platform 1000 arranged to automatically move on an operating surface, and a cleaning module assembled to the mobile platform 1000 and arranged to clean the operating surface.

[0033] The mobile platform in the example of FIG. 3 has almost the same configuration as the mobile platform in the example of FIG. 1, so a description of the same parts will be omitted.

[0034] Specifically, the cleaning module 5000 includes a roller brush frame 200 , a roller brush 300 attached to the roller brush frame 200 , and a support assembly 400 .

[0035] More specifically, the roller brush 300 is detachably mounted in the roller brush frame 200 and is arranged along a first direction perpendicular to the front-rear axis of the moving platform, and the roller brush 300 is arranged to interfere with the operation surface. The support assembly 400 is assembled in the roller brush frame 200 and arranged to contact the operation surface and support the roller brush frame 200, thereby separating the roller brush frame 200 from the operation surface by a predetermined distance to control the amount of interference between the roller brush 300 and the operation surface, and thereby effectively suppressing operation noise caused by the amount of interference with the operation surface not being controlled within a specified range.

[0036] In some embodiments, when the automatic cleaning device is in operation, the lowest point of the support assembly 400 contacts the operating surface. In this disclosure, the lowest point refers to the point farthest from the moving platform 1000 in a direction perpendicular to the moving platform, i.e., the point farthest from the moving platform in a direction parallel to the central vertical axis Z of the automatic cleaning device. For example, when the automatic cleaning device is in a horizontal state, the lowest point is the point farthest from the moving platform in the vertical direction. With this design, the support assembly can support the roller brush frame 200 on the operating surface and control a predetermined amount of interference between the roller brush 300 and the operating surface, thereby ensuring the cleaning effect of the automatic cleaning device.

[0037] 1 to 3, the drive wheel assembly 3000 of the automatic cleaning device includes a running wheel 3001 assembled on the mobile platform 1000, and when the automatic cleaning device is in operation, the lowest point of the support assembly 400 is flush with the lowest point of the running wheel 3001. The running wheel 3001 is used to support the weight of the entire mobile platform 1000, and the support assembly 400 supports at least a portion of the weight of the roller brush frame 200 and the roller brush 300.

[0038] In this specification, the lowest point of the support assembly 400 and the lowest point of the running wheel 3001 being flush means that the distance between the lowest point of the support assembly 400 and the moving platform is equal to the distance between the lowest point of the running wheel 3001 and the moving platform.

[0039] Some embodiments of the present disclosure have been researched and designed specifically for situations in which the running wheels and / or roller brushes are movable up and down, thereby solving the specific problem of controlling the interference between the roller brushes and the ground. Specifically, in some embodiments, the running wheels 3001 are arranged to passively float between a first position and a second position relative to the mobile platform 1000 in a direction perpendicular to the mobile platform 1000, with the second position being farther from the mobile platform than the first position. The running wheels are attached to the bottom of the mobile platform 1000, for example, by a first elastic device. When the automatic cleaning device leaves the operating surface, the first elastic device causes the running wheels 3001 to move away from the mobile platform 1000 to the second position. When the automatic cleaning device is placed on the operating surface, the weight of the mobile platform 1000 compresses the first elastic device, causing the running wheels 3001 to move closer to the mobile platform 1000 to the first position. When the automatic cleaning device is in operation, the running wheel 3001 is used to support the weight of the entire moving platform 1000, and the support assembly 400 supports at least a portion of the weight of the roller brush frame 200 and the roller brush 300. The running wheel 3001 is in the first position, and the lowest point of the support assembly is flush with the lowest point of the running wheel.

[0040] In some embodiments, the roller brush frame 200 is arranged to passively float relative to the mobile platform 1000 between a third position and a fourth position in a direction perpendicular to the mobile platform 1000, the fourth position being located farther from the mobile platform 1000 than the third position. The roller brush frame 200 is attached to the bottom of the mobile platform 1000, for example, by a second elastic device, and when the automatic cleaning device moves away from the operating surface, the roller brush frame 200 moves away from the mobile platform 1000 to the fourth position under the action of the second elastic device, and when the automatic cleaning device is placed on the operating surface, the weight of the mobile platform 1000 compresses the second elastic device, and the roller brush frame 200 moves closer to the mobile platform 1000 to the third position. When the roller brush frame 200 is in the fourth position, the lowest point of the support assembly 400 is flush with the lowest point of the running wheel 3001, or the lowest point of the support assembly is located farther from the moving platform 1000 than the lowest point of the running wheel 3001. The running wheel 3001 is used to support the weight of the entire moving platform 1000, and the support assembly 400 supports at least a portion of the weight of the roller brush frame 200 and the roller brush 300.

[0041] In some embodiments, the running wheel 3001 is arranged to passively float relative to the mobile platform 1000 between a first position and a second position in a direction perpendicular to the mobile platform 1000, the second position being located farther from the mobile platform than the first position, and the roller brush frame 200 is arranged to passively float relative to the mobile platform 1000 between a third position and a fourth position in a direction perpendicular to the mobile platform 1000, the fourth position being located farther from the mobile platform 1000 than the third position, and when the running wheel 3001 is in the first position and the roller brush frame 200 is in the fourth position, the lowest point of the support assembly 400 and the lowest point of the running wheel 3001 are flush, or the lowest point of the support assembly is located farther from the mobile platform than the lowest point of the running wheel.

[0042] In some embodiments, when the automatic cleaning device is in a floating state, the lowest point of the roller brush 300 is located farther from the moving platform 1000 than the lowest point of the support assembly 400. This ensures that when the automatic cleaning device is in an operating state, a predetermined amount of interference can be controlled between the roller brush 300 and the operating surface.

[0043] In this example, the operating surface refers to the ground, but is not limited thereto, and in other examples, the operating surface may be any other flat surface that needs cleaning, a platform, etc. The above are merely described as selective examples and should not be understood as limiting the present disclosure.

[0044] In the example of Figure 3, the drum frame 200 includes two second side frames 210 extending in the first direction (Y-axis direction) and two first side frames 220 extending in a second direction (X-axis direction) parallel to the axis of the moving platform, and the bottom of the first side frames 220 is arranged as an inclined portion that gradually approaches the ground from the front to the rear.

[0045] Specifically, the roller brush 300 includes a first roller brush 310 and a second roller brush 320 arranged in parallel, and the first roller brush 310 and the second roller brush 320 approach the wear-resistant assembly 400 in sequence in a second direction parallel to the axis of the moving platform.

[0046] Optionally, a first interference amount between the first roller brush 310 and the operating surface is equal to or less than a second interference amount between the second roller brush 320 and the operating surface, or an end face of the second roller brush 320 closer to the operating surface is closer to the operating surface than an end face of the first roller brush 310 closer to the operating surface, see FIG. 1 for details.

[0047] In other examples, the end face of the second roller brush 320 closest to the operating surface is flush with or coplanar with the end face of the first roller brush 310 closest to the operating surface. The above are merely described as selective examples and should not be construed as limiting the present disclosure.

[0048] In some embodiments, the diameter of the first roller brush 310 is the same as the diameter of the second roller brush 320, and the axis of the first roller brush 310 is located farther from the operating surface than the axis of the second roller brush 320.

[0049] Optionally, one of the first roller brush 310 and the second roller brush 320 is a hard core roller brush and the other is a soft core roller brush, for example, the first roller brush 310 is a soft core roller brush and the second roller brush 320 is a hard core roller brush.

[0050] In some embodiments, the first roller brush 310 and the second roller brush 320 have the same structure and are both hard-core roller brushes.

[0051] In another example, at least one of the first roller brush and the second roller brush is a hard-core roller brush. The above is merely an example and should not be construed as limiting the present disclosure.

[0052] Specifically, the first roller brush 310 and the second roller brush 320 are installed at the front cleaning brush mounting position 11 and the rear cleaning brush mounting position 12, respectively, and the first roller brush 310 and the second roller brush 320 rotate in opposite directions. Note that the first roller brush 310 is the front brush located at the front side, and the second roller brush 320 is the rear brush located at the rear side. The first roller brush 310 and the second roller brush 320 have almost the same structure, and the only difference between them is the mounting method and mounting direction when they are mounted to the device main body. Because the structure of the first roller brush is almost the same as that of the second roller brush, only the structure of the first roller brush will be described below, and a description of the second roller brush will be omitted.

[0053] In this example, the first roller brush 310 includes a shaft rod 311 and a brush structural member 313 .

[0054] Specifically, the brush structure member 313 includes a tubular member 3131 and at least one brush member 3132, wherein the tubular member 3131 is fitted onto the shaft rod 311 so as to be coaxial with the shaft rod 311, and the at least one brush member 3132 extends from the outer surface of the tubular member 3131 in a direction away from the tubular member 3131.

[0055] Furthermore, the shaft rod 311 is a long cylindrical member, and its axis can be regarded as the rotation axis of the brush structure member 313. After the first roller brush 310 is attached to the device body, the driving system of the front brush or rear brush can rotate the shaft rod 311 to drive the brush structure member 313 on the surface of the shaft rod for cleaning. The tubular member 3131 is also a long cylindrical member, and its length is essentially the same as that of the shaft rod. The tubular member 3131 may be a flexible member or a rigid member.

[0056] In some embodiments, a plurality of brush elements 3132 are provided on the outer surface of the cylindrical member 3131, each having a V-shaped structure (e.g., four evenly distributed V-shaped spiral blades, each with a spiral angle of, for example, 90 degrees, see FIG. 4 for details), and the brush elements are evenly distributed around the circumference of the cylindrical member 3131, with the tips of the V-shaped structures of the brush elements facing the same direction around the circumference of the cylindrical member. Designing the brush elements in a V-shaped structure allows dust to be easily stirred up when the front and rear brushes rotate in opposite directions, preventing excessive impact force from being generated and damaging the brush elements, thereby improving their service life.

[0057] In some embodiments, the brush elements 3132 are spirally distributed on the outer surface of the tubular element 3131. In some embodiments, the brush elements 342 may be in other forms, such as vanes or bristles.

[0058] FIG. 5 is a schematic diagram of the local structure of the cleaning module of FIG. 3 from another angle.

[0059] As can be seen from FIG. 5, there are two wear-resistant assemblies 400, which are installed at the rear bottom of the two first side frames 220, respectively.

[0060] In other embodiments, the number of the wear-resistant assemblies 400 may be one, three, four, or more. The above are merely described as selective examples and should not be understood as limiting the present disclosure.

[0061] In some embodiments, the support assembly 400 includes a wear-resistant assembly, such as a wear-resistant block or a wear-resistant roller, which will hereinafter be referred to as 400, i.e., the wear-resistant assembly 400, which is detachably assembled to the bottom of the roller brush frame 200, and which includes a plurality of replaceable parts of different sizes, which are assembled to the bottom of the roller brush frame 200 and arranged to obtain a plurality of interference amounts between the roller brush 300 and the operating surface (e.g., the ground), for example, to obtain a plurality of interference amounts between the second roller brush 320 and the operating surface.

[0062] Specifically, by replacing replaceable parts of different sizes, the relative distance between the end face of the replaceable part closest to the operating surface and the end face of the roller brush frame 200 closest to the operating surface can be changed, thereby changing (e.g., decreasing or increasing) the amount of interference between the roller brush 300 (specifically, the second roller brush 320) and the operating surface (e.g., the ground).

[0063] By improving the structure of the wear-resistant assembly and providing multiple replaceable parts of different sizes, the specified distance between the roller brush frame 200 and the operating surface can be adjusted by replacing the replaceable parts, thereby controlling the amount of interference between the second roller brush and the operating surface, which can more effectively ensure the amount of interference between the second roller brush and the operating surface, and further effectively suppress operating noise caused by the amount of interference with the operating surface not being able to be controlled within the specified range.

[0064] FIG. 6 is a structural schematic diagram of an example of a cleaning module of an automatic cleaning device provided by the present disclosure.

[0065] As shown in FIG. 6, the wear-resistant assembly 400 includes a replaceable wear-resistant roller 410, which is detachably attached to the rear bottom of the first side frame 220, and which supports the roller brush frame 200 by rolling contact with the operating surface.

[0066] Specifically, the wear-resistant assembly 400 further includes a pivot shaft 420, and the wear-resistant roller 410 can rotate around the pivot shaft 420 to come into rolling contact with the operating surface.

[0067] As shown in FIG. 7, a protrusion 221 that protrudes toward the operation surface is provided on the rear side of the first side frame 220, and the protrusion 221 is positioned a predetermined distance away from the operation surface. The protrusion 221 has a shaft mounting hole 2211 that is used to mount the rotating shaft 420 of the wear-resistant roller 410.

[0068] Specifically, the wear-resistant roller 410 is, for example, a roller of a different diameter, and by replacing the wear-resistant roller 410 having a different diameter, the predetermined distance between the roller brush frame 200 and the operating surface can be adjusted to control the amount of interference between the roller brush 300 (specifically, the second roller brush) and the operating surface, and the amount of interference between the roller brush 300 (specifically, the second roller brush in the case of a dual brush) and the operating surface can be more effectively ensured.Furthermore, while effectively suppressing operating noise caused by the amount of interference with the operating surface not being able to be controlled within the specified range, problems such as significant wear of the roller brush and therefore a decrease in cleaning effect caused by the amount of interference between the roller brush and the operating surface not being able to be controlled can be effectively avoided.

[0069] In another embodiment, the wear-resistant assembly 400 further includes a lifting assembly, which includes a slide groove and a slide block.

[0070] Specifically, for example, a slide block is connected to the pivot shaft 420, and a slide groove is provided in the first side frame 220 of the roller frame 200, which is slidably connected to the slide block, and at least one locking point is further provided in the slide groove. For example, by manual operation, the slide block of the pivot shaft 420 slides up and down (moves up and down) relative to the slide groove of the first side frame 220, and is locked at the locking point of the slide groove, thereby adjusting the predetermined distance between the roller brush frame 200 and the operating surface, thereby controlling the amount of interference between the roller brush 300 and the operating surface, or determining the shortest distance between the roller brush 300 and the operating surface.

[0071] In another embodiment, a power assembly and a controller may be provided in cooperation with the lifting assembly, and the power assembly provides power for the slide block of the pivot shaft to slide up and down relative to the slide groove of the second side frame (i.e., the wear-resistant assembly moves up and down relative to the second side frame), and the controller controls the up and down sliding movement of the slide block of the pivot shaft relative to the slide groove of the second side frame to adjust the predetermined distance between the roller brush frame 200 and the operating surface, thereby controlling the amount of interference between the roller brush 300 and the operating surface or determining the shortest distance between the roller brush 300 and the operating surface. The above are merely described as selective examples and should not be understood as limiting the present disclosure.

[0072] The replaceable parts of the wear-resistant assembly can be resized or moved up and down to control the amount of interference between the roller brush and the operating surface, and thus effectively suppress operating noise caused by the amount of interference with the operating surface not being controlled within a specified range, which is particularly suitable when the roller brush is a dual brush and the second roller brush 310 is a hard core roller brush, or when the roller brush is a single brush and a hard core roller brush.

[0073] 8 is a structural schematic diagram of another example of a cleaning module of an automatic cleaning device provided by the present disclosure, and FIG. 9 is an enlarged structural schematic diagram of region M in FIG.

[0074] The difference between the automatic cleaning device shown in Figure 8 and the automatic cleaning device shown in Figure 3 is that the wear-resistant assembly 400 includes a wear-resistant block 410' which is a replaceable part, and the wear-resistant block 410' is removably attached to the rear outer wall of the first side frame 220, and the wear-resistant block 410' is in sliding contact with the operating surface to support the roller brush frame 200.

[0075] The structure of the automatic cleaning device in FIG. 3 is almost the same as that of the automatic cleaning device in FIG. 8, so a description of the same parts will be omitted.

[0076] Specifically, the wear-resistant assembly 400 includes a fixing member 430 , which is arranged to fix the wear-resistant block 410 ′ to the rear outer wall of the first side frame 220 .

[0077] More specifically, the rear outer wall of the first side frame 220 includes a mounting groove 223 for mounting the fixing member 430, the mounting groove 223 including at least two locking points, and the fixing member 430 can be fixed to the locking points of the mounting groove 223. The mounting end (e.g., cylindrical) of the fixing member 430 is engaged with the locking points of the mounting groove 223 to fix the wear-resistant block 410′ to the rear outer wall of the first side frame 220. Specifically, by adjusting the fixed locking points, the predetermined distance between the roller brush frame 200 and the operating surface can be adjusted to control the amount of interference between the roller brush 300 and the operating surface or determine the shortest distance between the roller brush 300 and the operating surface.

[0078] In other embodiments, the predetermined distance between the roller brush frame 200 and the operating surface can be adjusted by changing the length or structural height of the wear-resistant block 410' from the operating surface to the roller brush frame, i.e., by replacing the wear-resistant block 410' with a different height, thereby controlling the amount of interference between the roller brush 300 and the operating surface. The above is merely a description of a selective example, and should not be understood as limiting the present disclosure.

[0079] Furthermore, the rear outer wall of the second side frame 200 is provided with an accommodation groove arranged to accommodate at least a portion of the wear-resistant block 410'.

[0080] In another optional embodiment, the wear-resistant block 410′ may be installed on the rear bottom of the second side frame 200. The above has been described merely as an optional example, and should not be understood as limiting the present disclosure.

[0081] As shown in FIG. 9, the end of the wear-resistant block 410' close to the operating surface includes a ground contact point 413' that comes into contact with the ground surface, and a first inclined surface 411' and a second inclined surface 412' located on both sides of the ground contact point 413'. This provides a ground contact point that makes sliding contact with the operating surface even when the roller brush frame 200 comes into contact with the operating surface at different angles, thereby supporting the roller brush frame 200. This allows the amount of interference between the roller brush 300 and the operating surface to be controlled, or the shortest distance between the roller brush 300 and the operating surface to be determined.

[0082] Specifically, the length of the first inclined surface 411' is greater than the length of the second inclined surface 412'. The length of the second inclined surface 412' is greater than the length of the ground contact point 413'. The provision of the ground contact point and the inclined surfaces on both sides thereof can improve the passage of the automatic cleaning device when it travels on an inclined surface.

[0083] By improving the end structure of the wear-resistant block in the wear-resistant assembly, it can be replaceably attached to the roller brush frame, and by installing the ground contact point and inclined surfaces on both sides thereof, the passage of the automatic cleaning equipment when running on an inclined surface can be improved, and the roller brush frame can be supported by sliding contact with the operating surface at multiple angles, thereby controlling the amount of interference between the second side frame and the operating surface. Furthermore, while effectively suppressing operating noise caused by the amount of interference with the operating surface not being able to be controlled within the specified range, problems such as significant wear on the roller brush and therefore a reduction in cleaning effectiveness caused by the amount of interference between the roller brush and the operating surface not being able to be controlled can be effectively avoided.

[0084] It should be noted that the above are merely described as selective examples and should not be construed as limiting the present disclosure.

[0085] Compared with related technologies, the automatic cleaning device of the present disclosure has a detachable wear-resistant assembly on the roller brush frame, and the wear-resistant assembly is arranged to contact the operating surface and support the roller brush frame, thereby separating the roller brush frame from the operating surface by a predetermined distance and controlling the amount of interference between the roller brush and the operating surface, thereby further optimizing the structure of the roller brush frame assembly and effectively controlling the amount of interference between the roller brush and the operating surface, and further effectively suppressing operating noise caused by the amount of interference with the operating surface not being able to be controlled within the specified range, while effectively avoiding problems such as significant wear on the roller brush and therefore reduced cleaning effectiveness caused by the amount of interference between the roller brush and the operating surface not being able to be controlled.

[0086] Furthermore, by replacing replaceable parts of different sizes or by using a lifting assembly to raise and lower the replaceable parts, the relative distance between the end face of the replaceable part closest to the operating surface and the end face of the roller brush frame closest to the operating surface can be changed, effectively changing (e.g., reducing or increasing) the amount of interference between the roller brush and the operating surface, and thus more effectively controlling the amount of interference between the roller brush and the operating surface.

[0087] Furthermore, by installing the ground contact point and the inclined surfaces on both sides thereof, the passageability of the automatic cleaning equipment when traveling on an inclined surface can be improved, and sliding contact with the operating surface at multiple angles can be ensured to support the roller brush frame.

[0088] The solution of the present disclosure is particularly suitable for controlling the amount of interference between a roller brush with low compressibility and the ground, since such roller brushes have a good ability to maintain their shape and have a relatively large cleaning power, but tend to be noisier, for example, when the roller brush is a dual brush and the roller brush with low compressibility comes into contact with the ground, or when the roller brush is a single brush and the ground needs to be cleaned with the roller brush with low compressibility. The present application further provides the following examples.

[0089] In some embodiments, when the automatic cleaning device is in operation, the lowest point of the support assembly contacts the operating surface.

[0090] In some embodiments, the automatic cleaning device further includes a running wheel, the running wheel being assembled to the moving platform, and when the automatic cleaning device is in an operating state, the lowest point of the support assembly and the lowest point of the running wheel are flush with each other.

[0091] In some embodiments, the running wheel is arranged to passively float relative to the mobile platform between a first position and a second position in a direction perpendicular to the mobile platform, the second position being located farther from the mobile platform than the first position, and when the automatic cleaning device is in an operating state, the running wheel is in the first position and the lowest point of the support assembly is flush with the lowest point of the running wheel.

[0092] In some embodiments, the roller brush frame is arranged to passively float relative to the moving platform between a third position and a fourth position in a direction perpendicular to the moving platform, the fourth position being located farther from the moving platform than the third position, and when the roller brush frame is in the fourth position, the lowest point of the support assembly and the lowest point of the running wheel are flush with each other or the lowest point of the support assembly is located farther from the moving platform than the lowest point of the running wheel.

[0093] In some embodiments, the running wheel is arranged to passively float relative to the mobile platform between a first position and a second position in a direction perpendicular to the mobile platform, the second position being located farther from the mobile platform than the first position, the roller brush frame is arranged to passively float relative to the mobile platform between a third position and a fourth position in a direction perpendicular to the mobile platform, the fourth position being located farther from the mobile platform than the third position, and when the running wheel is in the first position and the roller brush frame is in the fourth position, the lowest point of the support assembly and the lowest point of the running wheel are flush with each other or the lowest point of the support assembly is located farther from the mobile platform than the lowest point of the running wheel.

[0094] In some embodiments, when the automatic cleaning device is in a floating state, the lowest point of the roller brush is located further from the moving platform than the lowest point of the support assembly.

[0095] In some embodiments, the support assembly includes a wear-resistant assembly that is removably assembled to the bottom of the roller brush frame, and the wear-resistant assembly includes a plurality of replaceable parts of different sizes that are assembled to the bottom of the roller brush frame and arranged to obtain a plurality of amounts of interference between the roller brush and the operating surface.

[0096] In some embodiments, the roller brush is disposed to extend perpendicular to the longitudinal axis of the moving platform; the roller brush frame includes two first side frames extending parallel to the front-rear axis of the moving platform, and the bottoms of the first side frames are arranged as inclined portions that gradually approach the ground from the front to the rear; The wear-resistant assembly is installed on the rear bottom of at least one second side frame.

[0097] In some embodiments, the wear-resistant assembly includes a wear-resistant roller that is removably attached to a rear bottom portion of the first side frame, and the wear-resistant roller is in rolling contact with the operating surface and supports the roller brush frame.

[0098] In some embodiments, a protrusion that protrudes toward the operating surface is provided on the rear side of the second side frame, and the protrusion has a shaft mounting hole that is used to mount the rotating shaft of the wear-resistant roller.

[0099] In some embodiments, the wear-resistant assembly includes a wear-resistant block that is removably attached to a rear outer wall of the first side frame, and the wear-resistant block is in sliding contact with the operating surface to support the roller brush frame.

[0100] In some embodiments, an end of the wear-resistant block proximate to the operating surface includes a contact point that contacts the operating surface and at least one inclined surface provided proximate to the contact point.

[0101] In some embodiments, the wear-resistant assembly further includes a fastening member, the fastening member positioned to secure the wear-resistant block to the rear outer wall of the second side frame.

[0102] In some embodiments, the rear outer wall of the second side frame is provided with an accommodation groove arranged to accommodate at least a portion of the wear-resistant block.

[0103] In some embodiments, the mounting position of the wear-resistant assembly on the roller brush frame is adjustable, thereby adjusting the spacing distance between the roller brush frame and the operating surface to adjust the amount of interference between the roller brush and the operating surface.

[0104] In some embodiments, the roller brushes include a first roller brush and a second roller brush arranged in parallel, the first roller brush and the second roller brush approaching the support assembly in sequence in a direction parallel to the fore-aft axis of the moving platform.

[0105] In some embodiments, a first amount of interference between the first roller brush and the operating surface is equal to or less than a second amount of interference between the second roller brush and the operating surface.

[0106] In some embodiments, the diameter of the first roller brush is the same as the diameter of the second roller brush, and the axis of the first roller brush is located farther from the operating surface than the axis of the second roller brush.

[0107] In some embodiments, one of the first roller brush and the second roller brush is a hard core roller brush, and the other is a soft core roller brush.

[0108] In some embodiments, the support assembly includes a wear block and / or a wear wheel.

[0109] The above solution of the embodiments of the present disclosure can have the following beneficial effects: Compared with the prior art, the automatic cleaning device of the present disclosure has a detachable wear-resistant assembly on the roller brush frame, which is arranged to contact the operating surface and support the roller brush frame, thereby separating the roller brush frame by a predetermined distance from the operating surface and controlling the amount of interference between the roller brush and the operating surface, thereby further optimizing the structure of the roller brush frame assembly and effectively controlling the amount of interference between the roller brush and the operating surface, and further effectively suppressing operating noise caused by the amount of interference with the operating surface not being able to be controlled within the specified range, while effectively avoiding problems such as significant wear on the roller brush and therefore reduced cleaning effectiveness caused by the amount of interference between the roller brush and the operating surface not being able to be controlled.

[0110] Furthermore, by replacing replaceable parts of different sizes or by using a lifting assembly to raise and lower the replaceable parts, the relative distance between the end face of the replaceable part closest to the operating surface and the end face of the roller brush frame closest to the operating surface can be changed, effectively changing (e.g., reducing or increasing) the amount of interference between the roller brush and the operating surface, and thus more effectively controlling the amount of interference between the roller brush and the operating surface.

[0111] Furthermore, by installing the ground contact point and the inclined surfaces on both sides thereof, the passageability of the automatic cleaning equipment when traveling on an inclined surface can be improved, and sliding contact with the operating surface at multiple angles can be ensured to support the roller brush frame.

[0112] Furthermore, controlling the amount of interference between the roller brush and the operating surface using the wear-resistant assembly of the present disclosure is particularly suitable for controlling the amount of interference between a roller brush with low compressibility and the ground, as such roller brushes have a good ability to maintain their shape and have a relatively large cleaning power but tend to be noisier, for example, when the roller brush is a dual brush and the roller brush with low compressibility comes into contact with the ground, or when the roller brush is a single brush and the roller brush with low compressibility needs to clean the ground.

[0113] Furthermore, the present disclosure also conducts research and design directed to situations where the running wheels and / or roller brushes are capable of moving up and down, and also solves the specific problem of controlling the amount of interference between the roller brushes and the ground.

[0114] Finally, it should be noted that the embodiments in this specification are described in a progressive manner, and the differences between each embodiment and other embodiments are emphasized in the description, and the same or similar parts between each embodiment may be referred to. Regarding the systems or devices disclosed in the embodiments, they correspond to the methods disclosed in the embodiments, so the description is relatively simple, and the relevant parts may be referred to the description of the method part.

[0115] The above examples are used only to explain the technical solutions of the present disclosure and are not limiting thereof. The present disclosure has been described in detail with reference to the above examples. However, those skilled in the art may still amend the technical solutions described in the above examples or equivalently replace some of the technical features thereof, but it should be understood that such amendments or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An automatic cleaning device, a moving platform arranged to move automatically on the operating surface; a cleaning module assembled to the moving platform and arranged to clean the operating surface; The cleaning module comprises: A roller brush frame; a roller brush attached within the roller brush frame and positioned so as to interfere with the operation surface; a support assembly assembled on the roller brush frame and arranged to contact the operating surface in an operative state and control a predetermined amount of interference between the roller brush and the operating surface.

2. 2. The automatic cleaning device of claim 1, wherein the lowest point of the support assembly contacts the operating surface when the automatic cleaning device is in operation.

3. 3. The automatic cleaning device of claim 2, further comprising a running wheel, the running wheel being assembled to the mobile platform, and wherein when the automatic cleaning device is in an operating state, the lowest point of the support assembly and the lowest point of the running wheel are flush with each other.

4. 4. The automatic cleaning device of claim 3, wherein the running wheel is arranged to passively float relative to the mobile platform between a first position and a second position in a direction perpendicular to the mobile platform, the second position being located farther from the mobile platform than the first position, and when the automatic cleaning device is in an operating state, the running wheel is in the first position and the lowest point of the support assembly and the lowest point of the running wheel are flush with each other.

5. 4. The automatic cleaning device of claim 3, wherein the roller brush frame is arranged to passively float relative to the mobile platform between a third position and a fourth position in a direction perpendicular to the mobile platform, the fourth position being located farther from the mobile platform than the third position, and when the roller brush frame is in the fourth position, the lowest point of the support assembly and the lowest point of the running wheels are flush with each other or the lowest point of the support assembly is located farther from the mobile platform than the lowest point of the running wheels.

6. 4. The automatic cleaning equipment of claim 3, wherein the running wheel is arranged to passively float relative to the mobile platform between a first position and a second position in a direction perpendicular to the mobile platform, the second position being located farther from the mobile platform than the first position; the roller brush frame is arranged to passively float relative to the mobile platform between a third position and a fourth position in a direction perpendicular to the mobile platform, the fourth position being located farther from the mobile platform than the third position; and when the running wheel is in the first position and the roller brush frame is in the fourth position, a lowest point of the support assembly and a lowest point of the running wheel are flush with each other or the lowest point of the support assembly is located farther from the mobile platform than a lowest point of the running wheel.

7. 7. The automatic cleaning device according to claim 1, wherein when the automatic cleaning device is in a floating state, the lowest point of the roller brush is located farther from the moving platform than the lowest point of the support assembly.

8. The automatic cleaning device according to any one of claims 1 to 7, characterized in that the support assembly includes a wear-resistant assembly, which is detachably assembled to the bottom of the roller brush frame, and the wear-resistant assembly includes a plurality of replaceable parts of different sizes, which are assembled to the bottom of the roller brush frame and arranged to obtain a plurality of levels of interference between the roller brush and the operating surface.

9. The roller brush is installed to extend perpendicular to the longitudinal axis of the moving platform; the roller brush frame includes two first side frames extending parallel to a longitudinal axis of the moving platform, and the bottoms of the first side frames are arranged as inclined portions that gradually approach the ground from the front to the rear; The automatic cleaning appliance according to claim 8, wherein the wear-resistant assembly is installed on the rear bottom of at least one second side frame.

10. 10. The automatic cleaning device of claim 9, wherein the wear-resistant assembly includes a wear-resistant roller, the wear-resistant roller being detachably attached to a rear bottom portion of the first side frame, and the wear-resistant roller being in rolling contact with the operating surface to support the roller brush frame.

11. The automatic cleaning device according to claim 10, characterized in that a protrusion that protrudes toward the operation surface is provided on the rear side of the second side frame, the protrusion having a shaft mounting hole, and the shaft mounting hole is used to mount a rotation shaft of the wear-resistant roller.

12. 10. The automatic cleaning device of claim 9, wherein the wear-resistant assembly includes a wear-resistant block, the wear-resistant block being removably attached to a rear outer wall of the first side frame, and the wear-resistant block being in sliding contact with the operating surface to support the roller brush frame.

13. 13. The automatic cleaning device according to claim 12, wherein an end of the wear-resistant block near the operating surface includes a contact point that contacts the operating surface and at least one inclined surface provided adjacent to the contact point.

14. 13. The automatic cleaning appliance of claim 12, wherein the wear-resistant assembly further includes a fixing member, the fixing member being arranged to fix the wear-resistant block to a rear outer wall of the second side frame.

15. The automatic cleaning device according to claim 12, wherein the rear outer wall of the second side frame is provided with an accommodation groove arranged to accommodate at least a portion of the wear-resistant block.

16. 10. The automatic cleaning device according to claim 9, wherein the mounting position of the wear-resistant assembly on the roller brush frame is adjustable, and the amount of interference between the roller brush and the operating surface is adjusted by adjusting the gap distance between the roller brush frame and the operating surface.

17. 9. The automatic cleaning device of claim 8, wherein the roller brushes include a first roller brush and a second roller brush arranged in parallel, the first roller brush and the second roller brush approaching the support assembly in sequence in a direction parallel to the front-to-rear axis of the moving platform.

18. 18. The automatic cleaning device according to claim 17, wherein a first interference amount between the first roller brush and the operation surface is equal to or less than a second interference amount between the second roller brush and the operation surface.

19. 18. The automatic cleaning device of claim 17, wherein the diameter of the first roller brush is the same as the diameter of the second roller brush, and the axis of the first roller brush is located farther from the operating surface than the axis of the second roller brush.

20. 18. The automatic cleaning appliance of claim 17, wherein one of the first roller brush and the second roller brush is a hard core roller brush and the other is a soft core roller brush.

21. Automatic cleaning appliance according to any one of the preceding claims, characterized in that the support assembly comprises a wear block and / or a wear wheel.

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