Automatic cleaning machine

Abstract

The automatic cleaning device includes a cleaning module (5000) arranged to clean an operating surface, the cleaning module (5000) including a first roller brush (100) arranged along a first direction and including a first filler (120) which is an elastic member arranged along the axial direction of the first roller brush (100) and a first brush member (130), and a second roller brush (200) arranged along a direction parallel to the first roller brush (100) and including a second filler and a second brush member which are rigid members arranged along the axial direction of the second roller brush (200), the first direction being perpendicular to the front-to-back axis of the automatic cleaning device, the second direction being the direction of the front-to-back axis of the automatic cleaning device stand, the first direction being perpendicular to the second direction, and the second roller brush being arranged in front of the first roller brush (100) along the second direction.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This disclosure is based on and claims priority from a Chinese patent application having application number 202223604501.X and filing date December 30, 2022, the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] FIELD OF THE DISCLOSURE The present disclosure relates to the field of cleaning appliances, and more particularly to automatic cleaning appliances. [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 and installation method of the cleaning brush are one of the important factors that affect the cleaning effect of automatic cleaning equipment. However, the conventional single brush structure cannot improve the cleaning effect of automatic cleaning equipment and cannot perform directional cleaning for different cleaning surface materials, which limits the wide application of automatic cleaning equipment. Summary of the Invention

[0005] The object of the present disclosure is to provide an automatic cleaning device that can solve the problem of the cleaning ability decreasing during the cleaning process of the automatic cleaning device, specifically as follows.

[0006] The present disclosure provides an automatic cleaning device, a cleaning module arranged to clean an operation surface, the cleaning module including: a first roller brush arranged along a first direction and including a first filler and a first brush member, which are elastic members arranged along the axial direction of the first roller brush; and a second roller brush arranged along a direction parallel to the first roller brush and including a second shaft member and a second brush member, which are rigid members arranged along the axial direction of the second roller brush; The first direction is a direction perpendicular to the front-to-back axis of the automatic cleaning device, the second direction is a direction of the front-to-back axis of the automatic cleaning device table, the first direction is perpendicular to the second direction, and the second roller brush is installed in front of the first roller brush along the second direction.

[0007] In some embodiments, the cleaning module further includes an air passage arranged so that objects to be cleaned enter and exit the dust box along the air passage, the air passage having an air passage opening located approximately between the first roller brush and the second roller brush, and a front edge of the air passage opening located on the side of the axis of the second roller brush closest to the first roller brush.

[0008] In some embodiments, the cleaning module further includes an air passage, the air passage being arranged so that the object to be cleaned enters and exits the dust box along the air passage, the air passage having an air passage opening located approximately between the first roller brush and the second roller brush, and the air passage opening being biased toward the first roller brush.

[0009] In some embodiments, the cleaning module further includes an air passage, the air passage being arranged so that the object to be cleaned enters and exits the dust box along the air passage, the air passage having an air passage opening located approximately between the first roller brush and the second roller brush, and the projected area of ​​the air passage opening of the first roller brush in the plane is larger than the projected area of ​​the air passage opening of the second roller brush in the plane.

[0010] In some embodiments, the leading edge of the air duct opening is located on the side of the axis of the second roller brush that is closer to the first roller brush, and does not extend beyond the rear end cut surface of the outer contour of the second roller brush.

[0011] In some embodiments, the leading edge of the air duct opening is located adjacent to the trailing edge of the outer contour of the second roller brush.

[0012] In some embodiments, the plane on which the lowest point of the second shaft member is located is higher than the plane on which the lowest point of the first packing is located.

[0013] In some embodiments, The first roller brush further includes a first shaft and a first brush member, the first filler is fitted onto the first shaft to make the first filler coaxial with the first shaft, and the first brush member is fitted onto the outside of the first filler; The first brush member comprises: a first cylindrical member fitted onto the outside of the first filler and arranged so as to make the first cylindrical member coaxial with the first shaft; a first brush component extending from an outer surface of the first cylindrical member in a direction away from the first cylindrical member, The second roller brush further includes a second shaft and a second brush member, the second shaft member being fitted onto the outside of the second shaft member so as to make the second shaft member coaxial with the second shaft, and the second shaft member being fitted onto the outside of the second shaft member; The second brush member comprises: a second cylindrical member fitted onto the outside of the second shaft member so as to make the second cylindrical member coaxial with the second shaft; and a second brush component extending from the outer surface of the second cylindrical member in a direction away from the second cylindrical member.

[0014] In some embodiments, the horizontal plane in which the center of the second shaft lies is higher than the horizontal plane in which the center of the first shaft lies.

[0015] In some embodiments, the amount of interference between the second brush component and the operating surface is smaller than the amount of interference between the first brush component and the operating surface.

[0016] In some embodiments, the plane on which the lowest point of the second shaft member is located is lower than the plane on which the lowest point of the first packing is located.

[0017] In some embodiments, the horizontal plane in which the center of the second shaft lies is lower than the horizontal plane in which the center of the first shaft lies.

[0018] In some embodiments, the hardness of the second brush element is less than the hardness of the first brush element. [Brief explanation of the drawings]

[0019] 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. [Figure 1] 1 is a schematic diagram of a three-dimensional structure of an automatic cleaning device provided in accordance with some embodiments of the present disclosure. [Figure 2] 1 is a schematic bottom view of an automatic cleaning device provided in accordance with some embodiments of the present disclosure. [Figure 3] 1 is a structural schematic diagram of a cleaning module provided by some embodiments of the present disclosure. [Figure 4] 1 is a cross-sectional schematic view of a cleaning module provided in accordance with some embodiments of the present disclosure. FIG. [Figure 5] 1 is a schematic longitudinal cross-sectional view of a first roller brush provided in accordance with some embodiments of the present disclosure. [Figure 6] 1 is a cross-sectional schematic view of a first roller brush provided in accordance with some embodiments of the present disclosure. [Figure 6-1] FIG. 2 is a cross-sectional schematic view of a second roller brush provided in accordance with some embodiments of the present disclosure. [Figure 6-2] 10 is a cross-sectional schematic view of a second roller brush provided in accordance with some other embodiments of the present disclosure. FIG. [Figure 6-3] 10A-10C are cross-sectional schematic views of cleaning modules provided in accordance with some other embodiments of the present disclosure. [Figure 7] 1 is an exploded view of the three-dimensional structure of an example cleaning brush provided by the present disclosure. FIG. [Figure 8] 8 is a three-dimensional structural view of an example of a first end member of the cleaning brush of FIG. 7. FIG. [Figure 9] 8 is an exploded view of the local structure of the first end member and shaft of the cleaning brush of FIG. 7 from one angle. [Figure 10] 8 is an exploded view of the local structure of the first end member and shaft of the cleaning brush of FIG. 7 from another angle. [Figure 11] 8 is an exploded view of the three-dimensional structure of the cleaning brush of FIG. 7 from another angle. [Figure 12] 8 is an exploded view of the local structure of the second end member and shaft of the cleaning brush of FIG. 7 from one angle. [Figure 13] 1 is an exploded view of the three-dimensional structure of an example cleaning brush provided by the present disclosure. FIG. [Figure 14] FIG. 14 is a schematic cross-sectional view of the cleaning brush of FIG. 13. [Figure 15] 14 is a three-dimensional structural view of an example of an end member of the cleaning brush of FIG. 13. FIG. [Figure 16] 14 is a schematic diagram of a three-dimensional structure of an example of a fitting member of the shaft of FIG. 13. FIG. [Figure 17] 14 is a schematic three-dimensional structural view of an example of a guide fitting structure of a fitting member between the end member and the shaft of FIG. 13. FIG. [Figure 18] FIG. 18 is an exploded view of the guide fitting structure of FIG. [Figure 19] 1 is an exploded schematic diagram of another example of a cleaning brush provided by the present disclosure; FIG. [Figure 20] FIG. 20 is an exploded view of the local structure of the cleaning brush of FIG. 19 from one angle. [Figure 21] FIG. 20 is an exploded view of the local structure of the cleaning brush of FIG. 19 from another angle. DETAILED DESCRIPTION OF THE INVENTION

[0020] In order to make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be described in more detail below in conjunction with the drawings. Of course, the described embodiments are only a part of the embodiments of the present disclosure, and are not all of the embodiments. All other embodiments that a person skilled in the art can obtain based on the embodiments of the present disclosure without any creative work are also within the scope of protection of the present disclosure.

[0021] 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.

[0022] In the related art, for example, automatic cleaning devices such as robot vacuum cleaners have double roller brush models, in which the two roller brushes generally have a soft brush structure that is easily deformed. The roller brush structure of the double soft brush has a large tolerance for deformation and is excellent at passing large granular dust, but the soft roller brush requires a complicated process, is expensive, and is easily deformed after long-term use. Therefore, how to rationally install the two roller brush structure has become a technical problem that needs to be solved as soon as possible.

[0023] An automatic cleaning device provided by an embodiment of the present disclosure includes a cleaning module arranged to clean an operating surface, the cleaning module including: a first roller brush arranged along a first direction, the first roller brush including a first filler arranged along an axial direction of the first roller brush, the first filler being an elastic member; and a second roller brush arranged along a direction parallel to the first roller brush, the second roller brush arranged along the axial direction of the second roller brush. and a second roller brush which is a rigid member, wherein the first direction is a direction perpendicular to the longitudinal axis of the automatic cleaning device, the second direction is a direction of the longitudinal axis of the automatic cleaning device table, the first direction is perpendicular to the second direction, and the second roller brush is installed in front of the first roller brush along the second direction, i.e., during the cleaning process of the cleaning module, the object to be cleaned first passes through the second roller brush and then passes through the first roller brush.

[0024] The automatic cleaning device provided by the embodiments of the present disclosure has a double roller brush structure consisting of a first roller brush and a second roller brush, and the first filler in the first roller brush is an elastic member, and the second filler in the second roller brush is a rigid member, with the second roller brush in the front and the first roller brush in the rear. This allows the hard roller brush located in the front to maximize its cleaning effect on the surface to be cleaned, and when the hard roller brush is used as the front brush for cleaning, it has a strong cleaning power and a significant dust-beating effect, resulting in a high cleaning effect. For example, in a carpet cleaning environment, the front hard brush can effectively beat up dust inside the carpet and have a stronger cleaning effect on stubborn dirt or heavy viscous granules on surfaces such as the ground. After the front hard brush lifts these types of debris off the ground, the rear soft roller brush gently picks them up and collects them in a dust box, thereby improving the overall efficiency of cleaning the ground.

[0025] Hereinafter, selective embodiments of the present invention will be described in detail with reference to the drawings.

[0026] 1-2 are structural schematic diagrams of an automatic cleaning device shown according to an exemplary embodiment. As shown in FIGS. 1-2, 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 moving platform 1000, a sensing system 2000, a control system (not shown), a driving system 3000, an energy system (not shown), a human-machine interaction system 4000, and a cleaning module 5000. The mobile platform 1000 may be arranged to automatically move along a target direction on an operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be a mop robot, where the automatic cleaning device operates on the ground, and the ground is the operating surface; the automatic cleaning device may be a window cleaning robot, where the automatic cleaning device operates on the exterior surface of architectural glass, and the glass is the operating surface; or the automatic cleaning device may be a pipe cleaning robot, where the automatic cleaning device operates on the interior surface of a pipe, and the interior surface of the pipe is the operating surface. Purely for purposes of demonstration, the following description in this application will use a mop robot as an example.

[0027] 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.

[0028] The sensing system 2000 includes a positioning device (not shown) located above the mobile platform 1000, a buffer (not shown) located at the front portion of the mobile platform 1000, a cliff sensor (not shown) located at the bottom of the mobile platform, and sensor devices such as ultrasonic sensors (not shown), infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), and odometers (not shown), and provides various position information and operating status information of the machine to the control system.

[0029] For ease of explanation, directions are defined as follows: the automatic cleaning appliance can be oriented by defining three mutually perpendicular axes: a lateral axis Y, a front-to-rear axis X, and a vertical axis Z. The direction indicated by the arrow along the front-to-rear axis X is labeled as the "rear direction," and the direction opposite to the direction of the arrow along the front-to-rear axis X is labeled as the "forward direction." The lateral axis Y is a direction substantially along the width of the automatic cleaning appliance; the direction indicated by the arrow along the lateral axis Y is labeled as the "left direction," and the direction opposite to the direction of the arrow along the lateral axis Y is labeled as the "right direction." The vertical axis Z is a direction extending upward along the bottom surface of the automatic cleaning appliance. As shown in FIG. 1 , the direction along the front-to-rear axis X is defined as a second direction, e.g., the front direction or the rear direction, and the direction perpendicular to the second direction in the horizontal plane is a first direction, e.g., the left direction or the right direction.

[0030] 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.

[0031] The drive system 3000 can execute drive commands to operate the automatic cleaning equipment to travel across the ground based on specific distance and angle information, such as x, y, and θ components. The drive system 3000 includes drive wheel assemblies, and can simultaneously control the left and right wheels. For more precise control of the machine's operation, the drive system 3000 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are installed symmetrically along the horizontal axis defined by the mobile platform 1000. To enable the automatic cleaning equipment to operate more stably on the ground or have stronger operating capabilities, the automatic cleaning equipment may include one or more steering assemblies. The steering assemblies may be driven wheels or drive wheels, and their structural form may include, but is not limited to, swivel wheels, and the steering assemblies may be located in front of the drive wheel assemblies.

[0032] The energy system (not shown) includes a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. A charging control circuit, a battery pack charging temperature detection circuit, and a battery low voltage monitoring circuit may be connected to the rechargeable battery, and the charging control circuit, battery pack charging temperature detection circuit, and battery low voltage monitoring circuit are further connected to a single-chip microcomputer control circuit. The main body is connected to a charging stand via charging electrodes installed on the side or bottom of the aircraft for charging.

[0033] 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.

[0034] As shown in FIG. 2 , the cleaning module 5000 includes a dust box, a fan, and a main brush module. The main brush module sweeps dust from the ground toward the dust box through a dust outlet between the main brush module and the dust box. The dust is then sucked into the dust box by suction generated by the fan and passing through the dust box. The dust removal capacity of a vacuum cleaner can be characterized by its dust pickup efficiency (DPU). DPU is affected by the wind power utilization rate of the airflow path consisting of the dust outlet, dust box, fan, air outlet, and the connecting components between them, as well as the type and output of the fan, making it a complex system design issue. Compared to typical plug-in vacuum cleaners, improved dust removal capacity is particularly significant for energy-limited automatic cleaning devices. Because improved dust removal capacity directly and effectively reduces energy requirements, a machine that can clean 80 square meters of ground on a single charge can now clean 180 square meters or more on a single charge. Furthermore, by reducing the number of charging times, the service life of the battery is also significantly increased, and the user will have to replace the battery less frequently.More intuitively and importantly, the improvement of dust removal ability is the most noticeable and important user experience, and the user can directly reach a conclusion on whether the cleaning / wiping is clean or not.

[0035] 2 is a schematic diagram of the bottom structure of the automatic cleaning device in FIG. 1. As shown in FIG. 2, the automatic cleaning device includes a moving platform 1000, which is arranged to move freely on an operating surface. A cleaning module 5000 is installed at the bottom of the moving platform 1000, which is arranged to clean the operating surface. The cleaning module 5000 includes a driving unit 5100, a roller brush frame 5200, and a roller brush 5300 assembled in the roller brush frame 5200. The driving unit 5100 provides a forward or reverse driving force, which is applied to the roller brush 5300 via a multi-stage gear set. The roller brush 5300 rotates under the driving force to clean the operating surface, or the roller brush 5300 rotates under the driving force to collect dust.

[0036] 2, the roller brush frame 5200 is provided with a front cleaning brush mounting position 5211 and a rear cleaning brush mounting position 5212 for accommodating the cleaning roller brushes. The front cleaning brush mounting position 5211 has a first end 52111 and a second end 52112 opposite to the first end 52111, and one end of the first roller brush 100 is engaged and fixed with the first end 52111, and the other end of the first roller brush 100 is engaged and fixed with the second end 52112. In some embodiments, the front cleaning brush mounting position 5211 is an elongated groove structure in the moving platform, and the elongated groove structure extends along the first direction. The rear cleaning brush mounting position 5212 has a third end 52121 and a fourth end 52122 opposite the third end 52121. In some embodiments, the rear cleaning brush mounting position 5212 and the front cleaning brush mounting position 5211 have substantially the same structure, such as an elongated groove structure on a moving platform, which extends along the first direction, and the second roller brush can be mounted in the elongated groove of the rear cleaning brush mounting position 5212 through an opening of the elongated groove structure. Here, the two elongated groove structures are parallel to each other in the second direction. The shape and size of the elongated groove structure are not limited, as long as it can accommodate at least a portion of the first roller brush and the second roller brush. The first end of the front cleaning brush mounting position 5211 and the third end of the rear cleaning brush mounting position 5212 are located on one side of the front-rear axis X-axis, and the second end of the front cleaning brush mounting position 5211 and the fourth end of the rear cleaning brush mounting position 5212 are located on the other side of the front-rear axis X-axis.

[0037] For illustrative purposes, in each of the following embodiments of the present disclosure, an elongated groove structure close to the steering wheel of an automatic cleaning device is used as the front cleaning brush mounting position 5211, and an elongated groove structure away from the steering wheel is used as the rear cleaning brush mounting position 5212, but of course this may be reversed.

[0038] 2, in some embodiments, the automatic cleaning device includes two cleaning roller brushes 5300, one cleaning roller brush installed at the front cleaning brush mounting position 5211 and considered to be the "front roller brush," and the other cleaning roller brush installed at the rear cleaning brush mounting position 5212 and considered to be the "rear roller brush." ​​The front roller brush can be mounted in the front cleaning brush mounting position 5211 through an opening in an elongated groove structure, and the rear roller brush can be mounted in the rear cleaning brush mounting position 5212 through an opening in an elongated groove structure.

[0039] FIG. 3 shows an assembled structure of a cleaning module provided by some embodiments of the present disclosure, and FIG. 4 shows a cross-sectional structure of a cleaning module provided by some embodiments of the present disclosure. As shown in FIGS. 3 and 4, the roller brush 5300 assembled in the roller brush frame 5200 is a first roller brush 100, which is installed along a first direction perpendicular to the front-rear axis of the moving platform. The first roller brush 100 includes a first brush member 130, a first shaft 110, and a first filler 120. The first filler 120 is fitted onto the first shaft 110 to form a first filler. The cleaning device includes a first roller brush 100 arranged so that its shaft 120 is coaxial with the first shaft 110, and a second roller brush 200 installed along a direction parallel to the first roller brush 100, the second roller brush 200 including a second brush member 230 and a second shaft member 220 coaxial with the second brush member 230, wherein the first filler 120 is an elastic member, the second shaft member 220 is a rigid member, and the first filler 120 has a first inner diameter and a first outer diameter, thereby giving the first filler 120 a predetermined thickness. The first roller brush 100 and the second roller brush 200 rotate in opposite directions relative to each other, thereby stirring up dust on the operating surface when performing a cleaning task, or spitting out dust in a dust box when performing a dust collection task. It should be noted that in this embodiment, the first roller brush 100 may be the aforementioned "front roller brush" or the aforementioned "rear roller brush", and the second roller brush 200 may similarly be the aforementioned "front roller brush" or the aforementioned "rear roller brush", but is not limited thereto.

[0040] Specifically, FIG. 5 is a cross-sectional view along a second direction of a first roller brush provided according to some embodiments of the present disclosure, and FIG. 6 is a cross-sectional view along a first direction of a first roller brush provided according to some embodiments of the present disclosure, as shown in FIGS. 5 and 6.

[0041] The first roller brush 100 includes a first shaft 110, at least one end of which is connected to a multi-stage gear set and receives the driving force of the drive unit 5100 to realize forward or reverse rotation. The first shaft 110 is in the shape of an elongated cylinder, an elongated rectangular prism, or an elongated polygonal prism, but is not limited thereto. The elongated cylinder will be described as an example below. The axis of the first shaft 110 may be considered as the rotation axis of the first roller brush 100. After the first roller brush 100 is attached to the moving platform, the drive system 2000 can drive and rotate the first shaft 110, thereby moving and cleaning the first brush member 130 on the surface of the first shaft 110.

[0042] The first roller brush 100 further includes a first filler 120, which is fitted onto the first shaft 110 to make the first filler 120 coaxial with the first shaft 110. As shown in FIG. 4, the cross section of the first filler 120 is an annular structure, and the shape of its inner ring matches the cross section of the first shaft 110. The shape of the inner ring may be circular, elliptical, polygonal, etc., but is not limited thereto. In the following, the inner ring is circular. For example, the shape of the outer ring is generally circular, and when the cross section of the first filler 120 is annular, the cross section of the first filler 120 has an inner diameter and an outer diameter, the inner diameter being approximately equal to the diameter of the first shaft 110, thereby realizing a tight fit between the first filler 120 and the first shaft 110, and the outer diameter being approximately equal to the inner diameter of the first tubular member 131, thereby realizing a tight fit between the first filler 120 and the first tubular member 131. The first filler 120 is a compressible elastic material, which has the property of being compressed inward when subjected to a force and recovering to its original state after the force is removed, and is, for example, a sponge, an organic flexible material, a resin material, a foam material, etc., which will not be listed here. It should be noted that the first filler 120 may also be a material or structure having similar compressible properties, such as a spring or elastic sheet, which are not listed here.

[0043] The first roller brush 100 further includes a first brush member 130, which is fitted over the first filler 120. The first brush member 130 includes a first tubular member 131, which is fitted over the first filler 120 and arranged coaxially with the first shaft 110. The first tubular member 131 is generally cylindrical and has a length approximately equal to that of the first shaft 110. The first tubular member 131 is generally compressible, for example, made of an elastic plastic or rubber material, and can be compressed inward and deformed by an external force and return to its original shape after the external force is removed. The first tubular member 131 generally has a certain thickness to enhance the wear resistance of the entire first brush member 130. The first brush member 130 further includes first brush parts 132, which may be a plurality of sheet-like structures, and the first brush parts 132 extend from the outer surface of the first cylindrical member 131 in a direction away from the first cylindrical member 131, and at least one first brush part 132 extends from one end of the first cylindrical member 131 to the other end of the first cylindrical member 131 in the axial direction of the first cylindrical member 131. The first brush parts 132 may also be in other forms such as blades or brush bristles.

[0044] In some embodiments, the number of first brush elements 132 is multiple, and each first brush element 132 has a spiral structure on the outer surface of the first cylindrical member 131. The multiple first brush elements 132 are uniformly distributed around the circumference of the first cylindrical member 131, and the spiral structures of the multiple first brush elements 132 are substantially parallel. Designing the first brush element 132 to have a spiral structure makes it easier to pick up dust when the front and rear roller brushes rotate in opposite directions, preventing excessive impact force from damaging the first brush element 132 and improving its service life.

[0045] In some embodiments, there are multiple first brush elements 132, each of which forms a V-shaped structure on the outer surface of the first cylindrical member 131, with the multiple first brush elements 132 being uniformly distributed around the circumference of the first cylindrical member 131 and the tips of the V-shaped structures of the multiple first brush elements 132 pointing in the same direction around the circumference of the first cylindrical member 131. Designing the first brush elements 132 in a V-shaped structure makes it easier for the front and rear roller brushes to pick up dust when they rotate in opposite directions, preventing excessive impact force from damaging the first brush elements 132 and improving their service life.

[0046] In some embodiments, a plurality of first bumps 1321 are provided on the surface of the first brush component 132. The plurality of first bumps on the first brush component 132 are uniformly distributed along the extension direction of the surface of the first brush component 132, and the plurality of first bumps 1321 can easily increase the friction force between the brush component and dirt, resulting in cleaner cleaning.

[0047] In some embodiments, as shown in FIG. 6-1 , the second roller brush 200 includes a second shaft member 220 and a second brush member 230, the second shaft member 220 is coaxial with the second brush member 230, the second brush member 230 is fitted on the outside of the second shaft member 220, the second shaft member 220 constitutes a second shaft of the second roller brush 200, the second shaft member 220 is a rigid member, and the second shaft member 220 is a rigid member. 20 (for example, the engaging member 210 may be installed at one or both ends of the second shaft member 220), and is connected to the multi-stage gear set of the drive system 2000 via the engaging member 210, receives the driving force of the drive system 2000, and realizes forward or reverse rotation. Here, the outer shape of the second shaft member 220 is an elongated cylindrical shape, an elongated rectangular prism shape, or an elongated polygonal prism shape, but is not limited thereto, and the elongated cylindrical shape will be described below as an example.

[0048] In some embodiments, as shown in FIG. 6-2 , the second shaft member 220 includes a hollow structure 221, and the hollow structure 221 extends through the axis of the second shaft member 220 along the axial direction of the second shaft member 220, and the second shaft member 220 has a second inner diameter D 2内 and the second outer diameter D 2外 and a second inner diameter D 2内 and the second outer diameter D 2外 constitutes the radial thickness of the second shaft member 220. At least one end of the hollow structure (for example, one or both ends of the second shaft member 220) includes a staircase portion, and the staircase portion includes one, two, or three steps. For example, when the staircase portion has two steps, the end face of the hollow structure 221 has a third inner diameter and a fourth inner diameter, where the second inner diameter is smaller than the third inner diameter and smaller than the fourth inner diameter. Here, the accommodating cavity 222 with the largest diameter is provided at the outermost end of the hollow structure 221 of the staircase portion. (For example, the accommodating cavity 222 has a fourth inner diameter), and the engaging member 210 has an external structure matching the stepped portion, and the engaging member 210 is fixedly or detachably connected to the hollow structure after being assembled to the stepped portion, and the engaging member 210 is directly or indirectly connected to a multi-stage gear set of the drive system, and is used to receive the driving force of the drive system 2000 and realize forward or reverse rotation of the second shaft member 220.

[0049] The second roller brush 200 further includes a second brush member 230, which is fitted onto the outside of the second shaft member 220. The second brush member 230 includes a second cylindrical member 231, which is fitted onto the outside of the second shaft member 220 so as to be coaxial with the second shaft member 220. The second cylindrical member 231 is generally cylindrical and has a length approximately equal to that of the second shaft member 220. The second cylindrical member 231 is generally compressible and made of, for example, an elastic plastic or rubber material, making it easy to fit onto the outside of the second shaft member 220. The second cylindrical member 231 generally has a certain thickness to enhance the wear resistance of the entire second brush member 230. The second brush member 230 further includes second brush parts 232, which may be a plurality of sheet-like structures, and the second brush parts 232 extend from the outer surface of the second cylindrical member 231 in a direction away from the second cylindrical member 231, and at least one second brush part 232 extends from one end of the second cylindrical member 231 to the other end of the second cylindrical member 231 along the axial direction of the second cylindrical member 231. The second brush part 232 may be in other forms such as blades or brush bristles.

[0050] In some embodiments, the number of second brush elements 232 is multiple, and each second brush element 232 has a spiral structure on the outer surface of the second cylindrical member 231. The multiple second brush elements 232 are uniformly distributed around the circumference of the second cylindrical member 231, and the spiral structures of the multiple second brush elements 232 are substantially parallel. The shape of the second brush element 232 matches the shape of the first brush element 132. That is, if the second brush element 232 has a spiral structure, the first brush element 132 also has a spiral structure. Designing the second brush element 232 with a spiral structure allows dust to be easily stirred up when the front and rear roller brushes rotate in opposite directions, preventing excessive impact force from damaging the second brush element 132 and improving its service life.

[0051] In some embodiments, there are multiple second brush elements 232, each of which forms a V-shaped structure on the outer surface of the second cylindrical member 231. The multiple second brush elements 232 are uniformly distributed around the circumference of the second cylindrical member 231, and the tips of the V-shaped structures of the multiple second brush elements 232 point in the same direction around the circumference of the second cylindrical member 231. The shape of the second brush element 232 matches the shape of the first brush element 132, i.e., if the second brush element 232 has a V-shaped structure, the first brush element 132 also has a V-shaped structure. Designing the second brush element 132 with a V-shaped structure allows the tips of the V-shaped structures of the second brush element 232 to interfere with the tips of the V-shaped structures of the first brush element 132 when the front and rear roller brushes rotate in opposite directions, thereby easily stirring up dust.

[0052] In some other embodiments, the second roller brush 200 may be realized in other forms. For example, as shown in FIG. 6-2, the second roller brush 200 includes a second shaft 240, a second filler 250, and a second brush member 230. The structure of the second brush member 230 is the same as that described in the above embodiment, and its description will be omitted here. The second shaft member described in the above embodiment is composed of the second shaft 240 and the second filler 250. The second filler 250 is fitted onto the second shaft 240 to make the second filler 250 coaxial with the second shaft 240. The cross section of the second filler 250 is annular, and the shape of its inner ring matches the cross section of the second shaft 240. The shape of the inner ring may be circular, oriented, polygonal, etc., but is not limited thereto. In the following description, the inner ring is circular. This will be described as an example, where the shape of the outer ring is generally circular and the cross section of the second filler 250 is annular, the cross section of the second filler 250 has an inner diameter and an outer diameter, the inner diameter is approximately equal to the diameter of the second shaft 240, thereby realizing a tight fit between the second filler 250 and the second shaft 240, and the outer diameter is approximately equal to the inner diameter of the second tubular member 231, thereby realizing a tight fit between the second filler 250 and the second tubular member 231. The second filler 250 is an incompressible material, which has the property of not essentially compressing inward after receiving a force, thereby providing sufficient support for the second brush member 230, and the material of the second filler 250 is a rigid material such as a hard plastic, a hard resin material, or a metal material, which will not be listed here. It should be noted that the second filler 250 may also be a material or structure having similarly incompressible properties, such as an incompressible keel structure, thereby reducing the weight of the second roller brush, which is also not listed here.

[0053] In some alternative embodiments, the second filler 250 may be integrally molded with the second shaft 240, reducing rotational clearance by forming a one-piece structure out of an all-hard material.

[0054] After the first roller brush 100 and the second roller brush 200 are installed, when the first roller brush 100 and the second roller brush 200 are operating, they rotate at the same speed but in opposite directions, for example, the first roller brush 100 rotates counterclockwise and the second roller brush 200 rotates clockwise. During the rotation process, the first brush element and the second brush element are always in tight contact at their intermediate positions, i.e., the brush element of the previous layer has not yet separated, while the brush element of the next layer has already contacted. As the rotation continues, the brush element of the previous layer separates, and the brush elements on both ends of the next layer come into contact, forming a diamond-shaped closed air passage in the middle. As the brush elements rotate, the brush elements collect dust in the middle and the dust is sucked along air passage 5400 into a dust box inside the appliance, achieving the purpose of cleaning. As the first roller brush and the second roller brush rotate synchronously, the diamond-shaped closed air passage formed by the brush parts of the next layer gradually becomes smaller until the current closed cleaning is completed, and then the next closed cleaning immediately begins, that is, the brush parts at both ends of the next layer come into contact to form a diamond-shaped closed air passage in the middle, and this process is repeated, so that the first roller brush and the second roller brush can achieve a continuous cleaning effect and further improve the cleaning efficiency.

[0055] In some embodiments, a plurality of second bumps 2321 are provided on the surface of the second brush component 232. The plurality of second bumps on the second brush component 232 are uniformly distributed along the extension direction of the surface of the second brush component 232, and the plurality of second bumps 2321 can easily increase the friction force between the brush component and dirt, resulting in cleaner cleaning.

[0056] In some other embodiments, the first brush member of the first roller brush 100 and the second brush member of the second roller brush 200 may be different and may be installed according to specific cleaning needs. Optionally, the first roller brush 100 is a brush and the second roller brush 200 is a rubber brush. This combination can meet the cleaning effects of various ground environments. That is, the first roller brush can be used to clean dirt on soft ground such as carpets by utilizing the brush's excellent cleaning ability for hair or fine, soft fibers, and at the same time, the second roller brush can be used to clean ground such as floors and tiles by utilizing the rubber brush's excellent cleaning ability for hard ground.

[0057] In some embodiments, the outer diameter of the second shaft member is smaller than the outer diameter of the first filler and / or larger than the inner diameter of the first filler. Since the second roller brush has an incompressible hard core structure, in order to avoid a significant reduction in the passability of large granular debris due to the incompressible hard core structure, the blade of the second roller brush must be installed to have a relatively longer length than the blade of the first roller brush, and the distance from the outer diameter of the second shaft member (hard core) of the second roller brush to the ground is equal to or greater than the distance from the outer diameter of the first filler (soft core) of the first roller brush to the ground, and in this case, the outer diameter of the second shaft member must be smaller than the outer diameter of the first filler. Furthermore, if the outer diameter size of the second shaft member (core member) of the second roller brush is too large, the flexible space that allows penetration between the front and rear roller brushes becomes small, and slightly large hard debris becomes stuck between the first roller brush and the second roller brush. Furthermore, if the outer diameter of the second shaft member (core member) of the second roller brush is further reduced, and the outer diameter of the first brush component of the first roller brush and the second brush component of the second roller brush are the same, the length of the corresponding second brush component will gradually increase as the outer diameter of the second shaft member (core member) decreases. If the length of the second brush component exceeds a reasonable range, the length of the second brush component will be too long, which will weaken the cleaning power and increase the surface area of ​​the second brush component, making it easier for dust to adhere to the second brush component and affecting the cleaning effect. Therefore, in order to ensure the cleaning effect, the length of the second brush component should not be too long, and the outer diameter of the corresponding second shaft component (core) should not be too small. The outer diameter of the second shaft component may be larger than the inner diameter of the first filler, thereby ensuring that the length of the second brush component is within a reasonable range.

[0058] In some embodiments, the plane on which the lowest point of the first filler is located is lower than the plane on which the lowest point of the second shaft member is located. Because the first filler is compressible, the plane on which the lowest point of the first filler is located needs to be lower than the plane on which the lowest point of the second shaft member is located in order to ensure that dirt can pass under the first roller brush and the second roller brush. When the second roller brush is the front roller brush, the lowermost point of the second shaft member is relatively high, so that dirt can still pass under. At the same time, because the first roller brush is the rear roller brush and is close to the ground, dirt can be blocked and less likely to leak under the first roller brush, improving the cleaning efficiency of the cleaning device.

[0059] In some embodiments, the longest distance that the first brush component extends from the outer surface of the first tubular member in a direction away from the first tubular member is shorter than the longest distance that the second brush component extends from the outer surface of the second tubular member in a direction away from the second tubular member. As described above, since the outer diameter of the first filler is larger than the outer diameter of the second shaft member, if the length of the first brush component is equal to or greater than the length of the second brush component, the entire first roller brush becomes larger. When the first roller brush and the second roller brush are assembled on approximately the same horizontal plane, the interference between the first brush component and the ground increases significantly, which increases noise caused by the first brush component hitting the ground and increases resistance during the movement of the automatic cleaning device, making it difficult for the automatic cleaning device to perform its cleaning task.

[0060] In some embodiments, the outer contour of the first brush element, defined by the furthest distance from the outer surface of the first cylindrical member in a direction away from the first cylindrical member, defines the outer diameter of the first roller brush, and the outer contour of the second brush element, defined by the furthest distance from the outer surface of the second cylindrical member in a direction away from the second cylindrical member, defines the outer diameter of the second roller brush, the outer diameter of the first roller brush being approximately equal to the outer diameter of the second roller brush. When the first roller brush and the second roller brush are assembled on approximately the same horizontal plane or with a small difference, the first roller brush and the second roller brush can be ensured to have sufficient interference with the ground, thereby achieving a double-brush cleaning effect. Furthermore, when the automatic cleaning device is not in operation, the double roller brush can be stored in the cleaning module in a nearly flat state in the stored state, reducing the complexity of design and manufacturing due to the inconsistency in the design of the front cleaning brush mounting position and the rear cleaning brush mounting position.

[0061] In some embodiments, the distance between the axis of the first roller brush and the axis of the second roller brush is equal to or less than the outer diameter of the first roller brush and / or the second roller brush. If the outer diameters of the first roller brush and / or the second roller brush are approximately equal and the distance between the axis of the first roller brush and the axis of the second roller brush is greater than the outer diameter of the first roller brush and / or the second roller brush, there will be no interference effect between the first brush component and the second brush component, and therefore the dirt to be cleaned will not be smoothly lifted up between the first roller brush and the second roller brush, which will affect the overall cleaning effect of the cleaning device.

[0062] In some embodiments, the outer contour of the first brush part formed by the furthest distance extending from the outer surface of the first tubular member along a direction away from the first tubular member forms the outer diameter of the first roller brush, the outer contour of the second brush part formed by the furthest distance extending from the outer surface of the second tubular member along a direction away from the second tubular member forms the outer diameter of the second roller brush, and the distance between the axis of the first roller brush and the axis of the second roller brush is less than half the sum of the outer diameters of the first roller brush and the second roller brush. If the outer diameters of the first roller brush and / or the second roller brush are not equal, and the distance between the axis of the first roller brush and the axis of the second roller brush is greater than half the sum of the outer diameters of the first roller brush and the second roller brush, there will be no interference effect between the first brush part and the second brush part, and the dirt to be cleaned will not be smoothly lifted up between the first roller brush and the second roller brush, which will affect the overall cleaning effect of the cleaning device.

[0063] In some embodiments, the minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft member is greater than the difference between the inner and outer diameters of the first filler. If the inner diameter of the first filler is too large or the outer diameter of the second shaft member is too large, causing the minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft member to be too small, the flexible space allowing passage between the front and rear brushes will be small, and even larger debris, especially flexible debris, will get stuck between the two brushes and unable to enter or exit the dust box. The limiting distance is when the outer diameter of the second shaft member contacts the outer diameter of the first filler. At this time, the first filler still has a space to be compressed, but there is no longer a gap between the first filler and the second shaft member. Therefore, the first filler and the second shaft member block the suction force of the fan on the debris, significantly reducing the ability of debris to enter and exit the dust box and reducing cleaning efficiency.

[0064] In some embodiments, the second roller brush and the first roller brush are installed in a front-to-back configuration along the running direction of the automatic cleaning device, forming a double brush assembly structure with a hard front and a soft rear, and ensuring that dirt leaks out from the rear. In this case, the plane on which the lowest point of the outer contour of the first roller brush is located needs to be set lower than the plane on which the lowest point of the outer contour of the second roller brush is located, thereby increasing the interference between the first brush component and the ground and preventing dirt from leaking out from under the first roller brush.

[0065] In some embodiments, as shown in FIG. 6-3 , the cleaning module 5000 includes a first roller brush 100, which is arranged along a first direction perpendicular to the axis of the moving platform 1000, and includes a first filler 120 and a first brush member 130, and the first filler 120 is arranged along the axial direction of the first roller brush 100; and a second roller brush 200, which is arranged along a direction parallel to the first roller brush 100, and includes a second filler 250 and a second brush member 230, and the second filler 250 is arranged along the axial direction of the second roller brush 100. and a second roller brush 200 arranged in the cleaning module 5000, wherein the elastic modulus of the first filler 120 is smaller than that of the second filler 250, for example, the first filler is an elastic material and the second filler is a rigid material, and the second roller brush is installed in front of the first roller brush along the direction of the front-rear axis of the automatic cleaning device, and during the cleaning process of the cleaning module 5000, the object to be cleaned 300 first passes through the second roller brush 200 and then the first roller brush 100 to be cleaned, the direction indicated by the arrow in FIG. 6-3 is the traveling direction of the cleaning device, and after being cleaned by the second roller brush 200, the object to be cleaned 300 enters the air passage 5400 along the rear end cut surface F of the second roller brush 200.

[0066] In some embodiments, the first filler is an elastic material and the second filler is a rigid material. During the cleaning process, when the cleaning target 300 is carpet dust, paper scraps, etc., the cleaning must be completed by strong beating and then winding up. If the second filler located at the front is a rigid material, it has a relatively large beating strength, and the carpet dust, paper scraps, and other adhesions of the cleaning target 300 can be separated from the carpet by beating and then wound up by the soft first roller brush, thereby completing the cleaning.

[0067] In some embodiments, as shown in FIG. 6-3 , the cleaning module 5000 further includes an air passage 5400 arranged so that the object to be cleaned 300 enters and exits a dust box (not shown) along the air passage 5400. That is, when performing a cleaning task, the object to be cleaned 300 enters the dust box along the air passage 5400 by the suction action of the fan, and when performing a dust collection task, the object to be cleaned 300 is sucked out of the dust box along the air passage 5400 by the suction action of the fan, where the air passage 5400 is located approximately between the first roller brush 100 and the second roller brush 200. The air duct opening 5410 has a front edge A along the axial direction of the cleaning device and a rear edge B along the axial direction of the cleaning device, and a distance D3 between the front edge A and the rear edge B forms an opening distance along the front-to-rear direction of the air duct opening 5410, and the front edge A of the air duct opening 5410 is located on the side of the axial center of the second roller brush 200 that is close to the first roller brush 100, the axial center of the second roller brush 200 forms an axial plane E in the vertical direction, the outer contour of the second roller brush 200 has a rear end cut surface F, and the front edge A is located between the axial plane E and the rear end cut surface F of the outer contour of the second roller brush. When performing a cleaning task, the object to be cleaned 300 is collected from front to back in the opposite direction to the arrow, and the dust box is located at the rear of the air passage 5400. At this time, the fan sucks downward along a substantially forward direction, and the air passage is relatively smooth. After the object to be cleaned 300 enters between the first roller brush 100 and the second roller brush 200, the automatic cleaning device moves forward, so that the force applied by the object to be cleaned 300 to the first roller brush 100 (soft roller brush) is transferred to the second roller brush 200 (hard roller brush). The applied force is greater than the force required for cleaning. At this time, since the first roller brush 100 is a soft roller brush, deformation is likely to occur, causing the object to be cleaned 300 to compress the first filler of the first roller brush 100 and move upward. As a result, the object to be cleaned 300 moves upward and biases toward one side of the rear of the rear end cut surface F of the outer contour of the second roller brush, entering the air passage. Therefore, the center of the air passage opening 5410 should be located behind the rear end cut surface F of the outer contour of the second roller brush, i.e., the air passage 5400 is installed biased toward the rear.In addition, when the cleaning device performs a dust collection task, the first roller brush 100 and the second roller brush 200 need to rotate in reverse before discharging the cleaning object 300, and at this time, the first roller brush 100 (soft roller brush) which has a higher flexible deformation ability is the one that the large amount of cleaning object 300 first comes into contact with, which can also reduce the risk of the cleaning object clogging during dust collection.

[0068] In some embodiments, a front edge A of the air duct opening 5410 is located on the side of the axis of the second roller brush 200 closest to the first roller brush 100, and does not extend beyond the rear end cut surface F of the first roller brush 100 and the second roller brush 200. When the front edge A of the air duct opening 5410 extends beyond the rear end cut surface F of the first roller brush 100 and the second roller brush 200, the width D3 of the air duct opening 5410 is equal to or less than the outer diameter of the first roller brush 100, so that the air duct opening 5410 is essentially blocked by the first roller brush 100, affecting the passage of the object 300 to be cleaned.

[0069] In some embodiments, when the width D3 of the air duct opening 5410 is relatively small, the air duct opening 5410 should be as close as possible to the first roller brush, i.e., the leading edge A of the air duct opening 5410 is located close to the rear end cut surface F of the first roller brush 100 and the second roller brush 200.

[0070] In some embodiments, the air duct opening is biased toward the first roller brush, and the reason for this is as described above and will not be described here.

[0071] In some embodiments, the projected area of ​​the first roller brush on the plane of the air duct opening is larger than the projected area of ​​the second roller brush on the plane of the air duct opening, for reasons as described above and not described here.

[0072] In some embodiments, the plane on which the lowest point of the second filler is located is higher than the plane on which the lowest point of the first filler is located. The second roller brush 200 is a hard roller brush that is not cushioned by an elastic material such as a sponge and produces louder hitting noise on the ground (especially hard ground) than a soft roller brush. Therefore, the plane on which the lowest point of the second filler is located is set higher than the plane on which the lowest point of the first filler is located to reduce the sound of the second roller brush 200 hitting the hard ground, thereby reducing noise.

[0073] In some embodiments, as shown in FIG. 5 , the first roller brush 100 further includes a first shaft 110, the first filler 120 being fitted onto the first shaft 110 to make the first filler 120 coaxial with the first shaft 110, and a first brush member 130 fitted onto the outside of the first filler 120, wherein the first brush member 130 includes a first tubular member 131 fitted onto the outside of the first filler 120 to make the first tubular member 131 coaxial with the first shaft 110, the first tubular member 131 generally having compressibility, for example, made of an elastic plastic or rubber material, and capable of being compressed inward and deformed under the action of an external force, and of recovering to its original shape after the external force is removed. The first tubular member 131 generally has a constant thickness, thereby improving the wear resistance of the entire first brush member 130, and the first brush component 132 extends from the outer surface of the first tubular member 131 in a direction away from the first tubular member 131.

[0074] In some embodiments, as shown in FIG. 6-2 , the second roller brush 200 further includes a second shaft 240, and the second filler 250 is fitted onto the second shaft 240 to make the second filler 250 coaxial with the second shaft 240, and the second shaft 240 passes through the second roller brush and is connected to a drive system, and the second filler 250 is a rigid member filler and is fitted onto the outside of the second shaft 240.

[0075] In some embodiments, as shown in FIG. 6-1 , the second roller brush 200 includes a second shaft member 220 and a second brush member 230, the second shaft member 220 is coaxial with the second brush member 230, and the second brush member 230 is fitted onto the outside of the second shaft member 220. In this embodiment, the second shaft member 220 directly constitutes the second shaft of the second roller brush 200, i.e., the rigid second filler directly constitutes the second shaft, and at least one engaging member 210 is installed on at least one end of the second shaft, which is connected to the multi-stage gear set of the drive system 2000 through the engaging member 210, so as to receive the driving force of the drive system 2000 and realize forward or reverse rotation.

[0076] In some embodiments, as shown in FIG. 6-1 , the second shaft member 220 (second shaft or second filling) includes a hollow structure 221, which extends through the axis of the second shaft member 220 along the axial direction of the second shaft member 220, and the second shaft member 220 has a second inner diameter and a second outer diameter, and the second inner diameter and the second outer diameter constitute the radial thickness of the second shaft member 220. At least one end of the hollow structure (for example, one or both ends of the second shaft member 220) includes a step portion, and the step portion includes one, two, or three steps. For example, when the step portion is a two-step step, the end surface of the hollow structure 221 has a third inner diameter and a fourth inner diameter, where the second inner diameter is smaller than the third inner diameter and smaller than the fourth inner diameter. Here, the step portion has an accommodating cavity 222 with the largest diameter at the end located on the outermost side of the hollow structure 221. (For example, the accommodating cavity 222 has a fourth inner diameter), and the engaging member 210 has an external structure matching the stepped portion, and the engaging member 210 is fixedly or detachably connected to the hollow structure after being assembled to the stepped portion, and the engaging member 210 is directly or indirectly connected to a multi-stage gear set of the drive system, and is used to receive the driving force of the drive system 2000 and realize forward or reverse rotation of the second shaft member 220.

[0077] In some embodiments, the second roller brush 200 further includes a second brush member 230 fitted onto the outside of the second filler 250, wherein the second brush member 230 includes a second cylindrical member 231 fitted onto the outside of the second filler 250 and arranged so as to make the second cylindrical member 230 coaxial with the second shaft 210, and a second brush part 232 extending from the outer surface of the second cylindrical member 231 in a direction away from the second cylindrical member 231.

[0078] In some embodiments, the horizontal plane on which the center of the second shaft is located is higher than the horizontal plane on which the center of the first shaft 110 is located. When the diameters of the outer contours of the first roller brush 100 and the second roller brush 200 are approximately equal, the height of the horizontal plane on which the center of the second shaft is located (distance D2 shown in FIG. 6-3 ) is set to be greater than the height of the horizontal plane on which the center of the first shaft 110 is located (distance D1 shown in FIG. 6-3 ). This allows the first roller brush 100 to be positioned lower, which helps prevent dust from leaking from the cleaning module. Furthermore, by making the interference between the second brush element 232 and the ground smaller than the interference between the first brush element 132 and the ground, noise caused by contact between the second brush element 232 and the ground is reduced. At the same time, the sufficient interference between the first brush element 132 and the ground ensures the cleaning effect of the first roller brush and prevents dust from leaking.

[0079] In some embodiments, when the surface is carpet, particularly long-pile carpet, the plane on which the lowest point of the second filler is located is set lower than the plane on which the lowest point of the first filler is located. In some embodiments, the plane on which the second shaft is located is lower than the plane on which the first shaft is located. That is, the assembly position of the second roller brush is set lower than that of the first roller brush. Because the striking strength of the second roller brush (hard roller brush) is greater than that of the first roller brush (soft roller brush), the assembly position of the second roller brush is set lower, further strengthening the second roller brush's ability to strike dust first. In this case, the hardness of the second brush element may be set lower than that of the first brush element, thereby reducing the noise of the second roller brush and controlling the noise control and striking effect within a reasonable range.

[0080] The automatic cleaning device provided by the embodiment of the present disclosure has a double roller brush structure consisting of a first roller brush and a second roller brush, and the first roller brush has an elastic first filler and a rigid second filler in the second roller brush, and the second roller brush and the first roller brush are arranged in a front-to-back direction. This allows the hard brush to function as the front brush for cleaning, resulting in high cleaning power and a pronounced dust-beating effect. For example, when cleaning a carpet, the front hard brush can effectively beat up dust inside the carpet, which can then be gently rolled up by the rear soft brush and collected in a dust box. Furthermore, the air duct is designed to be biased toward the rear soft brush, making it less likely to become clogged with dust during forward dust removal and reverse dust discharge.

[0081] Hereinafter, the specific structure of the first roller brush (also called a soft brush or cleaning brush) will be described in detail with reference to Figures 7 to 12. The same structure and function have the same technical effects, so the description thereof will be omitted here.

[0082] Fig. 7 is an exploded view of the three-dimensional structure of an example of a cleaning brush provided by the present disclosure. Fig. 8 is a three-dimensional structure view of an example of an end member of the cleaning brush of Fig. 7. Fig. 9 is a three-dimensional structure view of the end member of the cleaning brush of Fig. 8 from another angle.

[0083] 7 to 9, an embodiment of the present disclosure provides a cleaning brush 100. The cleaning brush 100 includes a shaft 110 including a shaft body 113 and a first end 111 and a second end 112 located on either side of the shaft body 113, and a first end member 120 arranged to be attached to the first end 111 and having a first assembly structure 121 on a side remote from the shaft 110. Specifically, the first assembly structure 121 is a transmission structure, and the first assembly structure 121 is connected to a drive mechanism of a cleaning device.

[0084] Specifically, the first end member 120 has at least one first introduction portion 1221, and the first end 111 has at least one first mating portion 1111. The at least one first introduction portion 1221 and the at least one first mating portion 1111 match to form a guide mating structure, so that the first end member 120 can only be attached to the first end 111 in one circumferential assembly method, that is, there is a single installation direction when assembling the first end member 120 and the shaft 110.

[0085] The meaning of the circumferential assembly method in this specification is as follows: if the two assembly members rotate 360 ​​degrees relative to each other and there are N types of assembly methods, the two are deemed to have N types of circumferential assembly methods, where N is 1 or more.

[0086] 8, the first end member 120 includes a first guide sleeve 122, which is arranged to accommodate the first end 111, and the at least one first introduction portion 1221 is a protrusion that is installed on the inner circumferential wall of the first guide sleeve 122 and protrudes inward from the inner circumferential wall of the first guide sleeve 122. The first end member 120 is attached to the first end 111 located on the drive side.

[0087] Specifically, the at least first introduction portion 1221 extends spirally along the circumferential direction of the first guide sleeve 122 in a direction away from the first assembly structure 121, and specifically has a spiral shape that extends and rotates spirally along the inner circumferential wall, thereby giving the first introduction portion 1221 a rotational direction, for example, a rotational direction that rotates clockwise (or counterclockwise) around the axis z of the shaft 110.

[0088] It should be noted that in this example, the first introduction portion 1221 is a protrusion that protrudes from the inner wall of the first guide sleeve 122, but is not limited to this, and it is sufficient that one of the first introduction portion 1221 and the first fitting portion 1111 is a protrusion and the other is a recessed portion.

[0089] 8, there are two first guide portions 1221, and the sizes of the two first guide portions 1221 are different. By arranging the two first guide portions to have different sizes, it is possible to effectively ensure that the first end member 120 and the drive end of the shaft have only a single mounting direction, thereby controlling the mounting direction of components such as the blade of the cleaning brush to be unique.

[0090] It should be noted that in this example, the number of the first introduction sections 1221 is two, but is not limited thereto; in other examples, the number of the first introduction sections 1221 may also be three or more; the above is merely described as a selective example and should not be understood as limiting the present invention.

[0091] 9, a first fitting portion 1111 corresponding to the first introduction portion 1221 is provided on the outer periphery of the first end portion 111 of the shaft 110. In this example, two first fitting portions 1111 are provided on the outer periphery of the first end portion 111, and the two first fitting portions 1111 correspond one-to-one to the two first introduction portions 1221, respectively. The first fitting portions 1111 are grooves recessed inward from the outer periphery of the first end portion 111, and the first introduction portions 1221 and the first fitting portions 1111 match to form a guide and insertion structure, so that the first end member 120 can only be attached to the first end portion 111 by one circumferential assembly method.

[0092] By adding two different sized first introduction portions to the inner peripheral wall of the first guide sleeve, it can be introduced and installed more effectively, and the first end member can be installed to the first end member using only one circumferential assembly method, which improves the ease of installation of the end member and the stability of the installation structure.

[0093] Optionally, a marking portion 1223 (see FIG. 8) is provided on the outer periphery of the first guide sleeve 122, and is arranged to mark the position of the first introduction portion 1221 on the outer periphery of the first guide sleeve 122, and is used to indicate the rotational assembly direction for attaching the first end member 120 to the first end 111 of the shaft 110, making it easier to align and assemble the first introduction portion 1221 and the first mating portion 1111.

[0094] 8 to 10, a first locking portion 1222 is provided on the first guide sleeve 122, and is, for example, a recessed groove recessed inward from the outer circumferential surface of the first guide sleeve 122. Correspondingly, a first locking matching portion 1112 is provided on the first end portion 111, and the first locking portion 1222 is fitted with the first locking matching portion 1112 to lock the first end member 120 to the first end portion 111.

[0095] 9 and 10, the first end member 120 further includes a first guide shaft 123, which extends along the axis of the first guide sleeve 122, and has a first guide hole 1113 on the end surface of the first end 111 away from the second end 112, and the first guide hole 113 is coaxial with the shaft 110 and is arranged to accommodate the first guide shaft 123.

[0096] 9 and 10, the end surface of the first assembly structure 121 away from the shaft has a regular polygonal shape, and the number of sides of the regular polygon is a divisor of the number of brush components. In other words, the number of sides of the regular polygon of the outer end surface of the first end member corresponds to the number of sets of brush components of the automatic cleaning device. For example, the number of sides N of the regular polygon is a divisor of the number of sets (e.g., four sides, eight sets of blades, or, for example, four sides, four sets of blades), which ensures that the orientations of the components such as blades in the brush components of the cleaning brush are consistent after the cleaning brush is attached to the main body of the automatic cleaning device according to the N directions.

[0097] It should be noted that in this embodiment, the sides of the regular polygon are N straight sides, but are not limited thereto, and in other embodiments, the sides may be further adjusted, for example, curved sides, or a combination of straight and curved sides. In other examples, the shape of the regular polygon changes adaptively depending on the number of brush components.

[0098] 7, the cleaning brush 100 further includes a brush member 130 that is installed coaxially with the shaft 110, and the brush member 130 includes a cylindrical member 131 that is fitted onto the outer periphery of the shaft, and a plurality of brush parts 132. The plurality of brush parts 132 extend in a direction away from the outer surface of the cylindrical member 131, and the plurality of brush parts 132 are uniformly installed along the circumferential direction of the cylindrical member.

[0099] Specifically, the brush part 131 includes a first brush part, for example, the first brush part is V-shaped and includes five sets of first brush parts.

[0100] It should be noted that in other examples, the brush parts may further include a second brush part or a third brush part, etc., and the second brush part and the third brush part have different shapes, lengths, etc. from the first brush part. In addition, the structures of different sets of brush parts are basically the same, and each set of brush parts may include one or more blades, and when including multiple blades, the structures of the multiple blades are generally not completely the same.

[0101] Specifically, a flexible filler (not shown) is filled between the brush member 130 and the shaft 110, and the flexible filler covers the outer periphery of the shaft body and exposes the first end and the second end.

[0102] The first end member 120 further includes a first blocking structure 125, which is disposed between the first assembly structure 121 and the first guide sleeve 122 and is used to prevent wound material from excessively extending away from the brush member and the cleaning brush. The first blocking structure 125 is, for example, at least one blocking ring, and in this example, two blocking rings. By providing the blocking structure, wound material, such as dust, can be wound around the blocking structure of the first end member, effectively preventing the wound material from wrapping around the shaft. When the end member is attached or detached, the wound material can be directly attached or detached in accordance with the attachment or detachment of the end cap member.

[0103] The first guide sleeve of the first end member and the drive end of the shaft form a guide fitting structure, and the first locking portion on the first guide sleeve and the first locking matching portion on the shaft end are fitted together to form a locking fitting structure. The guide fitting structure and the locking fitting structure work together to fit together, achieving a more effective mounting structure, which further optimizes the mounting structure between the end member and the shaft, and further optimizes the overall structure of the cleaning brush.

[0104] Figure 11 is an exploded view of the three-dimensional structure of the cleaning brush of Figure 7 from another angle. Figure 12 is an exploded view of the local structure of the second end member and shaft of the cleaning brush of Figure 7 from one angle.

[0105] 11 and 12, the cleaning brush 100 further includes a second end member 140. The second end member 140 is located on the driven side and is attached to the second end 112 of the shaft 110. The second end member 140 has a second assembly structure 141 (specifically, a bearing structure) on the side away from the shaft 110, and the second assembly structure 141 can rotate relative to the shaft and is rotatably connected to another structure of the cleaning device (such as the body) by the second assembly structure 141.

[0106] As shown in Figures 11 and 12, the second end member 140 has at least one second introduction portion 1421, and the second end 112 has at least one second engagement portion 1121, and the at least one second introduction portion 1421 and the at least one second engagement portion 1121 match to form a guide engagement structure, so that the second end member 140 can be attached to the second end in multiple circumferential assembly methods.

[0107] Furthermore, the second introduction portion 1421 extends spirally along the circumferential direction of the second guide sleeve 142 in a direction away from the second assembly structure 141, specifically has a spiral shape that extends by rotating spirally along the inner circumferential wall, so that the second introduction portion 1421 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis z of the shaft 110, thereby forming a second introduction direction. In this example, the second introduction direction is the same as the first introduction direction.

[0108] For illustrative purposes, in this example, the first introduction direction is the same as the second introduction direction, but is not limited thereto. In other examples, the rotation direction of the first introduction portion may also be, for example, non-helical or linear. Also, in other examples, the second introduction direction may be different from the first introduction direction. The above is merely a selection of examples and should not be construed as limiting the present disclosure.

[0109] As shown in FIG. 12, the at least one second introduction portion 1421 includes two second introduction portions 1421, and the shapes and sizes of the two second introduction portions 1421 are the same, so that the second end member can be attached to the second end portion 112 in two circumferential assembly methods.

[0110] Preferably, when the introduction directions of the first introduction portion 1221 and the second introduction portion 1421 are the same, the sizes of the two first introduction portions 1221 are different (and accordingly the size of the first mating portion 1111 is different from the size of the second mating portion 1121), the sizes of the two second introduction portions 1421 are the same, and the size of the second introduction portion 1421 is between the sizes of the two first introduction portions 1221.

[0111] The size of the two second guide sections on the driven end is between the sizes of the two first guide sections on the driving side, which ensures that the second end member can be freely installed at multiple angles and that the end members on both sides cannot be installed in reverse, effectively ensuring that the orientation of members such as blades is accurate after the cleaning brush is installed.

[0112] It should be noted that the number of second guide portions may be three or more in other examples. The above is merely a selective example and should not be understood as limiting the present invention. Furthermore, since there is a need for an installation angle on the drive side of the first end member and the second end member, it is preferable to install two first guide portions of different sizes on the drive side. However, since the second assembly structure (specifically, the bearing structure) on the driven side can freely rotate relative to the shaft, the second end member on the driven side does not need to be designed with different sizes. After the bearing structure is assembled to the body of the automatic cleaning device, the remaining part of the cleaning brush can freely rotate relative to the bearing structure. Since there is no strong need for an assembly angle on the driven side, in other examples, the second guide portions may also be the same size.

[0113] A more effective guide-fitting structure can be realized by the first introduction portion 1221 and the second introduction portion 1421 forming a guide-fitting structure with the first fitting portion 1111 and the second fitting portion 1121. By arranging the two first introduction portions 1221 to have different sizes and arranging the second introduction portion and the first introduction portion to have different sizes, the first end member can be attached to the first end member using only one circumferential assembly method, and the second end member can be attached to the second end member using multiple circumferential assembly methods, so that the attachment angles between the first end member and the second end member and the shaft can be accurately determined, and a more effective attachment structure can be realized.

[0114] Furthermore, the second guide sleeve 142 of the second end member 140 is provided with a A second locking portion 1422 is provided, for example, a groove recessed inward from the outer circumferential surface of the second guide sleeve 142. The second locking portion 1422 may also be a through-hole passing through the second guide sleeve 142. Accordingly, a first locking portion 1123 is provided at the second end portion 112, and the second locking portion 1422 is fitted with the second locking portion 1123 to lock the second end member 140 to the second end portion 112, thereby forming a locking and fitting structure.

[0115] As shown in FIG. 12, the second end member 140 further includes a second guide shaft 144, which extends along the axis of the second guide sleeve 142, and has a second guide hole (not shown) provided on the end face of the second end 112 away from the first end 111, which is coaxial with the shaft 110 and arranged to accommodate the second guide shaft 144.

[0116] Furthermore, the second end member 140 further includes a second blocking structure 145 , which is located on a side of the second guide sleeve 142 away from the shaft 110 .

[0117] Specifically, the outer diameter of the blocking structure 145 is larger than the outer diameter of the second guide sleeve 142. By installing the blocking structure on the second end member, wound objects such as dust can be wound around the blocking structure of the second end member, effectively preventing the wound objects from getting wrapped around the shaft, and the wound objects can be removed directly following the attachment and detachment of the end cap member when the end member is attached or detached.

[0118] Optionally, the second guide sleeve 142 may further have a marking portion 1423 arranged on the outer periphery of the second guide sleeve 142 to mark the position of the second introduction portion 1421 and used to indicate the rotational assembly direction for attaching the second end member 140 to the second end 112 of the shaft 110, thereby facilitating the alignment and assembly of the second introduction portion and the second mating portion.

[0119] Furthermore, the second assembly structure 141 of the second end member 140 is arranged in a polygonal shape corresponding to the number of the brush components. In this example, the polygonal shape of the outer end surface of the second assembly structure 141 is a pentagon formed by combining straight lines and curved lines.

[0120] Preferably, the regular polygonal shape of the outer end surface of the first end member 120 is different from the polygonal shape of the outer end surface of the second assembly structure 141, so that the shapes of the outer end surfaces of the first end member and the second end member are different, making it easier to distinguish between the two ends and improving installation convenience.

[0121] The cleaning brush of the present disclosure has a unique circumferential assembly method for the lead-in member of the end member of the drive end, thereby ensuring that the drive end has a relatively fixed mounting direction and contributing to the controllability of the mounting angle of the roller brush. This is particularly useful in some situations where there are certain predetermined requirements for the orientation or alignment direction of the roller brush sub-members, particularly the blades, such as when two of the present roller brushes are used to form a double brush system and there are certain alignment requirements for their respective blades.

[0122] The cleaning brush of the present disclosure forms a guide fitting structure by the introduction portion on the inner wall of the guide sleeve of the end member and the end of the shaft, and forms a lock fitting structure by the lock portion on the outer periphery of the guide sleeve and the end of the shaft. The guide fitting structure and the lock fitting structure cooperate to fit together, allowing for more effective introduction and installation, thereby realizing a more effective guide fitting structure and a more effective foolproof installation structure, improving the ease of installation of the end member and the stability of the installation structure, optimizing the installation structure between the end member and the shaft, and further optimizing the overall structure of the cleaning brush.

[0123] In addition, by installing the two first introduction sections with different sizes and installing the second introduction section and the first introduction section with different sizes, the first end member can only be attached to the first end member using one circumferential assembly method, and the second end member can be attached to the second end member using multiple circumferential assembly methods, so that the attachment angles between the first end member and the second end member and the shaft can be accurately determined, and a more effective attachment structure can be realized.

[0124] In addition, by providing markings on the outer periphery of the first guide sleeve and the second guide sleeve to indicate the rotational assembly direction for attaching the first end member and the second end member to the first end and second end of the shaft, it is possible to effectively ensure that the first introduction portion is assembled in alignment with the first fitting portion, and that the second introduction portion is assembled in alignment with the second fitting portion.

[0125] In addition, by using a divisor of the number of sides of the regular polygon on the outer end surface of the first end member and the number of sets of brush parts of the automatic cleaning equipment, it is possible to ensure that the orientations of parts such as blades in the brush parts of the cleaning brush are consistent after the cleaning brush is attached to the main body of the automatic cleaning equipment according to N directions.

[0126] Furthermore, by providing a blocking structure on the end member and winding the wound material directly around the blocking structure of the end member, it is possible to effectively prevent the wound material from getting wrapped around the shaft.

[0127] Hereinafter, the specific structure of the second roller brush (also called hard brush or cleaning brush) will be described in detail with reference to Figures 13 to 21. The same structure and function have the same technical effects, so the description thereof will be omitted here.

[0128] Fig. 13 is an exploded view of the three-dimensional structure of an example of a cleaning brush provided by the present disclosure. Fig. 14 is a schematic view of the cross-sectional structure of the cleaning brush of Fig. 13. Fig. 15 is a three-dimensional structure diagram of an example of an end member of the cleaning brush of Fig. 13. Fig. 16 is a schematic view of the three-dimensional structure of an example of a fitting member for the shaft of Fig. 13. Fig. 17 is a schematic view of the three-dimensional structure of an example of a guide fitting structure for a fitting member between the end member and shaft of Fig. 13. Fig. 18 is a structural exploded view of the guide fitting structure of Fig. 17.

[0129] 13 to 18, the cleaning brush 200 includes a shaft 210 having a first end 211 and a second end 212 facing each other along the axial direction, at least one of the first end 211 and the second end 212 including an engaging member 213, a brush member 230 coaxially fitted onto the outer periphery of the shaft 210, and an end member 220 arranged to be fitted into and attached to the engaging member 213, and having an assembly structure 221 on the side away from the engaging member 213.

[0130] Specifically, the assembly structure 221 includes, for example, a bearing structure 221'' and a transmission structure 221', and when the end member 220 is an end member located on the driving side, i.e., when the end member 220 is an end member 220' on the first side connected to the drive unit of the cleaning module, the assembly structure 221 is, for example, a transmission structure 221', and when the end member 220 is an end member located on the driven side, i.e., when the end member 220 is an end member 220'' on the second side opposite to the end member 220' on the first side, the assembly structure 221 is, for example, a bearing structure 221''.

[0131] In the following, the connection and assembly relationship between the end member and the shaft will be described mainly using the drive side end member as an example, and the connection relationship between the driven side end member and the shaft is similar.

[0132] As shown in FIG. 14, an accommodation space 214 is opened on the end surface of the end where the engaging member 213 is located, facing the end member 220, and the engaging member 213 is accommodated in the accommodation space 214, and a portion of the end member 220 is inserted into the accommodation space 214 and fitted into the engaging member 213 for attachment.

[0133] Specifically, the end face of the fitting member 213 that is close to the assembly structure 221 is farther away from the assembly structure 221 than the opening 2141 of the receiving space 214, see FIG. 14 for details.

[0134] Optionally, the end surface of the brush member 230 adjacent to the assembly structure 221 is flush with the opening 2141 of the receiving space 214, see Fig. 14 for details. On the one hand, it can effectively support the end of the brush member and maintain the necessary strength when cleaning the ground, and on the other hand, the brush member can effectively protect the mounting and fitting three-dimensional structure such as the core rod and the internal fitting member, preventing a decrease in user experience due to collision damage.

[0135] As shown in FIG. 15, the end member 220 includes a guide rod 222, which is located on the side of the assembly structure 221 that is close to the shaft 210, and the end of the guide rod 222 that is away from the assembly structure 221 has a guide portion 2221, which is arranged to form a rotational engagement structure with the engagement member 213.

[0136] Specifically, the guide portion 2221 extends spirally along the circumferential direction of the guide rod 222 in a direction away from the assembly structure 221. The guide portion 2221 is arranged in a spiral shape having a rotation direction, and specifically, has a spiral shape that extends spirally (i.e., extends while rotating spirally) along the outer circumferential surface of the guide rod 222, thereby giving the guide portion 2221 a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis of the shaft 210.

[0137] 14 and 15, the end member 220 includes a guide rod 222 and at least one guide portion 2221, where the guide portion 2221 is provided on the outer circumferential surface of the guide rod 222, and the plurality of guide portions 2221 are uniformly distributed in the circumferential direction of the guide rod 222, so that the guide portion 2221 forms a rotational engagement structure with the engagement member 213, see FIGS. 14 and 17.

[0138] 15, the guide portion 2221 is a protrusion formed by etching a groove from the outer circumferential surface of the guide rod 222. The guide portion 2221 is formed at one end of the guide rod 222 that is remote from the assembly structure 221.

[0139] Specifically, there are a plurality of guide portions 2221. In the example of Fig. 15, there are five guide portions 2221, and these five guide portions 2221 have the same size.

[0140] It should be noted that in other examples, the number of guide portions may also be three, four, six, or more, and the size of the guide portions may also be different, which are merely described as selective examples and should not be understood as limiting the present disclosure. Furthermore, with regard to the manner in which the guide portions are formed, the guide portions may also be grooves formed by etching inward from the outer circumferential surface of the guide rod, which are merely described as selective examples and should not be understood as limiting the present disclosure. Optionally, at least one of the shape, number, and size of the guide portions 211 may be different.

[0141] Furthermore, the end member 220 further includes a guide shaft 223 that extends from the guide rod 222 away from the assembly structure 221 and has a locking member 2231 at the end of the guide shaft 223 that is away from the guide rod 222.

[0142] In this embodiment, one end of the guide shaft 223 adjacent to the assembly structure 221 is fitted onto the inside of the guide rod 222 .

[0143] Specifically, the guide shaft 223 includes a locking member 2231 installed along the outer circumferential surface, and the locking member 2231 is, for example, an annular groove, so that the locking member 2231 and the fitting member 213 form a locking and fitting structure.

[0144] As shown in FIG. 16, the fitting member 213 includes a fitting portion 2131 that fits into the shape of the guide portion 2221, and the fitting portion 2131 has a spiral groove that accommodates the guide portion 2221.

[0145] Specifically, the engaging member 213 includes a main body 2130, the main body 2130 has a cavity, and the main body 2130 includes an engaging portion 2131 disposed within the cavity, the engaging portion 2131 being a spiral groove extending along the inner wall of the cavity, the engaging portion 2131 and the guide portion 2221 forming a rotational engaging structure, whereby the guide rod of the end member and the engaging member form a rotational engaging mechanism, as shown in FIG. 17.

[0146] In this example, the number of the fitting portions 311 is the same as the number of the guide portions 211, for example, five.

[0147] It should be noted that, in another example, the shape of the fitting portion may also be a recessed groove, and the guide portion may be a protruding portion. Also, in another example, the number of fitting portions may be three, four, six or more, as long as the number of guide portions is the same as the number of fitting portions. The above is merely described as a selective example, and should not be understood as limiting the present disclosure.

[0148] By adding a guide portion to the outer peripheral surface of the guide rod, the guide rod of the end member and the fitting member of the shaft form a rotational fitting structure, which makes it possible to effectively perform guide attachment, realize an effective foolproof attachment structure, improve the ease of attaching the end member, and improve the stability of the attachment structure. By fitting the rotational fitting structure formed by the guide rod of the end member and the fitting member inside the shaft with the locking fitting structure formed by the guide shaft and the fitting member, it is possible to perform guide attachment more effectively, realize a more effective foolproof attachment structure, further improve the ease of attaching the end member, and further improve the stability of the attachment structure.

[0149] In the example of Figure 16, the engaging member 213 includes an extension portion 2132 connected to and extending outward from the main body portion 2130, wherein the extension portion 2132 is closer to the center of the shaft 210 than the main body portion 2130 and the outer diameter of the extension portion 2132 is smaller than the outer diameter of the main body portion 2130.

[0150] As shown in Figures 17 and 18, the extension 2132 is provided with a plurality of ribs 21321 uniformly distributed on its outer circumferential surface, thereby forming an uneven surface on the outer circumferential surface of the extension 2132, which is used to form a fitting structure corresponding to the interior of the shaft 210 (i.e., the shape of the interior of the shaft), thereby increasing the contact area between the fitting member 213 and the interior of the shaft 210, which is advantageous for adhering the fitting member 213 to the accommodating space 214 of the shaft 210, thereby increasing the connection strength of the connection structure between the fitting member 213 and the shaft 210, and making the installation more stable.

[0151] Illustratively, the coupling structure between the fitting 213 and the interior of the shaft 210 may also be a stepped fitting structure, etc. In other embodiments, the entire or at least a portion of the fitting 213 assembly may also be integrally molded with the shaft 210. The above are merely described as selective examples and should not be understood as limiting the present disclosure.

[0152] 17, a locking portion 21322 is provided at one end of the fitting member 213 that is close to the shaft center, and the locking portion 21322 is closer to the shaft center than the rib 21321. The locking portion 21322 has, for example, a claw portion, and the locking portion 21322 and the locking member 2231 (i.e., annular groove portion) of the guide shaft 223 of the end member 220 form a locking fitting structure.

[0153] 13, the end member 220 is provided with a blocking structure 225 for preventing the wound material from extending excessively away from the cleaning brush. The blocking structure 225 is provided on the side closer to the assembly structure 221 than the guide rod 210 (i.e., the side farther from the shaft center).

[0154] Specifically, the outer diameter of the blocking structure 225 is larger than the outer diameter of the guide rod 210, and the blocking structure 225 is spaced a certain distance from the first end 211 of the shaft 210, see Figures 17 and 18.

[0155] By providing a blocking structure on the end member and winding the wound material directly around the blocking structure of the end member, it is possible to effectively prevent the wound material from winding around the shaft.

[0156] In another example, in the cleaning brush 200 shown in FIG. 19 , the end member 220 includes a first end member 220′ and a second end member 220″, which are respectively fitted into fitting members 213 at the first end 211 and the second end 212 of the shaft 210, the shaft 210 being a rigid member, the brush member 230 being directly fitted onto the shaft 210, and the cleaning brush 200 being, for example, a hard brush. Optionally, the shaft 210 is a rigid member, and a rigid filler is filled between the brush member 230 and the shaft 210.

[0157] In this example, the first guide portion 2221' of the end member 220' on the first side (i.e., the end member 220 in FIG. 14) and the second guide portion 2221'' of the end member 220'' on the second side differ in at least one of shape, number, and size.

[0158] In one alternative embodiment, the shape and size of the first guide portions 2221' of the first end member 220' and the shape and size of the second guide portions 2221'' of the second end member 220'' are the same, the number of first guide portions 2221' of the first end member 220' is greater than the number of second guide portions 2221'' of the second end member 220'', and the number of second guide portions 2221'' of the second end member 220'' is not a divisor of the number of first guide portions 2221' of the first end member 220'. For example, the number of first guide portions 2221' of the first end member 220' is five, and the number of second guide portions 2221'' of the second end member 220'' is two.

[0159] 19 and 20, the first-side end member 220' (i.e., the end member 220 located on the driving side, the left end shown in FIG. 20) is attached to the first end 210 of the shaft 210, and the first-side end member 220' includes a transmission structure 221', which is located closer to the outside than the first blocking structure 225', and the end face shape of the transmission structure 221' is polygonal, for example, a regular polygon. The transmission mechanism 221' is connected to the drive mechanism of the automatic cleaning device.

[0160] In this example, the brush member 230 includes a cylindrical member fitted onto the outer periphery of the shaft, and a plurality of brush parts 232 extending from the outer surface of the cylindrical member in a direction away from the cylindrical member 231, and the plurality of brush parts 232 are uniformly arranged along the circumferential direction of the cylindrical member.

[0161] It should be noted that in this example, the brush element 232 includes at least one size of first brush element, for example, five sets of brush elements, each set of brush elements includes two sizes of first brush elements, for example, the first brush elements are V-shaped or spiral-shaped. The brush element 230 in this example is almost the same as the brush element 230 in the example of Figure 13, so a description of the similar parts will be omitted.

[0162] Specifically, the number of first guide portions 2221′ of the first-side end member 220′ is a divisor of the number of the brush elements 232. For example, if the number of first guide portions 2221′ is five, the number of the brush elements 232 is a multiple of five, such as five sets, ten sets, etc., where each set includes two or more brush elements.

[0163] By setting the number of the first guide portions 2221' to be a divisor of the number of sets of the brush elements 232, when the roller brush is attached to the roller brush frame, the brush elements 232 have a specific attachment angle, which is advantageous for preventing matching interference between the brush elements corresponding to the two roller brushes.

[0164] In the example of FIG. 19, the number of first guide portions 2221' is five, and the number of sets of the brush parts 232 is five.

[0165] As shown in FIG. 20, the second side end member 220'' is attached to the second end 212 of the shaft 210 (i.e., the end member located on the driven side, the right end shown in FIG. 20), and the second side end member 220'' includes an assembly structure (specifically, a bearing structure 221''), which is rotatable relative to the shaft 210 and is connected to other structures of the cleaning equipment (e.g., the body) by the rotation of the bearing structure 221'' relative to the shaft.

[0166] Specifically, the first side end member 220' is attached to a first fitting member 213' at a first end 211 within the shaft 210, and the second side end member 220'' is attached to a second fitting member 213'' at a second end 212 within the shaft 210.

[0167] It should be noted that the shaft and brush member in the example of Fig. 18 have almost the same structure as the shaft and brush member in the example of Fig. 13, and therefore a description of the similar parts will be omitted. Also, the first fitting member 213' in Fig. 19 has almost the same structure as the fitting member 213 in Fig. 16, and therefore a description of the similar parts will be omitted.

[0168] 19, the first-side end member 220′ includes a first guide rod 222′, at least one first guide portion 2221′, and a first guide shaft 223′, where a plurality of first guide portions 2221′ are provided on the first guide rod 222′, and the first guide portion 2221′ is a protrusion formed by etching a groove from the outer circumferential surface of the first guide rod 222′. The first guide portion 2221′ is formed at one end of the first guide rod 222′ away from the assembly structure 221′.

[0169] As shown in Figures 20 and 21, the second side end member 220'' includes a second guide rod 222'', at least one second guide portion 2221'', and a second guide shaft 223'', where multiple second guide portions 2221'' are installed on the second guide rod 222''.

[0170] Optionally, when the shape of the first guide portion 2221' of the first side end member 220' and the shape of the second guide portion 2221'' of the second side end member 220'' are the same, the number of first guide portions 2221' of the first side end member 220' and the number of second guide portions 2221'' of the second side end member 220'' are different.

[0171] Optionally, the number of first guide portions 2221' of the end member 220' on the first side is odd, and the number of second guide portions 2221" of the end member 220" on the second side is even. Preferably, the number of first guide portions 2221' of the end member 220' on the first side and the number of second guide portions 2221" of the end member 220" on the second side are not multiples of each other, thereby ensuring that an end member on the side with fewer guide portions cannot be mistakenly attached to a mating member corresponding to an end member on the side with more guide portions, thereby ensuring that neither end member can be mistakenly attached and providing maximum foolproofness.

[0172] As shown in Figures 20 and 21, the second end 212 of the shaft 210 includes a second fitting member 213'' that matches with the second guide portion 2221'' of the second guide rod 222'', and the number of the second guide portions 2221'' is two. The second guide portion 2221'' is a protrusion formed by etching a groove on the outer surface of the second guide rod 222'', and is installed at one end of the second guide rod 222'' that is away from the bearing structure 221''.

[0173] Specifically, the second engaging member 213″ includes an extension portion 2132″ connected to and extending outward from the main body portion 2130″, and the outer diameter of the main body portion 2130″ is larger than the outer diameter of the extension portion 2132″. The main body portion 2130″ includes a cavity, and the main body portion 2130″ includes a engaging portion 2131″ disposed within the cavity, the engaging portion 2131″ being a spiral groove extending along the inner wall of the cavity, and the engaging portion 2131″ and the second guide portion 2221″ form a rotational engaging structure, whereby the guide rod of the second end member and the engaging member form a rotational engaging mechanism.

[0174] As shown in Figures 20 and 21, the extension portion 2132'' of the second engaging member 213'' has a plurality of ribs 21321'' uniformly distributed on the outer circumferential surface thereof, thereby forming an uneven surface on the outer circumferential surface of the extension portion 2132'', which is used to form an engaging structure corresponding to the interior of the shaft 210 (i.e., the shape of the interior of the shaft), thereby increasing the contact area between the second engaging member 213'' and the interior of the shaft 210, which is advantageous for adhering the second engaging member 213'' within the accommodating space of the shaft 210, increasing the bonding strength of the bonding structure between the second engaging member 213'' and the shaft 210, and making the installation more stable.

[0175] Furthermore, a locking portion 21322'' is provided at one end of the second fitting member 213'' close to the shaft center, and the locking portion 21322'' is closer to the shaft center than the rib 21321''. The locking portion 21322'' is, for example, a claw portion, and the locking portion 21322'' and the locking member 2231 (i.e., annular groove portion) of the guide shaft 223 of the second end member 220'' form a locking engagement structure.

[0176] In the example of Figure 19, the first side end member 220' includes an assembly structure (specifically, a transmission structure 221') and a first guide shaft 223', one end of the first guide shaft 223' is fitted onto the first guide rod 222', and the other end of the first guide shaft 223' is fitted onto the first guide hole of the first end portion 211', and the first guide hole is opened coaxially on the end face of the first end portion 211'.

[0177] The assembly structure 221'' of the second end member 220'' and the second guide rod 222'' are separate structures. Specifically, one end of the second guide shaft 223'' passes through the assembly structure (specifically, the bearing structure 221'') of the second end member 220'', and the other end of the second guide shaft 223'' is fitted into the second guide hole of the second end portion 212, which is opened coaxially on the end face of the first end portion 211.

[0178] Optionally, a blocking structure 225' is provided on the first end member 220', specifically, between the assembly structure (specifically, the transmission structure 221') and the first guide rod 222'. A blocking structure 225'' is provided on the second end member 220'', specifically, between the assembly structure (specifically, the bearing structure 221'') and the second guide rod 222''. The blocking structures on both end members are used to prevent the wound material from excessively extending away from the brush member 230.

[0179] In this example, the outer end surface of the first end member 220' is arranged in the shape of a first polygon corresponding to the number of the brush elements 232. Specifically, the end surface of the first end member 220' away from the guide rod 222 of the transmission structure 221' has a regular polygonal shape, and the number of sides of the regular polygon is the same as the number of the first guide portions 2221' of the first end member 220'. At the same time, the number of the first guide portions 2221' of the first end member 220' is a divisor of the number of the brush elements 232.

[0180] When the roller brush is installed in this manner and attached to the roller brush frame, the brush element 232 can have a specific mounting angle. When there are multiple roller brushes with similar structures, this design is very advantageous in forming a mutual interlocking relationship between the blades of the multiple roller brushes, especially when it is necessary to align the blades of two roller brushes, ensuring blade alignment to achieve synchronous operation, interference, or interlocking in a certain posture, and further realizing different cleaning effect requirements.

[0181] Compared to conventional technology, the cleaning brush of the present disclosure forms a rotational engagement structure using the guide portion of the guide rod of the end member and the engagement member inside the shaft, and engages with the locking engagement structure formed by the guide shaft and the engagement member, thereby enabling more effective guide attachment, realizing a more effective foolproof attachment structure, further improving the ease of attachment of the end member, and further improving the stability of the attachment structure.

[0182] Furthermore, by providing a blocking structure on the end member and winding the wound material directly around the blocking structure of the end member, it is possible to effectively prevent the wound material from getting wrapped around the shaft.

[0183] For illustrative purposes, each embodiment in this specification will be described in a progressive manner, with the differences between each embodiment being emphasized, and the same or similar parts between each embodiment may be referred to. As for the systems or devices disclosed in the embodiments, they correspond to the methods disclosed in the embodiments, and therefore the explanations are relatively simple, and the relevant parts may be referred to the explanations of the methods.

[0184] 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 disclosed embodiments.

Claims

1. An automatic cleaning device, a cleaning module arranged to clean the operating surface; The cleaning module comprises: a first roller brush that is disposed along a first direction and includes a first filler and a first brush member that are elastic members disposed along the axial direction of the first roller brush; the second roller brush is disposed in a direction parallel to the first roller brush and includes a second shaft member and a second brush member, the second shaft member being a rigid member disposed in an axial direction of the second roller brush; the first direction is a direction perpendicular to a longitudinal axis of the automatic cleaning device, the second direction is a direction of a longitudinal axis of the automatic cleaning device table, the first direction is perpendicular to the second direction, and the second roller brush is installed in front of the first roller brush along the second direction. Automatic cleaning equipment.

2. the cleaning module further includes an air passage, the air passage being arranged so that objects to be cleaned enter and exit the dust box along the air passage, the air passage having an air passage opening located substantially between the first roller brush and the second roller brush, and a front edge of the air passage opening being located on a side of an axis of the second roller brush that is close to the first roller brush. The automatic cleaning device of claim 1 .

3. the cleaning module further includes an air passage, the air passage is arranged so that objects to be cleaned enter and exit the dust box along the air passage, the air passage has an air passage opening located substantially between the first roller brush and the second roller brush, and the air passage opening is disposed biased toward the first roller brush. The automatic cleaning device of claim 1 .

4. the cleaning module further includes an air passage, the air passage is arranged so that objects to be cleaned enter and exit the dust box along the air passage, the air passage has an air passage opening located substantially between the first roller brush and the second roller brush, and a projected area of ​​the air passage opening of the first roller brush on a plane is larger than a projected area of ​​the air passage opening of the second roller brush on a plane. The automatic cleaning device of claim 1 .

5. a front edge of the air duct opening located on a side of the axis of the second roller brush that is close to the first roller brush, and not extending beyond a rear end cut surface of an outer contour of the second roller brush; The automatic cleaning device according to any one of claims 2 to 4.

6. a front edge of the air duct opening being located close to a rear end cut surface of the outer contour of the second roller brush; The automatic cleaning device according to any one of claims 2 to 4.

7. a plane on which the lowest point of the second shaft member is located is higher than a plane on which the lowest point of the first packing is located; The automatic cleaning device of claim 1 .

8. The first roller brush further includes a first shaft and a first brush member, the first filler is fitted onto the first shaft to make the first filler coaxial with the first shaft, and the first brush structure portion is fitted onto the outside of the first filler; The first brush member includes: a first cylindrical member fitted onto the outside of the first filler and arranged so as to be coaxial with the first shaft; a first brush component extending from an outer surface of the first cylindrical member in a direction away from the first cylindrical member, The second roller brush further includes a second shaft and a second brush member, the second shaft member being fitted onto the second shaft to make the second shaft coaxial with the second shaft, and the second brush member being fitted onto the outside of the second shaft member; The second brush member includes: a second cylindrical member fitted onto the outside of the second shaft member so as to make the second cylindrical member coaxial with the second shaft; and a second brush component extending from the outer surface of the second cylindrical member in a direction away from the second cylindrical member. The automatic cleaning device of claim 1 .

9. a horizontal plane on which the center of the second shaft is located is higher than a horizontal plane on which the center of the first shaft is located; 9. The automatic cleaning device of claim 8.

10. The amount of interference between the second brush component and the operation surface is smaller than the amount of interference between the first brush component and the operation surface.

10. The automatic cleaning device according to claim 8 or 9.

11. a plane on which the lowest point of the second shaft member is located is lower than a plane on which the lowest point of the first packing is located; 9. The automatic cleaning device of claim 8.

12. a horizontal plane on which the center of the second shaft is located is lower than a horizontal plane on which the center of the first shaft is located; 9. The automatic cleaning device of claim 8.

13. The hardness of the second brush component is lower than the hardness of the first brush component.

13. The automatic cleaning device according to claim 11 or 12.

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