Automatic cleaning device

Abstract

An automatic cleaning device, including: a moving platform, which is configured to move on an operating surface; and a cleaning module which is assembled on the moving platform and is configured to clean the operating surface. The cleaning module includes: a first rolling brush, which is arranged in a first direction perpendicular to the front-rear axis of the moving platform, the first rolling brush including a first filler, and the first filler being arranged in an axial direction of the first rolling brush; and a second rolling brush which is arranged in a direction parallel to the first rolling brush, the second rolling brush including a second filler, and the second filler being arranged in an axial direction of the second rolling brush, wherein the modulus of elasticity of the first filler is less than the modulus of elasticity of the second filler.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims priority to Chinese Patent Application No. 202223603482.9 filed on Dec. 30, 2022, which is incorporated herein by reference in its entirety as a part of the present application.TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of cleaning devices, and in particular to an automatic cleaning device.BACKGROUND

[0003] With the continuous development of science and technology, automatic cleaning devices, such as sweeping robots and sweeping and mopping integrated machines, have been widely used in homes. For a cleaning robot with a sweeping function, in order to implement the sweeping function, a cleaning brush is provided to roll up the garbage of different sizes on the ground and suck the garbage into a garbage collection box.

[0004] The structure and arrangement of the cleaning brush have become one of the important factors that affect the cleaning effect of the automatic cleaning device. However, the existing single-brush structure cannot improve the cleaning effect of the automatic cleaning device and cannot perform targeted cleaning for different cleaning surface materials, which limits the wide application of the automatic cleaning device.SUMMARY

[0005] An object of the present disclosure is to provide an automatic cleaning device, which can solve the problem of a low sweeping capacity of the automatic cleaning device during a cleaning process, and is specifically described as follows.

[0006] The present disclosure provides an automatic cleaning device. The automatic cleaning device includes:

[0007] a mobile platform configured to move on an operating surface; and

[0008] a cleaning module assembled to the mobile platform and configured to clean the operating surface, the cleaning module including:

[0009] a first roller brush arranged in a first direction perpendicular to a front-rear axis of the mobile platform, the first roller brush including a first filler, and the first filler being configured to be arranged in an axial direction of the first roller brush; and

[0010] a second roller brush arranged in a direction parallel to the first roller brush, the second roller brush including a second filler, and the second filler being configured to be arranged in an axial direction of the second roller brush,

[0011] where an elastic modulus of the first filler is less than an elastic modulus of the second filler, and during a cleaning process of the cleaning module, a surface to be cleaned is cleaned by first passing through the first roller brush and then passing through the second roller brush.

[0012] In some embodiments, the first filler is an elastic member, and the second filler is a rigid member.

[0013] In some embodiments, a plane where a lowest point of the first filler is located is higher than a plane where a lowest point of the second filler is located.

[0014] In some embodiments, the first roller brush further includes: a first shaft rod, the first filler sleeving the first shaft rod such that the first filler is coaxial with the first shaft rod; and

[0015] the second roller brush further includes: a second shaft rod, the second filler sleeving the second shaft rod such that the second filler is coaxial with the second shaft rod.

[0016] In some embodiments, the first roller brush further includes: a first shaft rod, the first filler sleeving the first shaft rod such that the first filler is coaxial with the first shaft rod; and

[0017] the second filler of the second roller brush is directly formed by the second shaft rod.

[0018] In some embodiments, a plane where the first shaft rod is located is higher than a plane where the second shaft rod is located.

[0019] In some embodiments, the first roller brush further includes: a first brush component arranged at an outer side of the first roller brush in the axial direction of the first roller brush and configured to perform a cleaning operation on an object to be cleaned; and

[0020] the second roller brush further includes: a second brush component arranged at an outer side of the second roller brush in the axial direction of the second roller brush and configured to perform a cleaning operation on the object to be cleaned,

[0021] where an interference amount between the first brush component and the operating surface is less than an interference amount between the second brush component and the operating surface.

[0022] In some embodiments, the second roller brush further includes a second brush member sleeving an outer side of the second filler, the second brush member includes a second cylindrical member configured to sleeve the outer side of the second filler, and the second brush component extends from an outer surface of the second cylindrical member in a direction away from the second cylindrical member.

[0023] In some embodiments, the second cylindrical member has a preset thickness, and the preset thickness is much less than an outer diameter of the second filler.

[0024] In some embodiments, the second cylindrical member is made of an elastic material.

[0025] In some embodiments, the first roller brush further includes a first brush member sleeving an outer side of the first filler, the first brush member includes a first cylindrical member configured to sleeve the outer side of the first filler, and the first brush component extends from an outer surface of the first cylindrical member in a direction away from the first cylindrical member.

[0026] In some embodiments, a surface of the first brush component is provided with at least one first protrusion, and / or a surface of the second brush component is provided with at least one second protrusion.

[0027] Compared with the related art, the above solutions of the embodiments of the present disclosure provide at least the following beneficial effects.

[0028] In the automatic cleaning device provided by the embodiments of the present disclosure, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, the second filler in the second roller brush is configured as the rigid member, and the first roller brush and the second roller brush are arranged in the front-rear direction, such that the interference amounts between the soft and hard roller brushes and the ground can be reasonably configured, and the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes, thereby improving the overall cleaning efficiency on the ground.BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and are used in conjunction with the specification to explain the principles of the present disclosure. Apparently, the drawings in the following description are merely some embodiments of the present disclosure, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. In the drawings:

[0030] FIG. 1 is a schematic diagram of a three-dimensional structure of an automatic cleaning device according to some embodiments of the present disclosure;

[0031] FIG. 2 is a schematic bottom view of an automatic cleaning device according to some embodiments of the present disclosure;

[0032] FIG. 3 is a schematic structural diagram of a cleaning module according to some embodiments of the present disclosure;

[0033] FIG. 4 is a schematic cross-sectional view of a cleaning module according to some embodiments of the present disclosure;

[0034] FIG. 5 is a schematic diagram of a longitudinal section of a first roller brush according to some embodiments of the present disclosure;

[0035] FIG. 6 is a schematic diagram of a transverse section of a first roller brush according to some embodiments of the present disclosure;

[0036] FIG. 6-1 is a schematic diagram of a transverse section of a second roller brush according to some embodiments of the present disclosure;

[0037] FIG. 6-2 is a schematic diagram of a transverse section of a second roller brush according to other embodiments of the present disclosure;

[0038] FIG. 6-3 is a schematic cross-sectional view of a cleaning module according to other embodiments of the present disclosure;

[0039] FIG. 7 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure;

[0040] FIG. 8 is a diagram of a three-dimensional structure of an example of a first end portion member of the cleaning brush in FIG. 7;

[0041] FIG. 9 is a partial structural exploded view of the first end portion member and a shaft rod of the cleaning brush in FIG. 7 from an angle;

[0042] FIG. 10 is a partial structural exploded view of the first end portion member and the shaft rod of the cleaning brush in FIG. 7 from another angle;

[0043] FIG. 11 is an exploded view of a three-dimensional structure of the cleaning brush in FIG. 7 from another angle;

[0044] FIG. 12 is a partial structural exploded view of a second end portion member and the shaft rod of the cleaning brush in FIG. 7 from an angle;

[0045] FIG. 13 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure;

[0046] FIG. 14 is a schematic cross-sectional view of the cleaning brush in FIG. 13;

[0047] FIG. 15 is a diagram of a three-dimensional structure of an example of an end portion member of the cleaning brush in FIG. 13;

[0048] FIG. 16 is a schematic diagram of a three-dimensional structure of an example of a fitting member of a shaft rod in FIG. 13;

[0049] FIG. 17 is a schematic diagram of a three-dimensional structure of an example of a guiding engagement structure of the end portion member and the fitting member of the shaft rod in FIG. 13;

[0050] FIG. 18 is a structural exploded view of the guiding engagement structure in FIG. 17;

[0051] FIG. 19 is a schematic exploded view of a three-dimensional structure of another example of a cleaning brush according to the present disclosure;

[0052] FIG. 20 is a partial structural exploded view of the cleaning brush in FIG. 19 from an angle; and

[0053] FIG. 21 is a partial structural exploded view of the cleaning brush in FIG. 19 from another angle.DETAILED DESCRIPTION

[0054] For clearer descriptions of the objectives, technical solutions, and advantages of the present disclosure, the present disclosure is further described in detail hereinafter with reference to the accompanying drawings. Apparently, the described embodiments are merely some embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0055] It should be further noted that the terms “comprise”, “comprising”, “include”, “including”, or any other variation thereof, are intended to encompass a non-exclusive inclusion, such that a commodity or an apparatus including a list of elements includes not only those elements, but also other elements not explicitly listed or inherent to such commodity or apparatus. Without further limitation, an element defined by the phrase “comprising a / an . . . ” or “including a / an . . . ” does not exclude the presence of other identical elements in the commodity or apparatus including the element.

[0056] In the related art, an automatic cleaning device, such as a sweeping robot, comes in a dual-roller-brush model. For the dual-roller-brush model, both roller brushes typically feature a soft brush structure that is prone to deformation. The roller brush structure of the dual soft brushes allows for a large degree of deformation, enabling large-particle garbage to pass smoothly. However, due to the complex process and high cost of the soft roller brush and its tendency to deform after long-term use, how to reasonably configure the structures of the two roller brushes has become an urgent technical problem to be solved.

[0057] An embodiment of the present disclosure provides an automatic cleaning device. The automatic cleaning device includes: a mobile platform configured to move on an operating surface; and a cleaning module assembled to the mobile platform and configured to clean the operating surface, the cleaning module including: a first roller brush arranged in a first direction perpendicular to a front-rear axis of the mobile platform, the first roller brush including a first filler, and the first filler being configured to be arranged in an axial direction of the first roller brush; and a second roller brush arranged in a direction parallel to the first roller brush, the second roller brush including a second filler, and the second filler being configured to be arranged in an axial direction of the second roller brush, where an elastic modulus of the first filler is less than an elastic modulus of the second filler, and during a cleaning process of the cleaning module, a surface to be cleaned is cleaned by first passing through the first roller brush and then passing through the second roller brush.

[0058] In the automatic cleaning device provided by this embodiment, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, the second filler in the second roller brush is configured as the rigid member, and the first roller brush and the second roller brush are arranged in the front-rear direction, such that the interference amounts between the soft and hard roller brushes and the ground can be reasonably configured, and the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes, thereby improving the overall cleaning efficiency on the ground.

[0059] In the embodiment of the present disclosure, the latter roller brush is configured as a hard brush, which is composed of only an inner hard core and an outer rubber layer, achieving a simple structure and a high dimensional accuracy. Therefore, the interference amount with the ground during sweeping can be easily controlled, and the sweeping effect and the noise during sweeping can be ensured to be within a proper range. In addition, since no sponge exists in the hard brush, the hard brush has little deformation after long-term use, achieving a prolonged service life. The combination of soft and hard brushes can ensure the sufficient passability of large-particle garbage.

[0060] Optional embodiments of the present application will be described in detail hereinafter with reference to the accompanying drawings.

[0061] FIGS. 1 and 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. As shown in FIGS. 1 and 2, the automatic cleaning device may be a robot vacuum cleaner, a mopping / scrubbing robot, a window cleaning robot, or the like. The automatic cleaning device may include a mobile platform 1000, a sensing system 2000, a control system (not shown), a driving system 3000, a power system (not shown), a human-machine interaction system 4000, and a cleaning module 5000.

[0062] The mobile platform 1000 may be configured to automatically move in a target direction on an operating surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, the automatic cleaning device operates on the ground, and the ground serves as the operating surface. The automatic cleaning device may also be a window cleaning robot, the automatic cleaning device operates on an outer surface of a glass of a building, and the glass serves as the operating surface. The automatic cleaning device may further be a pipeline cleaning robot, the automatic cleaning device operates on an inner surface of a pipeline, and the inner surface of the pipeline serves as the operating surface. For the purpose of illustration only, the following description in the present application is illustrated by taking a mopping robot as an example.

[0063] In some embodiments, the mobile platform 1000 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 1000 itself can automatically and adaptively make an operational decision based on an unexpected environmental input; and the non-autonomous mobile platform itself cannot adaptively make an operational decision based on an unexpected environmental input, but can execute a given procedure or operate according to a certain logic. Correspondingly, when the mobile platform 1000 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning device; and when the mobile platform 1000 is a non-autonomous mobile platform, the target direction may be set systematically or manually.

[0064] The sensing system 2000 includes sensing apparatuses such as a position determining apparatus (not shown) located above the mobile platform 1000, a buffer (not shown) located in a forward part of the mobile platform 1000, a cliff sensor (not shown) and an ultrasonic sensor (not shown) located at the bottom of the mobile platform, an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), to provide various position information and motion status information of the machine to the control system.

[0065] For convenience of description, directions are defined as follows: The automatic cleaning device may be calibrated by defining the following three axes perpendicular to one another: a transverse axis Y, a front-rear axis X, and a vertical axis Z. A direction to which an arrow along the front-rear axis X points is marked as “rearward”, and a direction opposite to the direction of the arrow along the front-rear axis X is marked as “forward”. The transverse axis Y is substantially in a width direction of the automatic cleaning device. A direction of an arrow along the transverse axis Y is marked as “leftward”, and a direction opposite to the direction of the arrow along the transverse axis Y is marked as “rightward”. The vertical axis Z is a direction extending upward from the bottom surface of the automatic cleaning device. As shown in FIG. 1, a direction along the front-rear axis X is defined as a second direction, where the second direction is, for example, a forward direction or a rearward direction; and a direction perpendicular to the second direction in a horizontal plane is defined as a first direction, where the first direction is, for example, a leftward direction or a rightward direction.

[0066] The control system (not shown) is arranged on a main circuit board in 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 memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive environmental information sensed by a plurality of sensors and transmitted from the sensing system, draw a real-time map of an environment in which the automatic cleaning device is located by using a positioning algorithm, such as SLAM based on obstacle information fed back by the position determining apparatus, etc., autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 3000 to perform operations such as traveling forward, traveling rearward, and / or steering according to the autonomously determined travel path. Further, the control system may also determine whether to activate the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

[0067] The driving system 3000 may execute a driving command based on specific distance and angle information, for example, x, y, and θ components, to steer the automatic cleaning device to run across the ground. The driving system 3000 includes a driving wheel assembly. The driving system 3000 may simultaneously control a left wheel and a right wheel. To more precisely control the movement of the machine, the driving system 3000 preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically disposed along a transverse axis defined by the mobile platform 1000. To enable the automatic cleaning device to move more stably on the ground or to achieve stronger mobility, the automatic cleaning device may include one or more steering assemblies. Each steering assembly may be either a driven wheel or a driving wheel, and may adopt structural forms including but not limited to a universal wheel. The steering assembly may be located in front of the driving wheel assembly.

[0068] The power system (not shown) includes a rechargeable battery, for example, a nickel-hydrogen battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. The main machine is charged through connection to a charging pile via charging electrodes disposed on the side or bottom of the machine body.

[0069] The human-machine interaction system 4000 includes a button on a host panel for a user to select a function, and may further include a display screen and / or an indicator light and / or a speaker, where the display screen, the indicator light, and the speaker show a current state of the machine or function options to the user, and may further include a mobile phone client program. For a path navigation type cleaning device, a mobile phone client may show a map of an environment in which the device is located and a location of the machine to the user, providing the user with richer and more user-friendly function options.

[0070] 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 the garbage on the ground to the front of a dust suction port between the main brush module and the dust box, and then the garbage is sucked into the dust box by the gas with suction generated by the fan and passing through the dust box. The dust removal capacity of the sweeper may be characterized by a dust pickup efficiency (DPU) of the garbage. The DPU is affected by a wind force utilization rate of an air duct formed by the dust suction port, the dust box, the fan, the air outlet, and connecting components among the four, and is affected by a type and power of the fan, thereby posing a complex system design problem. Compared with a conventional plug-in vacuum cleaner, the improvement in the dust removal capacity is more significant for an automatic cleaning device with limited energy. The improvement in the dust removal capacity directly and effectively reduces the energy requirements. That is, a machine that can sweep 80 square meters of the ground on a single charge can be evolved to sweep 180 square meters or more on a single charge. In addition, a service life of the battery with a reduced quantity of charging times is greatly increased, such that a frequency of replacing the battery by the user is also reduced. More visually and importantly, the improvement in the dust removal capacity is the most obvious and important user experience, and the user will directly draw a conclusion on whether the sweeping / wiping is thorough.

[0071] FIG. 2 is a schematic structural diagram of the automatic cleaning device in FIG. 1 in a bottom view. As shown in FIG. 2, the automatic cleaning device includes a mobile platform 1000. The mobile platform 1000 is configured to move freely on an operating surface, a cleaning module 5000 is provided at the bottom of the mobile platform 1000, and the cleaning module 5000 is configured to clean the operating surface. The cleaning module 5000 includes a drive unit 5100, a roller brush framework 5200, and roller brushes 5300 assembled in the roller brush framework 5200. The drive unit 5100 provides a driving force for forward rotation or reverse rotation, and the driving force is applied to the roller brush 5300 through a multi-stage gear set. The roller brush 5300 rotates under the action of the driving force to clean the operating surface, or the roller brush 5300 rotates under the action of the driving force to collect dust.

[0072] As shown in FIG. 2, the roller brush framework 5200 is provided with a front cleaning brush mounting position 5211 and a rear cleaning brush mounting position 5212 for accommodating cleaning roller brushes. The front cleaning brush mounting position 5211 is provided with a first end portion 52111 and a second end portion 52112 opposite to the first end portion 52111. One end of the first roller brush 100 is engaged and fixed at the first end portion 52111, and the other end of the first roller brush 100 is engaged and fixed at the second end portion 52112. In some embodiments, the front cleaning brush mounting position 5211 is a long-strip-shaped groove structure in the mobile platform, and the long-strip-shaped groove structure extends in the first direction. The rear cleaning brush mounting position 5212 is provided with a third end portion 52121 and a fourth end portion 52122 opposite to the third end portion 52121. In some embodiments, the rear cleaning brush mounting position 5212 has substantially the same structure as the front cleaning brush mounting position 5211. For example, the rear cleaning brush mounting position is also a long-strip-shaped groove structure in the mobile platform, and the long-strip-shaped groove structure extends in the first direction. The second roller brush may be mounted in the long-strip-shaped groove of the rear cleaning brush mounting position 5212 through an opening of the long-strip-shaped groove structure. The two long-strip-shaped groove structures are parallel to each other in the second direction. The shape and size of the long-strip-shaped groove structure are not limited, as long as at least a portion of the first roller brush and at least a portion of the second roller brush are accommodated. The first end portion of the front cleaning brush mounting position 5211 and the third end portion of the rear cleaning brush mounting position 5212 are located at one side of the front-rear axis X, and the second end portion of the front cleaning brush mounting position 5211 and the fourth end portion of the rear cleaning brush mounting position 5212 are located at the other side of the front-rear axis X.

[0073] It should be noted that, in the following embodiments of the present disclosure, an example in which the long-strip-shaped groove structure proximal to the steering wheel on the automatic cleaning device is the front cleaning brush mounting position 5211 and the long-strip-shaped groove structure distal to the steering wheel is the rear cleaning brush mounting position 5212 is used for detailed description. Certainly, the reverse arrangement is also possible.

[0074] As shown in FIG. 2, in some embodiments, the automatic cleaning device includes two cleaning roller brushes 5300. One cleaning roller brush is disposed at the front cleaning brush mounting position 5211 and regarded as a “front roller brush”, and the other cleaning roller brush is disposed at the rear cleaning brush mounting position 5212 and regarded as a “rear roller brush”. The front roller brush may be mounted in the front cleaning brush mounting position 5211 through the opening of the long-strip-shaped groove structure, and the rear roller brush may be mounted in the rear cleaning brush mounting position 5212 through the opening of the long-strip-shaped groove structure.

[0075] FIG. 3 shows a combination structure of a cleaning module according to some embodiments of the present disclosure, and FIG. 4 shows a cross-sectional structure of a cleaning module according to some embodiments of the present disclosure. As shown in FIGS. 3 and 4, roller brushes 5300 assembled in the roller brush framework 5200 include: a first roller brush 100 arranged in a first direction perpendicular to a front-rear axis of the mobile platform and a second roller brush 200 arranged in a direction parallel to the first roller brush 100. The first roller brush 100 includes: a first brush member, a first shaft rod 110, and a first filler 120. The first filler 120 is configured to sleeve the first shaft rod 110, such that the first filler 120 is coaxial with the first shaft rod 110. The second roller brush 200 includes: a second brush member and a second shaft component 220. The second shaft component 220 is coaxial with the second brush member. The first filler 120 is an elastic member, the second shaft component 220 is a rigid member, and the first filler has a first inner diameter and a first outer diameter, enabling the first filler to have a preset thickness. The first roller brush 100 and the second roller brush 200 are rotated in opposite directions relative to each other to roll up garbage on the operating surface when performing a cleaning task or to discharge garbage in the dust box when performing a dust collecting task. It should be noted that, for this embodiment, the first roller brush 100 may be the “front roller brush” or the “rear roller brush” described above, and the second roller brush 200 may also be the “front roller brush” or the “rear roller brush” described above, which is not limited herein.

[0076] Specifically, FIG. 5 is a cross-sectional view of a first roller brush according to some embodiments of the present disclosure in a second direction, and FIG. 6 is a cross-sectional view of a first roller brush according to some embodiments of the present disclosure in a first direction, as shown in FIGS. 5 and 6.

[0077] The first roller brush 100 includes a first shaft rod 110. At least one end of the first shaft rod 110 is connected to the multi-stage gear set to receive the driving force of the drive unit 5100 and achieve forward rotation or reverse rotation. The first shaft rod 110 is in the shape of a long-strip-shaped cylinder, long-strip-shaped rectangular prism, or long-strip-shaped polygonal prism, which is not limited herein. The shape of a long-strip-shaped cylinder is used as an example for illustration hereinafter. The axis of the first shaft rod 110 may be regarded as the rotation shaft of the first roller brush 100. After the first roller brush 100 is mounted to the mobile platform, the driving system 2000 can drive the first shaft rod 110 to rotate, thereby driving the first brush member 130 on the surface of the first shaft rod 110 to sweep.

[0078] The first roller brush 100 further includes a first filler 120. The first filler 120 is configured to sleeve the first shaft rod 110, such that the first filler 120 is coaxial with the first shaft rod 110. As shown in FIG. 4, a cross section of the first filler 120 is of an annular structure, an inner ring shape of the first filler matches a cross section shape of the first shaft rod 110, and the inner ring shape may be a circle, a square, a polygon, or the like, which is not limited herein. The inner ring being a circle is used as an example for illustration hereinafter, and the outer ring shape is generally a circle. 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 is substantially equal to the diameter of the first shaft rod 110, so as to achieve seamless sleeved fitting between the first filler 120 and the first shaft rod 110. The outer diameter is substantially equal to the inner diameter of a first cylindrical member 131, so as to achieve seamless sleeved fitting between the first filler 120 and the first cylindrical member 131. The first filler 120 is made of a compressible elastic material, for example, a sponge, an organic flexible material, a resin material, or a foam material, which will not be exhausted herein. The first filler 120 has the characteristics of being compressed inward by a force and restoring to its original shape after the force is removed. In addition, the first filler 120 may also be made of a hollowed-out material or structure having the same compressible characteristics, for example, a spring or an elastic sheet, which will not be exhausted herein either.

[0079] The first roller brush 100 further includes a first brush member 130. The first brush member 130 sleeves an outer side of the first filler 120. The first brush member 130 includes the first cylindrical member 131. The first cylindrical member 131 is configured to sleeve the outer side of the first filler 120, such that the first cylindrical member 131 is coaxial with the first shaft rod 110. The first cylindrical member 131 is generally cylindrical and has a length substantially the same as that of the first shaft rod 110. The first cylindrical member 131 is generally compressible. For example, the first cylindrical member is made of an elastic plastic or rubber material, enabling inward compression and deformation under an external force, and recovery to the original shape after the external force is removed. The first cylindrical member 131 generally has a certain thickness to enhance the wear resistance of the first brush member 130 as a whole. In addition, the first brush member 130 further includes a first brush component 132. The first brush component 132 may be a plurality of sheet-like structures. The first brush component 132 extends from an outer surface of the first cylindrical member 131 in a direction away from the first cylindrical member 131. At least one first brush component 132 extends from one end of the first cylindrical member 131 to the other end of the first cylindrical member 131 in an axial direction of the first cylindrical member 131. The first brush component 132 may be in the form of blades, bristles, or the like.

[0080] In some embodiments, a plurality of first brush components 132 are provided. Each first brush component 132 is of a spiral structure on an outer surface of the first cylindrical member 131, the plurality of first brush components 132 are substantially evenly distributed in a circumferential direction of the first cylindrical member 131, and the spiral structures of the plurality of first brush components 132 are substantially parallel. By designing the first brush component 132 in a spiral structure, garbage can be easily rolled up when the front and rear roller brushes rotate oppositely, avoiding damage to the first brush component 132 due to excessive impact force, thereby extending the service life.

[0081] In some embodiments, a plurality of first brush components 132 are provided. Each first brush component 132 is of a V-shaped structure on an outer surface of the first cylindrical member 131, the plurality of first brush components 132 are substantially evenly distributed in a circumferential direction of the first cylindrical member 131, and tips of the V-shaped structures of the plurality of first brush components 132 all point in the same direction in the circumferential direction of the first cylindrical member 131. By designing the first brush component 132 in a V-shaped structure, garbage can be easily rolled up when the front and rear roller brushes rotate oppositely, avoiding damage to the first brush component 132 due to excessive impact force, thereby extending the service life.

[0082] In some embodiments, a surface of the first brush component 132 is provided with a plurality of first protrusions 1321. The plurality of first protrusions on the first brush component 132 are evenly distributed in an extension direction of the surface of the first brush component 132, and the plurality of first protrusions 1321 can increase the friction force between the brush member and the garbage, resulting in more effective sweeping.

[0083] In some embodiments, as shown in FIG. 6-1, the second roller brush 200 includes a second shaft component 220 and a second brush member 230. The second shaft component 220 is coaxial with the second brush member 230. The second brush member 230 sleeves an outer side of the second shaft component 220. The second shaft component 220 forms a second shaft rod of the second roller brush 200. The second shaft component 220 is a rigid and hard member. The second shaft component 220 includes at least one fitting member 210 disposed on at least one end of the second shaft component 220 (for example, the fitting member 210 may be disposed on one end or two ends of the second shaft component 220), and is connected to the multi-stage gear set of the driving system 2000 through the fitting member 210 to receive the driving force of the driving system 2000 and achieve forward rotation or reverse rotation. The second shaft component 220 is in the shape of a long-strip-shaped cylinder, long-strip-shaped rectangular prism, or long-strip-shaped polygonal prism, which is not limited herein. The shape of a long-strip-shaped cylinder is used as an example for illustration hereinafter.

[0084] In some embodiments, as shown in FIG. 6-1, the second shaft component 220 includes a hollow structure 221. The hollow structure 221 extends axially through the axis of the second shaft component 220 along the second shaft component 220. The second shaft component 220 has a second inner diameter D2in and a second outer diameter D2out, and the second inner diameter D2in and the second outer diameter D2out define a radial thickness of the second shaft component 220. At least one end of the hollow structure (for example, one end or two ends of the second shaft component 220) includes a stepped part. The stepped part includes one, two, or three steps. For example, when the stepped part includes two steps, an end surface of the hollow structure 221 has a third inner diameter and a fourth inner diameter. The second inner diameter is less than the third inner diameter and less than the fourth inner diameter. An end portion of the stepped part located at the outermost position of the hollow structure 221 forms an accommodating cavity 222 of the largest diameter (for example, the accommodating cavity 222 has the fourth inner diameter). The fitting member 210 is of a shape or structure matching the stepped part, and the fitting member 210 is fixedly or detachably connected to the hollow structure after being assembled to the stepped part. The fitting member 210 is configured to be directly or indirectly connected to the multi-stage gear set of the driving system, to receive the driving force of the driving system 2000 and achieve forward rotation or reverse rotation of the second shaft component 220.

[0085] The second roller brush 200 further includes a second brush member 230. The second brush member 230 sleeves an outer side of the second shaft component 220. The second brush member 230 includes a second cylindrical member 231. The second cylindrical member 231 is configured to sleeve the outer side of the second shaft component 220, such that the second cylindrical member 231 is coaxial with the second shaft component 220. The second cylindrical member 231 is generally cylindrical and has a length substantially the same as that of the second shaft component 220. The second cylindrical member 231 is generally compressible. For example, the second cylindrical member is made of an elastic plastic or rubber material, so as to sleeve the outer side of the second shaft component 220. The second cylindrical member 231 generally has a certain thickness to enhance the wear resistance of the second brush member 230 as a whole. In addition, the second brush member 230 further includes a second brush component 232. The second brush component 232 may be a plurality of sheet-like structures. The second brush component 232 extends from an outer surface of the second cylindrical member 231 in a direction away from the second cylindrical member 231. At least one second brush component 232 extends from one end of the second cylindrical member 231 to the other end of the second cylindrical member 231 in an axial direction of the second cylindrical member 231. The second brush component 232 may be in the form of blades, bristles, or the like.

[0086] In some embodiments, a plurality of second brush components 232 are provided. Each second brush component 232 is of a spiral structure on the outer surface of the second cylindrical member 231, the plurality of second brush components 232 are substantially evenly distributed in a circumferential direction of the second cylindrical member 231, and the spiral structures of the plurality of second brush components 232 are substantially parallel. The shape of the second brush component 232 matches the shape of the first brush component 132. That is, when the shape of the second brush component 232 is a spiral structure, the shape of the first brush component 132 is also a spiral structure. By designing the second brush component 232 in a spiral structure, garbage can be easily rolled up when the front and rear roller brushes rotate oppositely, avoiding damage to the second brush component 132 due to excessive impact force, thereby extending the service life.

[0087] In some embodiments, a plurality of second brush components 232 are provided. Each second brush component 232 is of a V-shaped structure on the outer surface of the second cylindrical member 231, the plurality of second brush components 232 are substantially evenly distributed in a circumferential direction of the second cylindrical member 231, and tips of the V-shaped structures of the plurality of second brush components 232 all point in the same direction in the circumferential direction of the second cylindrical member 231. The shape of the second brush component 232 matches the shape of the first brush component 132. That is, when the shape of the second brush component 232 is a V-shaped structure, the shape of the first brush component 132 is also a V-shaped structure. By designing the second brush component 132 in a V-shaped structure, when the front and rear roller brushes rotate oppositely, the tip of the V-shaped structure of the second brush component 232 can interfere with the tip of the V-shaped structure of the first brush component 132, thereby easily rolling up garbage.

[0088] In other embodiments, the second roller brush 200 may also be implemented in other forms, as shown in FIG. 6-2. For example, the second roller brush 200 includes a second shaft rod 240, a second filler 250, and a second brush member 230. The structure of the second brush member 230 is as described in the above embodiments, which is not repeated herein. The second shaft component as described in the above embodiments is formed by the second shaft rod 240 and the second filler 250. The second filler 250 sleeves the second shaft rod 240, such that the second filler 250 is coaxial with the second shaft rod 240. A cross section of the second filler 250 is of an annular structure, an inner ring shape of the second filler matches a cross section shape of the second shaft rod 240, and the inner ring shape may be a circle, a square, a polygon, or the like, which is not limited herein. The inner ring being a circle is used as an example for illustration hereinafter, and the outer ring shape is generally a circle. When 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 substantially equal to the diameter of the second shaft rod 240, so as to achieve seamless sleeved fitting between the second filler 250 and the second shaft rod 240. The outer diameter is substantially equal to the inner diameter of the second cylindrical member 231, so as to achieve seamless sleeved fitting between the second filler 250 and the second cylindrical member 231. The second filler 250 is made of an incompressible material. The second filler 250 has characteristics of not being substantially compressed inward by a force, so as to provide a sufficient supporting force to the second brush member 230. The material of the second filler 250 is, for example, a rigid material such as a hard plastic, a hard resin material, or a metal material, which will not be exhausted herein. In addition, the second filler 250 may also be made of a hollowed-out material or structure having the same incompressible characteristics, for example, an incompressible keel structure, to reduce the weight of the second roller brush, which will not be exhausted herein either.

[0089] In other embodiments, the second filler 250 may be integrally formed with the second shaft rod 240, and the integral structure is uniformly formed of a hard material, to reduce a rotation clearance.

[0090] After the first roller brush 100 and the second roller brush 200 are mounted, when the first roller brush 100 and the second roller brush 200 operate, the first roller brush 100 and the second roller brush 200 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 component and the second brush component are always in an interference contact state in the middle position, that is, the brush components in a lower layer make contact before the brush components in an upper layer are separated. As the rotation continues, the brush components in the upper layer are separated, and the brush components at two ends of the lower layer make contact, forming a diamond-shaped enclosed air path in the middle. As the brush member rotates, garbage is collected in the middle, such that the garbage is sucked into the dust box in the device through the air duct 5400, thereby achieving the purpose of cleaning. As the first roller brush and the second roller brush rotate synchronously, the diamond-shaped enclosed air path formed by the brush components of the lower layer gradually narrows until the current enclosed sweeping is completed, at which point the next enclosed sweeping immediately begins. That is, the brush components at two ends of another lower layer make contact, forming a diamond-shaped enclosed air path in the middle. In this cycle, the first roller brush and the second roller brush can achieve the effect of continuous sweeping, thereby further improving the dust pickup efficiency.

[0091] In some embodiments, a surface of the second brush component 232 is provided with a plurality of second protrusions 2321. The plurality of second protrusions on the second brush component 232 are evenly distributed in an extension direction of the surface of the second brush component 232, and the plurality of second protrusions 2321 can increase the friction force between the brush member and the garbage, resulting in more effective sweeping.

[0092] In other embodiments, the first brush member in the first roller brush 100 may be different from the second brush member in the second roller brush 200, which may be specifically provided according to sweeping requirements. Optionally, the first roller brush 100 is a hair brush, and the second roller brush 200 is a rubber brush. This combination can achieve cleaning effects in various ground environments. That is, the first roller brush can be used to clean garbage on soft ground such as a carpet based on a good cleaning capacity of the hair brush for hair or fine soft fibers, and the second roller brush can be used to clean ground such as a floor or a tile based on a good cleaning capacity of the rubber brush for hard ground.

[0093] In some embodiments, an outer diameter of the second shaft component is less than an outer diameter of the first filler, and / or the outer diameter of the second shaft component is greater than an inner diameter of the first filler. Since the second roller brush is of an incompressible hard core structure, to avoid a significant reduction in the passability of large-particle garbage caused by the incompressible hard core structure, it is necessary to configure the blades of the second roller brush to have a larger length than the blades of the first roller brush. The distance from the outer diameter of the second shaft component (of a hard core) of the second roller brush to the ground is not less than the distance from the outer diameter of the first filler (of a soft core) of the first roller brush to the ground. In this case, it is necessary to enable the outer diameter of the second shaft component to be smaller than the outer diameter of the first filler. In addition, when the outer diameter of the second shaft component (of a hard core) of the second roller brush is too large, the flexible space allowed to pass between the front and rear roller brushes is reduced, and larger hard garbage may be stuck between the first roller brush and the second roller brush. In addition, when the outer diameter of the second shaft component (of a hard core) of the second roller brush is further reduced, and the outer contour diameters 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 gradually increases with the reduction of the outer diameter of the second shaft component (of a hard core). If the length of the second brush component exceeds a reasonable range, the sweeping force will be weakened due to the second brush component becoming too long, and the surface area of the second brush component is increased, such that the second brush component is more likely to be adhered with dust, which affects the cleaning effect. Therefore, to ensure the sweeping effect, the length of the second brush component should not be too large, and the outer diameter of the corresponding second shaft component (of a hard core) should not be too small in this case, such that the outer diameter of the second shaft component can be greater than the inner diameter of the first filler, thereby ensuring that the length of the second brush component is within a suitable range.

[0094] In some embodiments, a plane where the lowest point of the first filler is located is lower than a plane where the lowest point of the second shaft component is located. Since the first filler is compressible, to ensure the passability of garbage below the first roller brush and the second roller brush, the plane where the lowest point of the first filler is located needs to be lower than the plane where the lowest point of the second shaft component is located. When the first roller brush is a front roller brush, the passability of garbage can be ensured as the first filler can be compressed.

[0095] In some embodiments, a maximum distance of the first brush component extending from an outer surface of the first cylindrical member in a direction away from the first cylindrical member is smaller than a maximum distance of the second brush component extending from an outer surface of the second cylindrical member in a direction away from the second cylindrical member. As described above, since the outer diameter of the first filler is greater than the outer diameter of the second shaft component, if the length of the first brush component is not less than the length of the second brush component, the first roller brush will be large as a whole. When the assembly positions of the first roller brush and the second roller brush are substantially located on the same horizontal plane, the interference amount between the first brush component and the ground is greatly increased, thereby increasing the noise caused by the first brush component tapping the ground, increasing the resistance to the traveling process of the automatic cleaning device, and making it inconvenient for the automatic cleaning device to perform a cleaning task.

[0096] In some embodiments, the outer contour formed by the maximum distance of the first brush component extending from the outer surface of the first cylindrical member in the direction away from the first cylindrical member forms the outer diameter of the first roller brush, and the outer contour formed by the maximum distance of the second brush component extending from the outer surface of the second cylindrical member in the direction away from the second cylindrical member forms the outer diameter of the second roller brush. The outer diameter of the first roller brush is substantially equal to the outer diameter of the second roller brush. When the assembly positions of the first roller brush and the second roller brush are substantially located on the same horizontal plane or have little difference, it can be ensured that the first roller brush and the second roller brush have sufficient interference amount with the ground, thereby achieving a cleaning effect of the dual brushes. In addition, for the automatic cleaning device in a non-operating state, the dual roller brushes in a storage state can be substantially smoothly stored in the cleaning module, thereby reducing the complexity of design and processing caused by the inconsistent design of the front cleaning brush mounting position and the rear cleaning brush mounting position.

[0097] In some embodiments, the distance between an axis of the first roller brush and an axis of the second roller brush is not greater than the outer diameter of the first roller brush and / or the outer diameter of the second roller brush. When the outer diameters of the first roller brush and / or the second roller brush are substantially 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 outer diameter of the second roller brush, no interference effect exists between the first brush component and the second brush component, such that the garbage swept to a position between the first roller brush and the second roller brush cannot be smoothly rolled up, thereby affecting the overall cleaning effect of the cleaning device.

[0098] In some embodiments, the outer contour formed by the maximum distance of the first brush component extending from the outer surface of the first cylindrical member in the direction away from the first cylindrical member forms the outer diameter of the first roller brush, and the outer contour formed by the maximum distance of the second brush component extending from the outer surface of the second cylindrical member in the direction away from the second cylindrical member forms the outer diameter of the second roller brush. The distance between the axis of the first roller brush and the axis of the second roller brush is not greater than half a sum of the outer diameters of the first roller brush and the second roller brush. When 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, no interference effect exists between the first brush component and the second brush component, such that the garbage swept to a position between the first roller brush and the second roller brush cannot be smoothly rolled up, thereby affecting the overall cleaning effect of the cleaning device.

[0099] In some embodiments, a minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft component is greater than a difference between the inner diameter and the outer diameter of the first filler. When the minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft component is too small as the inner diameter of the first filler is too large or the outer diameter of the second shaft component is too large, the flexible space allowed to pass between the front and rear brushes is reduced, and larger garbage or even flexible garbage may be stuck between the two brushes and cannot enter or exit the dust box. The limit distance is that the outer diameter of the second shaft component is in contact with the outer diameter of the first filler. In this case, although the first filler still has a space allowance that can be compressed, the first filler and the second shaft component block a suction force of the fan on the garbage as no clearance exists between the first filler and the second shaft component, thereby greatly reducing an effect of the garbage entering or exiting the dust box, and reducing cleaning efficiency.

[0100] In some embodiments, the first roller brush and the second roller brush are arranged sequentially in a traveling direction of the automatic cleaning device. In this case, a dual-brush assembly structure with a soft front brush and a hard rear brush is formed. To ensure that garbage is leaked from the rear, the plane where the lowest point of the outer contour of the second roller brush is located needs to be configured lower than the plane where the lowest point of the outer contour of the first roller brush is located, so as to increase the interference amount between the second brush component and the ground, thereby preventing the garbage from leaking out from below the second roller brush.

[0101] In the automatic cleaning device provided by the embodiments of the present disclosure, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, and the second shaft component in the second roller brush is configured as the rigid member, such that the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes. Therefore, the passability of garbage between the first roller brush and the second roller brush can be improved, and the interference amount between the soft and hard roller brushes and the ground can be reasonably configured, thereby improving the overall cleaning efficiency on the ground.

[0102] In some embodiments, as shown in FIG. 6-3, the cleaning module 5000 includes a first roller brush 100 arranged in a first direction perpendicular to an axis of the mobile platform 1000 and a second roller brush 200 arranged in a direction parallel to the first roller brush 100. The first roller brush 100 includes a first filler 120. The first filler 120 is configured to be arranged in an axial direction of the first roller brush 100. The second roller brush 200 includes a second filler 250. The second filler 250 is configured to be arranged in an axial direction of the second roller brush 100. An elastic modulus of the first filler 120 is less than an elastic modulus of the second filler 250. During a cleaning process of the cleaning module 5000, an object to be cleaned 300 is cleaned by first passing through the first roller brush 100 and then passing through the second roller brush 200. A direction indicated by an arrow in FIG. 6-3 is a traveling direction of the cleaning device. In this embodiment, the object to be cleaned first passes through the first roller brush with a small elastic modulus. The first roller brush increases the passability of the object to be cleaned due to the small elastic modulus. Especially for a hard object to be cleaned, the first roller brush can be compressed under the driving force of the forward movement of the cleaning device, such that the object to be cleaned can enter the rear of the first roller brush, so as to avoid blocking the object to be cleaned in front of the first roller brush and reducing the cleaning effect. In addition, the elastic modulus of the second roller brush is larger, which prevents the object to be cleaned from leaking out of the cleaning module due to compression of the second roller brush in a manner similar to the compression of the first roller brush, thereby further enhancing the cleaning effect.

[0103] In some embodiments, the first filler is an elastic member, and the second filler is a rigid member. During the cleaning process of the cleaning device, when the object to be cleaned is small particles, such as dust in a carpet or paper scraps, cleaning can be completed only by tapping, rolling, and sucking of the brush component. For a hard object to be cleaned of a larger volume, when the first filler is an elastic member, the first roller brush can be compressed under the driving force of the forward movement of the cleaning device, such that the object to be cleaned can enter the rear of the first roller brush, and then the first filler is restored to its original shape under the elastic effect and cleaning is continued by tapping of the brush component, so as to avoid blocking the hard object to be cleaned in front of the first roller brush and reducing the cleaning effect. In addition, the second filler is a rigid member and can block the object to be cleaned, which prevents the hard object to be cleaned from leaking out of the cleaning module due to compression of the second roller brush in a manner similar to the compression of the first roller brush, thereby further enhancing the cleaning effect. Moreover, the second roller brush is configured as the rigid member, such that the dimensional accuracy of the second roller brush is easier to control, the interference amount between the second roller brush and the ground is easier to control, and the noise can be reduced while ensuring that the object to be cleaned is not leaked.

[0104] In some embodiments, as shown in FIG. 6-3, a plane where the lowest point of the first filler 120 is located is higher than a plane where the lowest point of the second filler 250 is located. Since the second filler 250 is a rigid member which is incompressible, configuring the lowest point of the second filler 250 to be lower helps prevent garbage from leaking out of the cleaning module from the second roller brush. When little difference exists between the first brush component 132 and the second brush component 232, since the plane where the lowest point of the first filler 120 is located is higher than the plane where the lowest point of the second filler 250 is located, the interference amount between the first brush component 132 and the ground is less than the interference amount between the second brush component 232 and the ground, thereby reducing the noise caused by the first brush component 132 tapping and contacting the ground. Especially when the first brush component 132 has no interference amount with the ground, the noise caused by the first brush component 132 tapping and contacting the ground is greatly reduced. Meanwhile, due to a certain interference amount between the second brush component 232 and the ground, the sweeping effect of the second roller brush is ensured, thereby preventing the object to be cleaned from leaking out.

[0105] In some embodiments, the first roller brush 100 further includes: a first shaft rod 110. The first filler 120 sleeves the first shaft rod 110, such that the first filler 120 is coaxial with the first shaft rod 110. The second roller brush 200 further includes: a second shaft rod 210. The second filler 250 sleeves the second shaft rod 210, such that the second filler 250 is coaxial with the second shaft rod 210. A plane where the first shaft rod 110 is located is higher than a plane where the second shaft rod 210 is located. When the diameter of the outer contour of the first roller brush is substantially equal to the diameter of the outer contour of the second roller brush, the plane (the distance D1 shown in FIG. 6-3) where the first shaft rod 110 is located is configured to be larger than the plane (the distance D2 shown in FIG. 6-3) where the second shaft rod 210 is located, such that the second filler 250 helps prevent garbage from leaking out of the cleaning module from the second roller brush. In addition, the interference amount between the first brush component 132 and the ground is enabled to be less than the interference amount between the second brush component 232 and the ground, thereby reducing the noise caused by the first brush component 132 tapping and contacting the ground. Meanwhile, due to a sufficient interference amount between the second brush component 232 and the ground, the sweeping effect of the second roller brush is ensured, thereby preventing the object to be cleaned from leaking out.

[0106] In some embodiments, the second roller brush 200 further includes a second shaft rod (i.e., the second shaft component as described in the above embodiments). The second shaft rod in this embodiment directly forms the second filler. Compared with the second shaft rod described in the above embodiments, the diameter of the second shaft rod described in this embodiment is substantially equivalent to the diameter of the shaft rod and the filler, which are in sleeved fitting, of the second roller brush in the above embodiments. That is, the second roller brush is formed by the second shaft rod being sleeved with the second brush member. The plane where the first shaft rod 110 is located is higher than the plane where the second shaft rod is located. When the diameter of the outer contour of the first roller brush is substantially equal to the diameter of the outer contour of the second roller brush, the plane (the distance D1 shown in FIG. 6-3) where the first shaft rod 110 is located is configured to be larger than the plane (the distance D2 shown in FIG. 6-3) where the second shaft rod is located, such that the second shaft rod helps prevent garbage from leaking out of the cleaning module from the second roller brush. In addition, the interference amount between the first brush component 132 and the ground is enabled to be less than the interference amount between the second brush component 232 and the ground, thereby reducing the noise caused by the first brush component 132 tapping and contacting the ground. Meanwhile, due to a sufficient interference amount between the second brush component 232 and the ground, the sweeping effect of the second roller brush is ensured, thereby preventing the object to be cleaned from leaking out.

[0107] In some embodiments, the first roller brush further includes: a first brush component arranged at an outer side of the first roller brush in the axial direction of the first roller brush and configured to perform a cleaning operation on the object to be cleaned. The second roller brush further includes: a second brush component arranged at an outer side of the second roller brush in the axial direction of the second roller brush and configured to perform a cleaning operation on the object to be cleaned. An interference amount between the first brush component and the operating surface is less than an interference amount between the second brush component and the operating surface. As described above, the interference amount between the first brush component and the ground is small to avoid the noise of tapping and contacting with the ground, and the interference amount between the second brush component and the ground is large to ensure the sweeping effect without garbage leakage.

[0108] In some embodiments, the second roller brush further includes a second brush member sleeving an outer side of the second filler, the second brush member includes a second cylindrical member configured to sleeve the outer side of the second filler, and the second brush component extends from an outer surface of the second cylindrical member in a direction away from the second cylindrical member. The second cylindrical member has a preset thickness, and the preset thickness is much less than an outer diameter of the second filler. In some embodiments, the second cylindrical member is made of an elastic material. The second filler is a rigid member, and the second cylindrical member of the preset thickness sleeves the outer side of the second filler. Due to the small thickness, such as 1-3 mm, and certain elasticity of the second cylindrical member, the rigid characteristics of the second roller brush can be ensured while the second cylindrical member conveniently sleeves the outer side of the second filler which is the rigid member.

[0109] In some embodiments, the elastic material of the second cylindrical member is, for example, rubber, plastic, or silk fabric, which is not limited herein.

[0110] In some embodiments, the first roller brush further includes a first brush member sleeving an outer side of the first filler, the first brush member includes a first cylindrical member configured to sleeve the outer side of the first filler, and the first brush component extends from an outer surface of the first cylindrical member in a direction away from the first cylindrical member.

[0111] In some embodiments, a surface of the first brush component is provided with at least one first protrusion, and / or a surface of the second brush component is provided with at least one second protrusion. A plurality of first protrusions or second protrusions can increase the friction force between the brush member and the garbage, resulting in more effective sweeping, increasing the strength of the brush member, and enhancing the wear resistance.

[0112] In the automatic cleaning device provided by the embodiments of the present disclosure, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, the second filler in the second roller brush is configured as the rigid member, and the first roller brush and the second roller brush are arranged in the front-rear direction, such that the interference amounts between the soft and hard roller brushes and the ground can be reasonably configured, and the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes, thereby improving the overall cleaning efficiency on the ground.

[0113] The specific structure of the above first roller brush (also referred to as a soft brush or a cleaning brush) will be described in detail below with reference to FIGS. 7-12, and the same structure and function have the same technical effects, which will not be repeated herein.

[0114] FIG. 7 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure. FIG. 8 is a diagram of a three-dimensional structure of an example of an end portion member of the cleaning brush in FIG. 7. FIG. 9 is a diagram of a three-dimensional structure of the end portion member of the cleaning brush in FIG. 8 from another angle.

[0115] Referring to FIGS. 7 to 9, an embodiment of the present disclosure provides a cleaning brush 100. The cleaning brush 100 includes: a shaft rod 110 including a shaft rod body 113 and a first end portion 111 and a second end portion 112 located at two sides of the shaft rod body 113; and a first end portion member 120 configured to be mounted to the first end portion 111, where a first assembly structure 121 is provided at a side of the first end portion member 120 distal to the shaft rod 110. Specifically, the first assembly structure 121 is a transmission structure, and the first assembly structure 121 is connected to a driving mechanism of the cleaning device.

[0116] Specifically, the first end portion member 120 is provided with at least one first guiding portion 1221, the first end portion 111 is provided with at least one first fitting portion 1111, and the at least one first guiding portion 1221 matches the at least one first fitting portion 1111 to form a guiding engagement structure, such that the first end portion member 120 can only be mounted to the first end portion 111 in a circumferential assembly manner, that is, the first end portion member 120 and the shaft rod 110 have a single mounting direction when assembled.

[0117] The meaning of the circumferential assembly manner herein is as follows: Two assemblies are rotated by 360 degrees relative to each other, and if N assembly manners exist, it is determined that the two assemblies have N circumferential assembly manners, where N is greater than or equal to 1.

[0118] As shown in FIG. 8, the first end portion member 120 includes a first guide sleeve 122. The first guide sleeve 122 is configured to accommodate the first end portion 111. The at least one first guiding portion 1221 is arranged on an inner peripheral wall of the first guide sleeve 122 and is a protruding portion protruding inward from the inner peripheral wall of the first guide sleeve 122. The first end portion member 120 is mounted to the first end portion 111 located at the driving side.

[0119] Specifically, the at least one first guiding portion 1221 spirally extends in a circumferential direction of the first guide sleeve 122 in a direction away from the first assembly structure 121, and is specifically in a spiral shape spirally extending in a rotating manner along the inner peripheral wall, such that the first guiding portion 1221 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis z of the shaft rod 110.

[0120] It should be noted that, in this example, the first guiding portion 1221 is a protruding portion protruding from the inner peripheral wall of the first guide sleeve 122, but it is not limited thereto, as long as one of the first guiding portion 1221 and the first fitting portion 1111 is a protruding portion and the other is a recessed portion.

[0121] In the example of FIG. 8, the number of the first guiding portions 1221 is two, and the sizes of the two first guiding portions 1221 are different. By providing the two first guiding portions of different sizes, it can be effectively ensured that the first end portion member 120 and the end portion of the shaft rod at the driving side have only a single mounting direction, thereby controlling the mounting direction of the components such as the blades of the cleaning brush to be unique.

[0122] It should be noted that, in this example, the number of the first guiding portions 1221 is two, but it is not limited thereto. In other examples, the number of the first guiding portions 1221 may also be three or more. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0123] As can be seen from FIG. 9, the first fitting portions 1111 corresponding to the first guiding portions 1221 are provided on the outer periphery of the first end portion 111 of the shaft rod 110. In this example, two first fitting portions 1111 are arranged on the outer periphery of the first end portion 111, and the two first fitting portions 1111 are in one-to-one correspondence to the two first guiding portions 1221, respectively. Each first fitting portion 1111 is a groove portion recessed inward from the outer peripheral surface of the first end portion 111. The first guiding portion 1221 matches the first fitting portion 1111 to form a guiding engagement structure, such that the first end portion member 120 can only be mounted to the first end portion 111 in a circumferential assembly manner.

[0124] By adding two first guiding portions of different sizes to the inner peripheral wall of the first guide sleeve, guided mounting can be performed more effectively, and the first end portion member can only be mounted to the first end portion in a circumferential assembly manner, which can improve the mounting simplicity of the end portion member and the stability of the mounting structure.

[0125] Optionally, an indicating portion 1223 (referring to FIG. 8) is provided on the outer periphery of the first guide sleeve 122. The indicating portion is configured to indicate a position of the first guiding portion 1221 on the outer periphery of the first guide sleeve 122, so as to indicate a rotational assembly direction in which the first end portion member 120 is mounted to the first end portion 111 of the shaft rod 110, such that the first guiding portion 1221 is aligned with the first fitting portion 1111 for assembly.

[0126] As shown in FIGS. 8 to 10, the first guide sleeve 122 is provided with a first locking portion 1222, for example, a groove portion recessed inward from an outer peripheral surface of the first guide sleeve 122. Correspondingly, the first end portion 111 is provided with a first lock matching portion 1112. The first locking portion 1222 is fitted to the first lock matching portion 1112 to lock the first end portion member 120 to the first end portion 111.

[0127] Referring to FIGS. 9 and 10, the first end portion member 120 further includes a first guide shaft 123. The first guide shaft 123 extends along an axis of the first guide sleeve 122. A first guide hole 1113 is formed on an end surface of the first end portion 111 distal to the second end portion 112, and the first guide hole 113 is coaxial with the shaft rod 110 and configured to accommodate the first guide shaft 123.

[0128] As shown in FIGS. 9 and 10, an end surface of the first assembly structure 121 distal to the shaft rod has a regular polygon 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 an outer end surface of the first end portion member has a corresponding relationship with the number of sets of brush components of the automatic cleaning device. For example, the number N of sides of the regular polygon is a divisor of the number of sets (for example, 4 sides and 8 sets of blades; and for another example, 4 sides and 4 sets of blades). As such, it can be ensured that after the cleaning brush is mounted to the main machine of the automatic cleaning device in N directions, the components such as the blades in the brush component of the cleaning brush have the same orientation.

[0129] It should be noted that, in this embodiment, the sides of the regular polygon are N straight-line sides, but it is not limited thereto. In other embodiments, the sides may be adjusted to, for example, curved sides, or a combination of straight-line sides and curved sides. In addition, in other examples, the regular polygon shape may be adaptively changed based on the number of brush components.

[0130] In the example of FIG. 7, the cleaning brush 100 further includes a brush member 130 coaxially arranged with the shaft rod 110. The brush member 130 includes: a cylindrical member 131 sleeving an outer periphery of the shaft rod; and a plurality of brush components 132. The plurality of brush components 132 extend from an outer surface of the cylindrical member in a direction away from the cylindrical member 131, and the plurality of brush components 132 are evenly arranged in a circumferential direction of the cylindrical member.

[0131] Specifically, the brush components 131 include a first brush component. For example, the first brush component is V-shaped and includes five sets of first brush components.

[0132] It should be noted that, in other examples, the brush components may further include a second brush component, a third brush component, etc., and the second brush component and the third brush component have different shapes, lengths, and the like from the first brush component. In addition, different sets of brush components generally have the same structure. Each set of brush components may include one or more blades. When a plurality of blades are included, structures of the plurality of blades are often not exactly the same.

[0133] Specifically, a flexible filler (not shown) is filled between the brush member 130 and the shaft rod 110, and the flexible filler wraps the outer periphery of the shaft rod body and exposes the first end portion and the second end portion.

[0134] Further, the first end portion member 120 further includes a first blocking structure 125 arranged between the first assembly structure 121 and the first guide sleeve 122, so as to prevent the winding object from excessively extending away from the brush member and prevent the winding object from excessively extending away from the cleaning brush. The first blocking structure 125 is, for example, at least one blocking ring, and two blocking rings in this example. By providing the blocking structure, the winding object such as garbage is wound around the blocking structure of the first end portion member, such that the winding object is effectively prevented from being wound around the shaft rod, and the winding object can be removed directly along with the removal of an end cover member when the end portion member is detached.

[0135] A guiding engagement structure is formed by the first guiding portion in the first guide sleeve of the first end portion member and the end portion of the shaft rod at the driving side, and a lock engagement structure is formed by the first locking portion on the first guide sleeve being fitted to the first lock matching portion of the end portion of the shaft rod. The guiding engagement structure and the lock engagement structure coordinate and cooperate with each other, achieving a more effective mounting structure, and further optimizing the mounting structure of the end portion member and the shaft rod, thereby optimizing the overall structure of the cleaning brush.

[0136] FIG. 11 is an exploded view of a three-dimensional structure of the cleaning brush in FIG. 7 from another angle; and FIG. 12 is a partial structural exploded view of a second end portion member and the shaft rod of the cleaning brush in FIG. 7 from an angle.

[0137] As shown in FIGS. 11 and 12, the cleaning brush 100 further includes a second end portion member 140. The second end portion member 140 is located at the driven side and is mounted to the second end portion 112 of the shaft rod 110. A second assembly structure 141 (specifically, a bearing structure) is provided at a side of the second end portion member 140 distal to the shaft rod 110. The second assembly structure 141 is rotatable relative to the shaft rod and rotatably connected to another structure (for example, a machine body) of the cleaning device through the second assembly structure 141.

[0138] As shown in FIGS. 11 and 12, the second end portion member 140 is provided with at least one second guiding portion 1421, the second end portion 112 is provided with at least one second fitting portion 1121, and the at least one second guiding portion 1421 matches the at least one second fitting portion 1121 to form a guiding engagement structure, such that the second end portion member 140 can be mounted to the second end portion in various circumferential assembly manners.

[0139] Further, the second guiding portion 1421 spirally extends in a circumferential direction of the second guide sleeve 142 in a direction away from the second assembly structure 141, and is specifically in a spiral shape spirally extending in a rotating manner along the inner peripheral wall, such that the second guiding portion 1421 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis z of the shaft rod 110, thereby forming a second guiding direction. In this example, the second guiding direction is the same as the first guiding direction.

[0140] It should be noted that, in this example, the first guiding direction and the second guiding direction are the same, but it is not limited thereto. In other examples, the rotation direction of the first guiding portion may also be, for example, non-spiral or linear. In addition, in other examples, the second guiding direction may be different from the first guiding direction. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0141] As shown in FIG. 12, the at least one second guiding portion 1421 includes two second guiding portions 1421, and the two second guiding portions 1421 have the same shape and size, such that the second end portion member can be mounted to the second end portion 112 in two circumferential assembly manners.

[0142] Preferably, when the first guiding portions 1221 and the second guiding portions 1421 have the same guiding direction, the two first guiding portions 1221 have different sizes (correspondingly, the first fitting portion 1111 and the second fitting portion 1121 have different sizes), the two second guiding portions 1421 have the same size, and the size of the second guiding portions 1421 is between the sizes of the two first guiding portions 1221.

[0143] The size of the two second guiding portions at the driven end is between the sizes of the two first guiding portions at the driving side, such that it can be ensured that the second end portion member can be freely mounted at multiple angles, and it can be ensured that the end portion members at two sides are not mounted upside down, which can effectively ensure a correct orientation of the components such as the blades after the cleaning brush is mounted.

[0144] It should be noted that the number of the second guiding portions may also be three or more in other examples. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure. In addition, for the first end portion member and the second end portion member, it is preferable to provide two first guiding portions of different sizes at the driving side, because a requirement is presented for the mounting angle at the driving side, and the second end portion member at the driven side does not need a design with different sizes, because the second assembly structure (specifically, the bearing structure) at the driven side can rotate freely relative to the shaft rod. After the bearing structure is assembled to the machine body of the automatic cleaning device, the rest of the cleaning brush is allowed to rotate freely relative to the bearing structure. No strict requirement is presented for the assembly angle at the driven side. Therefore, in other examples, the second guiding portions may have the same size.

[0145] More effective guiding engagement structures can be achieved by forming guiding engagement structures between the first guiding portion 1221 and the first fitting portion 1111 and between the second guiding portion 1421 and the second fitting portion 1121. Due to the different sizes of the two first guiding portions 1221 and the different size of the second guiding portions from the first guiding portions, the first end portion member can only be mounted to the first end portion in a circumferential assembly manner, and the second end portion member can be mounted to the second end portion in various circumferential assembly manners. In this way, mounting angles of the first end portion member and the second end portion member to the shaft rod can be accurately determined, thereby achieving a more effective mounting structure.

[0146] Further, an outer periphery of the second guide sleeve 142 of the second end portion member 140 is provided with a second locking portion 1422, for example, a groove portion recessed inward from an outer peripheral surface of the second guide sleeve 142, and the second locking portion 1422 may also be a through hole penetrating the second guide sleeve 142. Correspondingly, the second end portion 112 is provided with a first lock matching portion 1123. The second locking portion 1422 is fitted to the second lock matching portion 1123 to lock the second end portion member 140 to the second end portion 112 to form a lock engagement structure.

[0147] As shown in FIG. 12, the second end portion member 140 further includes a second guide shaft 144. The second guide shaft 144 extends along an axis of the second guide sleeve 142. A second guide hole (not shown) is formed on an end surface of the second end portion 112 distal to the first end portion 111, and the second guide hole is coaxial with the shaft rod 110 and configured to accommodate the second guide shaft 144.

[0148] Further, the second end portion member 140 further includes a second blocking structure 145. The second blocking structure 145 is arranged at a side of the second guide sleeve 142 distal to the shaft rod 110.

[0149] Specifically, an outer diameter of the blocking structure 145 is greater than an outer diameter of the second guide sleeve 142. By providing the blocking structure on the second end portion member, the winding object such as garbage is wound around the blocking structure of the second end portion member, such that the winding object is effectively prevented from being wound around the shaft rod, and the winding object can be removed directly along with the removal of an end cover member when the end portion member is detached.

[0150] Optionally, the second guide sleeve 142 may be further provided with an indicating portion 1423 configured to indicate a position of the second guiding portion 1421 on the outer periphery of the second guide sleeve 142, so as to indicate a rotational assembly direction in which the second end portion member 140 is mounted to the shaft rod 110 and the second end portion 112, such that the second guiding portion is aligned with the second fitting portion for assembly.

[0151] Further, the second assembly structure 141 of the second end portion member 140 is configured in a polygon shape corresponding to the number of the brush components. In this example, the polygon shape of the outer end surface of the second assembly structure 141 is a pentagon formed by a combination of straight lines and curved lines.

[0152] Preferably, the regular polygon shape of the outer end surface of the first end portion member 120 is different from the polygon shape of the outer end surface of the second assembly structure 141, such that the outer end surfaces of the first end portion member and the second end portion member are of different shapes, making it easier to distinguish the two end portions and improving the convenience of mounting.

[0153] In the cleaning brush of the present disclosure, a relatively fixed mounting direction at the driving end is ensured by providing the guiding member of the end portion member of the driving end with a unique circumferential assembly manner, which facilitates the controllability of the mounting angle of the roller brush. This is particularly beneficial in some scenarios having certain preset requirements for the orientation or alignment direction of sub-components of the roller brush, especially the blades, such as those scenarios where two roller brushes of the present disclosure are used to form a dual-brush system and have certain alignment requirements for their respective blades.

[0154] In the cleaning brush of the present disclosure, a guiding engagement structure is formed by the guiding portion in the inner wall of the guide sleeve of the end portion member and the end portion of the shaft rod, and a lock engagement structure is formed by the locking portion at the outer periphery of the guide sleeve and the end portion of the shaft rod. The guiding engagement structure and the lock engagement structure coordinate and cooperate with each other, such that guided mounting can be performed more effectively, a more effective guiding engagement structure can be achieved, a more effective fool-proof mounting structure can be achieved, the mounting simplicity and the stability of the mounting structure of the end portion member can be improved, and the mounting structure of the end portion member and the shaft rod can be optimized, thereby optimizing the overall structure of the cleaning brush.

[0155] In addition, due to the different sizes of the two first guiding portions and the different size of the second guiding portions from the first guiding portions, the first end portion member can only be mounted to the first end portion in a circumferential assembly manner, and the second end portion member can be mounted to the second end portion in various circumferential assembly manners. In this way, mounting angles of the first end portion member and the second end portion member to the shaft rod can be accurately determined, thereby achieving a more effective mounting structure.

[0156] In addition, the indicating portions are provided on the outer peripheries of the first guide sleeve and the second guide sleeve to indicate the rotational assembly directions in which the first end portion member and the second end portion member are mounted to the first end portion and the second end portion of the shaft rod, thereby effectively ensuring the alignment of the first guiding portion and the first fitting portion for assembly, and effectively ensuring the alignment of the second guiding portion and the second fitting portion for assembly.

[0157] In addition, the number of sides of the regular polygon of the outer end surface of the first end portion member and the divisor of the number of sets of the brush components of the automatic cleaning device can ensure that after the cleaning brush is mounted to the main machine of the automatic cleaning device in N directions, the components such as the blades in the brush component of the cleaning brush have the same orientation.

[0158] In addition, by providing the blocking structure on the end portion member, the winding object is directly wound around the blocking structure of the end portion member, such that the winding object can be effectively prevented from being wound around the shaft rod.

[0159] The specific structure of the above second roller brush (also referred to as a hard brush or a cleaning brush) will be described in detail below with reference to FIGS. 13-21, and the same structure and function have the same technical effects, which will not be repeated herein.

[0160] FIG. 13 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure. FIG. 14 is a schematic cross-sectional view of the cleaning brush in FIG. 13. FIG. 15 is a diagram of a three-dimensional structure of an example of an end portion member of the cleaning brush in FIG. 13. FIG. 16 is a schematic diagram of a three-dimensional structure of an example of a fitting member of the shaft rod in FIG. 13. FIG. 17 is a schematic diagram of a three-dimensional structure of an example of a guiding engagement structure of the end portion member and the fitting member of the shaft rod in FIG. 13. FIG. 18 is a structural exploded view of the guiding engagement structure in FIG. 17.

[0161] Referring to FIGS. 13 to 18, the cleaning brush 200 includes: a shaft rod 210 having a first end portion 211 and a second end portion 212 opposite to each other in an axial direction, at least one of the first end portion 211 and the second end portion 212 including a fitting member 213; a brush member 230, the brush member 230 coaxially sleeving an outer periphery of the shaft rod 210; and an end portion member 220 configured to be mounted to the fitting member 213 in a fitted manner, an assembly structure 221 being provided at a side of the end portion member 220 distal to the fitting member 213.

[0162] Specifically, the assembly structure 221 includes, for example, a bearing structure 221″ and a transmission structure 221′. When the end portion member 220 is an end portion member located at the driving side, that is, when the end portion member 220 is a first side end portion member 220′ connected to the drive unit of the cleaning module, the assembly structure 221 is, for example, the transmission structure 221′. When the end portion member 220 is an end portion member located at the driven side, that is, when the end portion member 220 is a second side end portion member 220″ opposite to the first side end portion member 220′, the assembly structure 221 is, for example, the bearing structure 221″.

[0163] The connection and assembly relationship between the end portion member and the shaft rod is mainly described below by using the end portion member at the driving side as an example, and the connection relationship between the end portion member at the driven side and the shaft rod is similar.

[0164] As shown in FIG. 14, an accommodating space 214 is formed on an end surface, facing the end portion member 220, of an end portion where the fitting member 213 is located, the fitting member 213 is accommodated in the accommodating space 214, and a portion of the end portion member 220 is inserted into the accommodating space 214 to be mounted to the fitting member 213 in a fitted manner.

[0165] Specifically, an end surface of the fitting member 213 proximal to the assembly structure 221 is farther away from the assembly structure 221 relative to an opening portion 2141 of the accommodating space 214, which is specifically shown in FIG. 14.

[0166] Optionally, an end surface of the brush member 230 proximal to the assembly structure 221 is flush with the opening portion 2141 of the accommodating space 214, which is specifically shown in FIG. 14. On the one hand, the end portion of the brush member is effectively supported, maintaining a required strength when sweeping the ground; on the other hand, the brush member can effectively protect the core rod and the internal fitting member and other three-dimensional mounting and engagement structures, so as to prevent user experience from being impaired due to impact damage.

[0167] As shown in FIG. 15, the end portion member 220 includes a guide rod 222. The guide rod 222 is located at a side of the assembly structure 221 proximal to the shaft rod 210. A leading portion 2221 is provided at an end portion of the guide rod 222 distal to the assembly structure 221, and the leading portion 2221 is configured to form a rotational engagement structure with the fitting member 213.

[0168] Specifically, the leading portion 2221 spirally extends in a circumferential direction of the guide rod 222 in a direction away from the assembly structure 221. The leading portion 2221 is configured in a spiral shape with a rotation direction, and is specifically in a spiral shape spirally extending (i.e., spirally extending in a rotating manner) along the outer peripheral surface of the guide rod 222, such that the leading portion 2221 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis of the shaft rod 210.

[0169] Referring to FIGS. 14 and 15, the end portion member 220 includes a guide rod 222 and at least one leading portion 2221. The leading portion 2221 is disposed on an outer peripheral surface of the guide rod 222, and the plurality of leading portions 2221 are evenly distributed in a circumferential direction of the guide rod 222, such that the leading portions 2221 and the fitting member 213 form a rotational engagement structure, as shown in FIGS. 14 and 17.

[0170] In the example of FIG. 15, the leading portions 2221 are formed by etching grooves into the outer peripheral surface of the guide rod 222 to form protruding parts. The leading portions 2221 are formed at an end portion of the guide rod 222 distal to the assembly structure 221.

[0171] Specifically, a plurality of leading portions 2221 are provided. In the example of FIG. 15, the number of the leading portions 2221 is five, and the five leading portions 2221 are of the same size.

[0172] It should be noted that, in other examples, the number of the leading portions may also be three, four, six, or more, and the sizes of the leading portions may also be different. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure. In addition, for the formation of the leading portions, the leading portions may also be grooves formed by etching inward from the outer peripheral surface of the guide rod. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure. Optionally, the leading portions 211 are different in at least one of the shape, the number, and the size.

[0173] Further, the end portion member 220 further includes a guide shaft 223. The guide shaft 223 extends from the guide rod 222 away from the assembly structure 221, and a snap-fit member 2231 is provided at an end portion of the guide shaft 223 distal to the guide rod 222.

[0174] In this embodiment, an end of the guide shaft 223 proximal to the assembly structure 221 is sleeved in the guide rod 222.

[0175] Specifically, the guide shaft 223 includes the snap-fit member 2231 arranged along the outer peripheral surface. The snap-fit member 2231 is, for example, an annular groove, such that the snap-fit member 2231 and the fitting member 213 form a snap-fit structure.

[0176] As shown in FIG. 16, the fitting member 213 includes a fitting portion 2131 fitted with the shape of the leading portion 2221, and the fitting portion 2131 is provided with spiral grooves for accommodating the leading portion 2221.

[0177] Specifically, the fitting member 213 includes a main body portion 2130. The main body portion 2130 has a cavity. The main body portion 2130 includes a fitting portion 2131 disposed in the cavity. The fitting portion 2131 includes spiral grooves extending along an inner wall of the cavity. The fitting portion 2131 and the leading portion 2221 form a rotational engagement structure, such that the guide rod of the end portion member and the fitting member form a rotational engagement mechanism, which is specifically shown in FIG. 17.

[0178] In this example, the number of the fitting portions 311 is the same as the number of the leading portions 211, for example, both being five.

[0179] It should be noted that for the shape of the fitting portion, in other examples, the fitting portion may also be a groove, and the leading portion may be a protruding part. In other examples, the number of the fitting portions may also be three, four, six, or more, as long as the number of the leading portions is the same as the number of the fitting portions. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0180] By adding the leading portion to the outer peripheral surface of the guide rod, the guide rod of the end portion member and the fitting member of the shaft rod form a rotational engagement structure, such that guided mounting can be performed effectively, an effective fool-proof mounting structure can be achieved, the mounting simplicity of the end portion member can be improved, and the stability of the mounting structure can be improved. By means of the rotational engagement structure formed by the guide rod of the end portion member and the fitting member inside the shaft rod in combination with the snap-fit structure formed by the guide shaft and the fitting member, guided mounting can be performed more effectively, a more effective fool-proof mounting structure can be achieved, the mounting simplicity of the end portion member can be further improved, and the stability of the mounting structure can be further improved.

[0181] In the example of FIG. 16, the fitting member 213 includes an extension portion 2132 connected to the main body portion 2130 and extending outward from the main body portion 2130. The extension portion 2132 is closer to the center of the shaft rod 210 than the main body portion 2130, and an outer diameter of the extension portion 2132 is smaller than an outer diameter of the main body portion 2130.

[0182] As shown in FIGS. 17 and 18, the outer peripheral surface of the extension portion 2132 is provided with a plurality of evenly distributed arises 21321, such that the outer peripheral surface of the extension portion 2132 forms a concave-convex surface for forming a corresponding engagement structure with the interior of the shaft rod 210 (i.e., the shape of the interior of the shaft rod), so as to increase the contact area between the fitting member 213 and the interior of the shaft rod 210, which is more conducive to bonding the fitting member 213 into the accommodating space 214 of the shaft rod 210, thereby increasing the bonding strength of the bonding structure between the fitting member 213 and the shaft rod 210, and enabling the mounting to be more stable.

[0183] It should be noted that the bonding structure between the fitting member 213 and the interior of the shaft rod 210 may also be a stepped engagement structure or the like. In other embodiments, the whole or at least a portion of the assembly of the fitting member 213 may be integrally formed with the shaft rod 210. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0184] As shown in FIG. 17, a snap-fit portion 21322 is provided at an end portion of the fitting member 213 proximal to the center side of the shaft rod, and the snap-fit portion 21322 is closer to the center side of the shaft rod than the arris 21321. The snap-fit portion 21322 is, for example, a claw portion, and the snap-fit portion 21322 and the snap-fit member 2231 (i.e., the annular groove portion) of the guide shaft 223 of the end portion member 220 form a snap-fit structure.

[0185] In the example of FIG. 13, the end portion member 220 is provided with a blocking structure 225 for preventing the winding object from excessively extending away from the cleaning brush. The blocking structure 225 is arranged at a side closer to the assembly structure 221 than the guide rod 210 (i.e., a side distal to the center side of the shaft rod).

[0186] Specifically, an outer diameter of the blocking structure 225 is larger than an outer diameter of the guide rod 210, and the blocking structure 225 is spaced apart from the first end portion 211 of the shaft rod 210 by a certain distance, as shown in FIGS. 17 and 18.

[0187] By providing the blocking structure on the end portion member, the winding object is directly wound around the blocking structure of the end portion member, such that the winding object can be effectively prevented from being wound around the shaft rod.

[0188] In another example, in the cleaning brush 200 shown in FIG. 19, the end portion member 220 includes a first side end portion member 220′ and a second side end portion member 220″, which are respectively mounted to the fitting members 213 of the first end portion 211 and the second end portion 212 of the shaft rod 210 in a fitted manner. The shaft rod 210 is a rigid component, the brush member 230 directly sleeves the shaft rod 210, and the cleaning brush 200 is, for example, a hard brush. Optionally, the shaft rod 210 is a rigid component, and a rigid filler is filled between the brush member 230 and the shaft rod 210.

[0189] In this example, the first leading portion 2221′ of the first side end portion member 220′ (i.e., the end portion member 220 in FIG. 14) and the second leading portion 2221″ of the second side end portion member 220″ are different in at least one of the shape, the number, and the size.

[0190] In an optional embodiment, the shape and size of the first leading portion 2221′ of the first side end portion member 220′ are the same as the shape and size of the second leading portion 2221″ of the second side end portion member 220″. The number of the first leading portions 2221′ of the first side end portion member 220′ is greater than the number of the second leading portions 2221″ of the second side end portion member 220″, and the number of the second leading portions 2221″ of the second side end portion member 220″ is not a divisor of the number of the first leading portions 2221′ of the first side end portion member 220′. For example, the number of the first leading portions 2221′ of the first side end portion member 220′ is five, and the number of the second leading portions 2221″ of the second side end portion member 220″ is two.

[0191] As shown in FIGS. 19 and 20, the first side end portion member 220′ (i.e., the end portion member 220 located at the driving side, or the left side end portion shown in FIG. 20) is mounted to the first end portion 210 of the shaft rod 210. The first side end portion member 220′ includes a transmission structure 221′. The transmission structure 221′ is closer to the outside than the first blocking structure 225′, and an end surface of the transmission structure 221′ is in a polygon shape, for example, a regular polygon. The transmission mechanism 221′ is connected to the driving mechanism of the automatic cleaning device.

[0192] In this example, the brush member 230 includes: a cylindrical member sleeving an outer periphery of the shaft rod; and a plurality of brush components 232 extending from an outer surface of the cylindrical member in a direction away from the cylindrical member 231. The plurality of brush components 232 are evenly arranged in a circumferential direction of the cylindrical member.

[0193] It should be noted that, in this example, the brush components 232 include first brush components of at least one size, for example, five sets of brush components. Each set of brush components includes first brush components of two sizes. For example, the first brush components are V-shaped or spiral-shaped. Since the brush member 230 in this example is substantially the same as the brush member 230 in the example of FIG. 13, the description of the same parts is omitted.

[0194] Specifically, the number of the first leading portions 2221′ of the first side end portion member 220′ is a divisor of the number of the brush components 232. For example, if the number of the first leading portions 2221′ is five, the number of the brush components 232 is a multiple of five, for example, five sets or ten sets, where each set includes two or more brush components.

[0195] By setting the number of the first leading portions 2221′ to be a divisor of the number of sets of the brush components 232, the brush components 232 are enabled to have a specific mounting angle when the roller brushes are assembled into the roller brush framework, facilitating matching and interference of corresponding brush components of the two roller brushes.

[0196] In the example of FIG. 19, the number of the first leading portions 2221′ is five, and the number of sets of the brush components 232 is five.

[0197] As shown in FIG. 20, the second side end portion member 220″ is mounted to the second end portion 212 of the shaft rod 210 (i.e., the end portion member located at the driven side, or the right side end portion shown in FIG. 20). The second side end portion member 220″ includes an assembly structure (specifically, a bearing structure 221″). The bearing structure 221″ is rotatable relative to the shaft rod 210, and is connected to other structures (for example, the machine body) of the cleaning device through rotation of the bearing structure 221″ relative to the shaft rod.

[0198] Specifically, the first side end portion member 220′ is mounted to the first fitting member 213′ of the first end portion 211 inside the shaft rod 210, and the second side end portion member 220″ is mounted to the second fitting member 213″ of the second end portion 212 inside the shaft rod 210.

[0199] It should be noted that since the structures of the shaft rod and the brush member in the example of FIG. 18 are substantially the same as the structures of the shaft rod and the brush member in the example of FIG. 13, the description of the same parts is omitted. In addition, since the structure of the first fitting member 213′ in FIG. 19 is substantially the same as the structure of the fitting member 213 in FIG. 16, the description of the same parts is omitted.

[0200] In the example of FIG. 19, the first side end portion member 220′ includes a first guide rod 222′, at least one first leading portion 2221′, and a first guide shaft 223′. The first guide rod 222′ is provided with a plurality of first leading portions 2221′. The first leading portions 2221′ are formed by etching grooves into an outer peripheral surface of the first guide rod 222′ to form protruding parts. The first leading portion 2221′ is formed at an end portion of the first guide rod 222′ distal to the assembly structure 221′.

[0201] As shown in FIGS. 20 and 21, the second side end portion member 220″ includes a second guide rod 222″, at least one second leading portion 2221″, and a second guide shaft 223″. The second guide rod 222″ is provided with a plurality of second leading portions 2221″.

[0202] Optionally, when the shape of the first leading portion 2221′ of the first side end portion member 220′ is the same as the shape of the second leading portion 2221″ of the second side end portion member 220″, the number of the first leading portions 2221′ of the first side end portion member 220′ is different from the number of the second leading portions 2221″ of the second side end portion member 220″.

[0203] Optionally, the number of the first leading portions 2221′ of the first side end portion member 220′ is odd, and the number of the second leading portions 2221″ of the second side end portion member 220″ is even. Preferably, the number of the first leading portions 2221′ of the first side end portion member 220′ and the number of the second leading portions 2221″ of the second side end portion member 220″ are not divisors for each other, so as to ensure that the side end portion member with less leading portions cannot be mounted to the fitting member corresponding to the side end portion member with more leading portions by mistake, thereby ensuring that any side end portion member will not be mounted by mistake and achieving maximum fool-proofness.

[0204] As shown in FIGS. 20 and 21, the second end portion 212 of the shaft rod 210 includes a second fitting member 213″ matching a second leading portion 2221″ of the second guide rod 222″. The number of the second leading portions 2221″ is two. The second leading portions 2221″ are formed by etching grooves into an outer peripheral surface of the second guide rod 222″ to form protruding parts, and are arranged at an end portion of the second guide rod 222″ distal to the bearing structure 221″.

[0205] Specifically, the second fitting member 213″ includes an extension portion 2132″ connected to a main body portion 2130″ and extending outward from the main body portion 2130″. An outer diameter of the main body portion 2130″ is larger than an outer diameter of the extension portion 2132″. The main body portion 2130″ includes a cavity. The main body portion 2130″ includes a fitting portion 2131″ disposed in the cavity. The fitting portion 2131″ includes spiral grooves extending along an inner wall of the cavity. The fitting portion 2131″ and the second leading portion 2221″ form a rotational engagement structure, such that the guide rod of the second side end portion member and the fitting member form a rotational engagement mechanism.

[0206] As shown in FIGS. 20 and 21, the outer peripheral surface of the extension portion 2132″ of the second fitting member 213″ is provided with a plurality of evenly distributed arises 21321″, such that the outer peripheral surface of the extension portion 2132″ forms a concave-convex surface for forming a corresponding engagement structure with the interior of the shaft rod 210 (i.e., the shape of the interior of the shaft rod), so as to increase the contact area between the second fitting member 213″ and the interior of the shaft rod 210, which is more conducive to bonding the second fitting member 213″ into the accommodating space of the shaft rod 210, thereby increasing the bonding strength of the bonding structure between the second fitting member 213″ and the shaft rod 210, and enabling the mounting to be more stable.

[0207] Further, a snap-fit portion 21322″ is provided at an end portion of the second fitting member 213″ proximal to the center side of the shaft rod, and the snap-fit portion 21322″ is closer to the center side of the shaft rod than the arris 21321″. The snap-fit portion 21322″ is, for example, a claw portion, and the snap-fit portion 21322″ and the snap-fit member 2231 (i.e., the annular groove portion) of the guide shaft 223 of the second side end portion member 220″ form a snap-fit structure.

[0208] In the example of FIG. 19, the first side end portion 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 sleeved in the first guide rod 222′, the other end of the first guide shaft 223′ sleeves a first guide hole of the first end portion 211′, and the first guide hole is coaxially formed on an end surface of the first end portion 211′.

[0209] The assembly structure 221″ and the second guide rod 222″ of the second side end portion member 220″ are split-type structures. Specifically, one end of the second guide shaft 223″ passes through the assembly structure (specifically, the bearing structure 221″) of the second side end portion member 220″, the other end of the second guide shaft 223″ sleeves a second guide hole of the second end portion 212, and the second guide hole is coaxially formed on an end surface of the first end portion 211.

[0210] Optionally, the first side end portion member 220′ is provided with a blocking structure 225′. The blocking structure is specifically disposed between the assembly structure (specifically, the transmission structure 221′) and the first guide rod 222′. The second side end portion member 220″ is provided with a blocking structure 225″. The blocking structure is specifically disposed between the assembly structure (specifically, the bearing structure 221″) and the second guide rod 222″. The blocking structures on the end portion members at two sides are both used to prevent the winding object from excessively extending away from the brush member 230.

[0211] In this example, the end surface at the outer end of the first side end portion member 220′ is configured in the shape of a first polygon corresponding to the number of the brush components 232. Specifically, the end surface of the transmission structure 221′ of the first side end portion member 220′ distal to the guide rod 222 is in a regular polygon shape, and the number of sides of the regular polygon is the same as the number of the first leading portions 2221′ of the first side end portion member 220′. Meanwhile, the number of the first leading portions 2221′ of the first side end portion member 220′ is a divisor of the number of the brush components 232.

[0212] In this way, when the roller brush is mounted to the roller brush framework, the brush component 232 may have a specific mounting angle. When a plurality of roller brushes with similar structures are provided, this design is very advantageous for forming a fitting relationship between the blades of the plurality of roller brushes. In particular, when the blades of two roller brushes need to be aligned, the blades can be ensured to be aligned to achieve synchronous operation, interference, or staggering according to a certain posture, thereby meeting different sweeping effect requirements.

[0213] Compared with the prior art, in the cleaning brush of the present disclosure, by means of the rotational engagement structure formed by the leading portion of the guide rod of the end portion member and the fitting member inside the shaft rod in combination with the snap-fit structure formed by the guide shaft and the fitting member, guided mounting can be performed more effectively, a more effective fool-proof mounting structure can be achieved, the mounting simplicity of the end portion member can be further improved, and the stability of the mounting structure can be further improved.

[0214] In addition, by providing the blocking structure on the end portion member, the winding object is directly wound around the blocking structure of the end portion member, such that the winding object can be effectively prevented from being wound around the shaft rod.

[0215] It should be noted that the embodiments in the specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and reference should be made to each other for the same or similar parts. Since the system or apparatus disclosed in the embodiment corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference may be made to the description of the method part.

[0216] The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present disclosure.

Examples

Embodiment Construction

[0054]For clearer descriptions of the objectives, technical solutions, and advantages of the present disclosure, the present disclosure is further described in detail hereinafter with reference to the accompanying drawings. Apparently, the described embodiments are merely some embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0055]It should be further noted that the terms “comprise”, “comprising”, “include”, “including”, or any other variation thereof, are intended to encompass a non-exclusive inclusion, such that a commodity or an apparatus including a list of elements includes not only those elements, but also other elements not explicitly listed or inherent to such commodity or apparatus. Without further limitation, an element defined by the phras...

CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims priority to Chinese Patent Application No. 202223603482.9 filed on Dec. 30, 2022, which is incorporated herein by reference in its entirety as a part of the present application.TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of cleaning devices, and in particular to an automatic cleaning device.BACKGROUND

[0003] With the continuous development of science and technology, automatic cleaning devices, such as sweeping robots and sweeping and mopping integrated machines, have been widely used in homes. For a cleaning robot with a sweeping function, in order to implement the sweeping function, a cleaning brush is provided to roll up the garbage of different sizes on the ground and suck the garbage into a garbage collection box.

[0004] The structure and arrangement of the cleaning brush have become one of the important factors that affect the cleaning effect of the automatic cleaning device. However, the existing single-brush structure cannot improve the cleaning effect of the automatic cleaning device and cannot perform targeted cleaning for different cleaning surface materials, which limits the wide application of the automatic cleaning device.SUMMARY

[0005] An object of the present disclosure is to provide an automatic cleaning device, which can solve the problem of a low sweeping capacity of the automatic cleaning device during a cleaning process, and is specifically described as follows.

[0006] The present disclosure provides an automatic cleaning device. The automatic cleaning device includes:

[0007] a mobile platform configured to move on an operating surface; and

[0008] a cleaning module assembled to the mobile platform and configured to clean the operating surface, the cleaning module including:

[0009] a first roller brush arranged in a first direction perpendicular to a front-rear axis of the mobile platform, the first roller brush including a first filler, and the first filler being configured to be arranged in an axial direction of the first roller brush; and

[0010] a second roller brush arranged in a direction parallel to the first roller brush, the second roller brush including a second filler, and the second filler being configured to be arranged in an axial direction of the second roller brush,

[0011] where an elastic modulus of the first filler is less than an elastic modulus of the second filler, and during a cleaning process of the cleaning module, a surface to be cleaned is cleaned by first passing through the first roller brush and then passing through the second roller brush.

[0012] In some embodiments, the first filler is an elastic member, and the second filler is a rigid member.

[0013] In some embodiments, a plane where a lowest point of the first filler is located is higher than a plane where a lowest point of the second filler is located.

[0014] In some embodiments, the first roller brush further includes: a first shaft rod, the first filler sleeving the first shaft rod such that the first filler is coaxial with the first shaft rod; and

[0015] the second roller brush further includes: a second shaft rod, the second filler sleeving the second shaft rod such that the second filler is coaxial with the second shaft rod.

[0016] In some embodiments, the first roller brush further includes: a first shaft rod, the first filler sleeving the first shaft rod such that the first filler is coaxial with the first shaft rod; and

[0017] the second filler of the second roller brush is directly formed by the second shaft rod.

[0018] In some embodiments, a plane where the first shaft rod is located is higher than a plane where the second shaft rod is located.

[0019] In some embodiments, the first roller brush further includes: a first brush component arranged at an outer side of the first roller brush in the axial direction of the first roller brush and configured to perform a cleaning operation on an object to be cleaned; and

[0020] the second roller brush further includes: a second brush component arranged at an outer side of the second roller brush in the axial direction of the second roller brush and configured to perform a cleaning operation on the object to be cleaned,

[0021] where an interference amount between the first brush component and the operating surface is less than an interference amount between the second brush component and the operating surface.

[0022] In some embodiments, the second roller brush further includes a second brush member sleeving an outer side of the second filler, the second brush member includes a second cylindrical member configured to sleeve the outer side of the second filler, and the second brush component extends from an outer surface of the second cylindrical member in a direction away from the second cylindrical member.

[0023] In some embodiments, the second cylindrical member has a preset thickness, and the preset thickness is much less than an outer diameter of the second filler.

[0024] In some embodiments, the second cylindrical member is made of an elastic material.

[0025] In some embodiments, the first roller brush further includes a first brush member sleeving an outer side of the first filler, the first brush member includes a first cylindrical member configured to sleeve the outer side of the first filler, and the first brush component extends from an outer surface of the first cylindrical member in a direction away from the first cylindrical member.

[0026] In some embodiments, a surface of the first brush component is provided with at least one first protrusion, and / or a surface of the second brush component is provided with at least one second protrusion.

[0027] Compared with the related art, the above solutions of the embodiments of the present disclosure provide at least the following beneficial effects.

[0028] In the automatic cleaning device provided by the embodiments of the present disclosure, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, the second filler in the second roller brush is configured as the rigid member, and the first roller brush and the second roller brush are arranged in the front-rear direction, such that the interference amounts between the soft and hard roller brushes and the ground can be reasonably configured, and the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes, thereby improving the overall cleaning efficiency on the ground.BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and are used in conjunction with the specification to explain the principles of the present disclosure. Apparently, the drawings in the following description are merely some embodiments of the present disclosure, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. In the drawings:

[0030] FIG. 1 is a schematic diagram of a three-dimensional structure of an automatic cleaning device according to some embodiments of the present disclosure;

[0031] FIG. 2 is a schematic bottom view of an automatic cleaning device according to some embodiments of the present disclosure;

[0032] FIG. 3 is a schematic structural diagram of a cleaning module according to some embodiments of the present disclosure;

[0033] FIG. 4 is a schematic cross-sectional view of a cleaning module according to some embodiments of the present disclosure;

[0034] FIG. 5 is a schematic diagram of a longitudinal section of a first roller brush according to some embodiments of the present disclosure;

[0035] FIG. 6 is a schematic diagram of a transverse section of a first roller brush according to some embodiments of the present disclosure;

[0036] FIG. 6-1 is a schematic diagram of a transverse section of a second roller brush according to some embodiments of the present disclosure;

[0037] FIG. 6-2 is a schematic diagram of a transverse section of a second roller brush according to other embodiments of the present disclosure;

[0038] FIG. 6-3 is a schematic cross-sectional view of a cleaning module according to other embodiments of the present disclosure;

[0039] FIG. 7 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure;

[0040] FIG. 8 is a diagram of a three-dimensional structure of an example of a first end portion member of the cleaning brush in FIG. 7;

[0041] FIG. 9 is a partial structural exploded view of the first end portion member and a shaft rod of the cleaning brush in FIG. 7 from an angle;

[0042] FIG. 10 is a partial structural exploded view of the first end portion member and the shaft rod of the cleaning brush in FIG. 7 from another angle;

[0043] FIG. 11 is an exploded view of a three-dimensional structure of the cleaning brush in FIG. 7 from another angle;

[0044] FIG. 12 is a partial structural exploded view of a second end portion member and the shaft rod of the cleaning brush in FIG. 7 from an angle;

[0045] FIG. 13 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure;

[0046] FIG. 14 is a schematic cross-sectional view of the cleaning brush in FIG. 13;

[0047] FIG. 15 is a diagram of a three-dimensional structure of an example of an end portion member of the cleaning brush in FIG. 13;

[0048] FIG. 16 is a schematic diagram of a three-dimensional structure of an example of a fitting member of a shaft rod in FIG. 13;

[0049] FIG. 17 is a schematic diagram of a three-dimensional structure of an example of a guiding engagement structure of the end portion member and the fitting member of the shaft rod in FIG. 13;

[0050] FIG. 18 is a structural exploded view of the guiding engagement structure in FIG. 17;

[0051] FIG. 19 is a schematic exploded view of a three-dimensional structure of another example of a cleaning brush according to the present disclosure;

[0052] FIG. 20 is a partial structural exploded view of the cleaning brush in FIG. 19 from an angle; and

[0053] FIG. 21 is a partial structural exploded view of the cleaning brush in FIG. 19 from another angle.DETAILED DESCRIPTION

[0054] For clearer descriptions of the objectives, technical solutions, and advantages of the present disclosure, the present disclosure is further described in detail hereinafter with reference to the accompanying drawings. Apparently, the described embodiments are merely some embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0055] It should be further noted that the terms “comprise”, “comprising”, “include”, “including”, or any other variation thereof, are intended to encompass a non-exclusive inclusion, such that a commodity or an apparatus including a list of elements includes not only those elements, but also other elements not explicitly listed or inherent to such commodity or apparatus. Without further limitation, an element defined by the phrase “comprising a / an . . . ” or “including a / an . . . ” does not exclude the presence of other identical elements in the commodity or apparatus including the element.

[0056] In the related art, an automatic cleaning device, such as a sweeping robot, comes in a dual-roller-brush model. For the dual-roller-brush model, both roller brushes typically feature a soft brush structure that is prone to deformation. The roller brush structure of the dual soft brushes allows for a large degree of deformation, enabling large-particle garbage to pass smoothly. However, due to the complex process and high cost of the soft roller brush and its tendency to deform after long-term use, how to reasonably configure the structures of the two roller brushes has become an urgent technical problem to be solved.

[0057] An embodiment of the present disclosure provides an automatic cleaning device. The automatic cleaning device includes: a mobile platform configured to move on an operating surface; and a cleaning module assembled to the mobile platform and configured to clean the operating surface, the cleaning module including: a first roller brush arranged in a first direction perpendicular to a front-rear axis of the mobile platform, the first roller brush including a first filler, and the first filler being configured to be arranged in an axial direction of the first roller brush; and a second roller brush arranged in a direction parallel to the first roller brush, the second roller brush including a second filler, and the second filler being configured to be arranged in an axial direction of the second roller brush, where an elastic modulus of the first filler is less than an elastic modulus of the second filler, and during a cleaning process of the cleaning module, a surface to be cleaned is cleaned by first passing through the first roller brush and then passing through the second roller brush.

[0058] In the automatic cleaning device provided by this embodiment, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, the second filler in the second roller brush is configured as the rigid member, and the first roller brush and the second roller brush are arranged in the front-rear direction, such that the interference amounts between the soft and hard roller brushes and the ground can be reasonably configured, and the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes, thereby improving the overall cleaning efficiency on the ground.

[0059] In the embodiment of the present disclosure, the latter roller brush is configured as a hard brush, which is composed of only an inner hard core and an outer rubber layer, achieving a simple structure and a high dimensional accuracy. Therefore, the interference amount with the ground during sweeping can be easily controlled, and the sweeping effect and the noise during sweeping can be ensured to be within a proper range. In addition, since no sponge exists in the hard brush, the hard brush has little deformation after long-term use, achieving a prolonged service life. The combination of soft and hard brushes can ensure the sufficient passability of large-particle garbage.

[0060] Optional embodiments of the present application will be described in detail hereinafter with reference to the accompanying drawings.

[0061] FIGS. 1 and 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. As shown in FIGS. 1 and 2, the automatic cleaning device may be a robot vacuum cleaner, a mopping / scrubbing robot, a window cleaning robot, or the like. The automatic cleaning device may include a mobile platform 1000, a sensing system 2000, a control system (not shown), a driving system 3000, a power system (not shown), a human-machine interaction system 4000, and a cleaning module 5000.

[0062] The mobile platform 1000 may be configured to automatically move in a target direction on an operating surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, the automatic cleaning device operates on the ground, and the ground serves as the operating surface. The automatic cleaning device may also be a window cleaning robot, the automatic cleaning device operates on an outer surface of a glass of a building, and the glass serves as the operating surface. The automatic cleaning device may further be a pipeline cleaning robot, the automatic cleaning device operates on an inner surface of a pipeline, and the inner surface of the pipeline serves as the operating surface. For the purpose of illustration only, the following description in the present application is illustrated by taking a mopping robot as an example.

[0063] In some embodiments, the mobile platform 1000 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 1000 itself can automatically and adaptively make an operational decision based on an unexpected environmental input; and the non-autonomous mobile platform itself cannot adaptively make an operational decision based on an unexpected environmental input, but can execute a given procedure or operate according to a certain logic. Correspondingly, when the mobile platform 1000 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning device; and when the mobile platform 1000 is a non-autonomous mobile platform, the target direction may be set systematically or manually.

[0064] The sensing system 2000 includes sensing apparatuses such as a position determining apparatus (not shown) located above the mobile platform 1000, a buffer (not shown) located in a forward part of the mobile platform 1000, a cliff sensor (not shown) and an ultrasonic sensor (not shown) located at the bottom of the mobile platform, an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), to provide various position information and motion status information of the machine to the control system.

[0065] For convenience of description, directions are defined as follows: The automatic cleaning device may be calibrated by defining the following three axes perpendicular to one another: a transverse axis Y, a front-rear axis X, and a vertical axis Z. A direction to which an arrow along the front-rear axis X points is marked as “rearward”, and a direction opposite to the direction of the arrow along the front-rear axis X is marked as “forward”. The transverse axis Y is substantially in a width direction of the automatic cleaning device. A direction of an arrow along the transverse axis Y is marked as “leftward”, and a direction opposite to the direction of the arrow along the transverse axis Y is marked as “rightward”. The vertical axis Z is a direction extending upward from the bottom surface of the automatic cleaning device. As shown in FIG. 1, a direction along the front-rear axis X is defined as a second direction, where the second direction is, for example, a forward direction or a rearward direction; and a direction perpendicular to the second direction in a horizontal plane is defined as a first direction, where the first direction is, for example, a leftward direction or a rightward direction.

[0066] The control system (not shown) is arranged on a main circuit board in 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 memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive environmental information sensed by a plurality of sensors and transmitted from the sensing system, draw a real-time map of an environment in which the automatic cleaning device is located by using a positioning algorithm, such as SLAM based on obstacle information fed back by the position determining apparatus, etc., autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 3000 to perform operations such as traveling forward, traveling rearward, and / or steering according to the autonomously determined travel path. Further, the control system may also determine whether to activate the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

[0067] The driving system 3000 may execute a driving command based on specific distance and angle information, for example, x, y, and θ components, to steer the automatic cleaning device to run across the ground. The driving system 3000 includes a driving wheel assembly. The driving system 3000 may simultaneously control a left wheel and a right wheel. To more precisely control the movement of the machine, the driving system 3000 preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically disposed along a transverse axis defined by the mobile platform 1000. To enable the automatic cleaning device to move more stably on the ground or to achieve stronger mobility, the automatic cleaning device may include one or more steering assemblies. Each steering assembly may be either a driven wheel or a driving wheel, and may adopt structural forms including but not limited to a universal wheel. The steering assembly may be located in front of the driving wheel assembly.

[0068] The power system (not shown) includes a rechargeable battery, for example, a nickel-hydrogen battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. The main machine is charged through connection to a charging pile via charging electrodes disposed on the side or bottom of the machine body.

[0069] The human-machine interaction system 4000 includes a button on a host panel for a user to select a function, and may further include a display screen and / or an indicator light and / or a speaker, where the display screen, the indicator light, and the speaker show a current state of the machine or function options to the user, and may further include a mobile phone client program. For a path navigation type cleaning device, a mobile phone client may show a map of an environment in which the device is located and a location of the machine to the user, providing the user with richer and more user-friendly function options.

[0070] 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 the garbage on the ground to the front of a dust suction port between the main brush module and the dust box, and then the garbage is sucked into the dust box by the gas with suction generated by the fan and passing through the dust box. The dust removal capacity of the sweeper may be characterized by a dust pickup efficiency (DPU) of the garbage. The DPU is affected by a wind force utilization rate of an air duct formed by the dust suction port, the dust box, the fan, the air outlet, and connecting components among the four, and is affected by a type and power of the fan, thereby posing a complex system design problem. Compared with a conventional plug-in vacuum cleaner, the improvement in the dust removal capacity is more significant for an automatic cleaning device with limited energy. The improvement in the dust removal capacity directly and effectively reduces the energy requirements. That is, a machine that can sweep 80 square meters of the ground on a single charge can be evolved to sweep 180 square meters or more on a single charge. In addition, a service life of the battery with a reduced quantity of charging times is greatly increased, such that a frequency of replacing the battery by the user is also reduced. More visually and importantly, the improvement in the dust removal capacity is the most obvious and important user experience, and the user will directly draw a conclusion on whether the sweeping / wiping is thorough.

[0071] FIG. 2 is a schematic structural diagram of the automatic cleaning device in FIG. 1 in a bottom view. As shown in FIG. 2, the automatic cleaning device includes a mobile platform 1000. The mobile platform 1000 is configured to move freely on an operating surface, a cleaning module 5000 is provided at the bottom of the mobile platform 1000, and the cleaning module 5000 is configured to clean the operating surface. The cleaning module 5000 includes a drive unit 5100, a roller brush framework 5200, and roller brushes 5300 assembled in the roller brush framework 5200. The drive unit 5100 provides a driving force for forward rotation or reverse rotation, and the driving force is applied to the roller brush 5300 through a multi-stage gear set. The roller brush 5300 rotates under the action of the driving force to clean the operating surface, or the roller brush 5300 rotates under the action of the driving force to collect dust.

[0072] As shown in FIG. 2, the roller brush framework 5200 is provided with a front cleaning brush mounting position 5211 and a rear cleaning brush mounting position 5212 for accommodating cleaning roller brushes. The front cleaning brush mounting position 5211 is provided with a first end portion 52111 and a second end portion 52112 opposite to the first end portion 52111. One end of the first roller brush 100 is engaged and fixed at the first end portion 52111, and the other end of the first roller brush 100 is engaged and fixed at the second end portion 52112. In some embodiments, the front cleaning brush mounting position 5211 is a long-strip-shaped groove structure in the mobile platform, and the long-strip-shaped groove structure extends in the first direction. The rear cleaning brush mounting position 5212 is provided with a third end portion 52121 and a fourth end portion 52122 opposite to the third end portion 52121. In some embodiments, the rear cleaning brush mounting position 5212 has substantially the same structure as the front cleaning brush mounting position 5211. For example, the rear cleaning brush mounting position is also a long-strip-shaped groove structure in the mobile platform, and the long-strip-shaped groove structure extends in the first direction. The second roller brush may be mounted in the long-strip-shaped groove of the rear cleaning brush mounting position 5212 through an opening of the long-strip-shaped groove structure. The two long-strip-shaped groove structures are parallel to each other in the second direction. The shape and size of the long-strip-shaped groove structure are not limited, as long as at least a portion of the first roller brush and at least a portion of the second roller brush are accommodated. The first end portion of the front cleaning brush mounting position 5211 and the third end portion of the rear cleaning brush mounting position 5212 are located at one side of the front-rear axis X, and the second end portion of the front cleaning brush mounting position 5211 and the fourth end portion of the rear cleaning brush mounting position 5212 are located at the other side of the front-rear axis X.

[0073] It should be noted that, in the following embodiments of the present disclosure, an example in which the long-strip-shaped groove structure proximal to the steering wheel on the automatic cleaning device is the front cleaning brush mounting position 5211 and the long-strip-shaped groove structure distal to the steering wheel is the rear cleaning brush mounting position 5212 is used for detailed description. Certainly, the reverse arrangement is also possible.

[0074] As shown in FIG. 2, in some embodiments, the automatic cleaning device includes two cleaning roller brushes 5300. One cleaning roller brush is disposed at the front cleaning brush mounting position 5211 and regarded as a “front roller brush”, and the other cleaning roller brush is disposed at the rear cleaning brush mounting position 5212 and regarded as a “rear roller brush”. The front roller brush may be mounted in the front cleaning brush mounting position 5211 through the opening of the long-strip-shaped groove structure, and the rear roller brush may be mounted in the rear cleaning brush mounting position 5212 through the opening of the long-strip-shaped groove structure.

[0075] FIG. 3 shows a combination structure of a cleaning module according to some embodiments of the present disclosure, and FIG. 4 shows a cross-sectional structure of a cleaning module according to some embodiments of the present disclosure. As shown in FIGS. 3 and 4, roller brushes 5300 assembled in the roller brush framework 5200 include: a first roller brush 100 arranged in a first direction perpendicular to a front-rear axis of the mobile platform and a second roller brush 200 arranged in a direction parallel to the first roller brush 100. The first roller brush 100 includes: a first brush member, a first shaft rod 110, and a first filler 120. The first filler 120 is configured to sleeve the first shaft rod 110, such that the first filler 120 is coaxial with the first shaft rod 110. The second roller brush 200 includes: a second brush member and a second shaft component 220. The second shaft component 220 is coaxial with the second brush member. The first filler 120 is an elastic member, the second shaft component 220 is a rigid member, and the first filler has a first inner diameter and a first outer diameter, enabling the first filler to have a preset thickness. The first roller brush 100 and the second roller brush 200 are rotated in opposite directions relative to each other to roll up garbage on the operating surface when performing a cleaning task or to discharge garbage in the dust box when performing a dust collecting task. It should be noted that, for this embodiment, the first roller brush 100 may be the “front roller brush” or the “rear roller brush” described above, and the second roller brush 200 may also be the “front roller brush” or the “rear roller brush” described above, which is not limited herein.

[0076] Specifically, FIG. 5 is a cross-sectional view of a first roller brush according to some embodiments of the present disclosure in a second direction, and FIG. 6 is a cross-sectional view of a first roller brush according to some embodiments of the present disclosure in a first direction, as shown in FIGS. 5 and 6.

[0077] The first roller brush 100 includes a first shaft rod 110. At least one end of the first shaft rod 110 is connected to the multi-stage gear set to receive the driving force of the drive unit 5100 and achieve forward rotation or reverse rotation. The first shaft rod 110 is in the shape of a long-strip-shaped cylinder, long-strip-shaped rectangular prism, or long-strip-shaped polygonal prism, which is not limited herein. The shape of a long-strip-shaped cylinder is used as an example for illustration hereinafter. The axis of the first shaft rod 110 may be regarded as the rotation shaft of the first roller brush 100. After the first roller brush 100 is mounted to the mobile platform, the driving system 2000 can drive the first shaft rod 110 to rotate, thereby driving the first brush member 130 on the surface of the first shaft rod 110 to sweep.

[0078] The first roller brush 100 further includes a first filler 120. The first filler 120 is configured to sleeve the first shaft rod 110, such that the first filler 120 is coaxial with the first shaft rod 110. As shown in FIG. 4, a cross section of the first filler 120 is of an annular structure, an inner ring shape of the first filler matches a cross section shape of the first shaft rod 110, and the inner ring shape may be a circle, a square, a polygon, or the like, which is not limited herein. The inner ring being a circle is used as an example for illustration hereinafter, and the outer ring shape is generally a circle. 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 is substantially equal to the diameter of the first shaft rod 110, so as to achieve seamless sleeved fitting between the first filler 120 and the first shaft rod 110. The outer diameter is substantially equal to the inner diameter of a first cylindrical member 131, so as to achieve seamless sleeved fitting between the first filler 120 and the first cylindrical member 131. The first filler 120 is made of a compressible elastic material, for example, a sponge, an organic flexible material, a resin material, or a foam material, which will not be exhausted herein. The first filler 120 has the characteristics of being compressed inward by a force and restoring to its original shape after the force is removed. In addition, the first filler 120 may also be made of a hollowed-out material or structure having the same compressible characteristics, for example, a spring or an elastic sheet, which will not be exhausted herein either.

[0079] The first roller brush 100 further includes a first brush member 130. The first brush member 130 sleeves an outer side of the first filler 120. The first brush member 130 includes the first cylindrical member 131. The first cylindrical member 131 is configured to sleeve the outer side of the first filler 120, such that the first cylindrical member 131 is coaxial with the first shaft rod 110. The first cylindrical member 131 is generally cylindrical and has a length substantially the same as that of the first shaft rod 110. The first cylindrical member 131 is generally compressible. For example, the first cylindrical member is made of an elastic plastic or rubber material, enabling inward compression and deformation under an external force, and recovery to the original shape after the external force is removed. The first cylindrical member 131 generally has a certain thickness to enhance the wear resistance of the first brush member 130 as a whole. In addition, the first brush member 130 further includes a first brush component 132. The first brush component 132 may be a plurality of sheet-like structures. The first brush component 132 extends from an outer surface of the first cylindrical member 131 in a direction away from the first cylindrical member 131. At least one first brush component 132 extends from one end of the first cylindrical member 131 to the other end of the first cylindrical member 131 in an axial direction of the first cylindrical member 131. The first brush component 132 may be in the form of blades, bristles, or the like.

[0080] In some embodiments, a plurality of first brush components 132 are provided. Each first brush component 132 is of a spiral structure on an outer surface of the first cylindrical member 131, the plurality of first brush components 132 are substantially evenly distributed in a circumferential direction of the first cylindrical member 131, and the spiral structures of the plurality of first brush components 132 are substantially parallel. By designing the first brush component 132 in a spiral structure, garbage can be easily rolled up when the front and rear roller brushes rotate oppositely, avoiding damage to the first brush component 132 due to excessive impact force, thereby extending the service life.

[0081] In some embodiments, a plurality of first brush components 132 are provided. Each first brush component 132 is of a V-shaped structure on an outer surface of the first cylindrical member 131, the plurality of first brush components 132 are substantially evenly distributed in a circumferential direction of the first cylindrical member 131, and tips of the V-shaped structures of the plurality of first brush components 132 all point in the same direction in the circumferential direction of the first cylindrical member 131. By designing the first brush component 132 in a V-shaped structure, garbage can be easily rolled up when the front and rear roller brushes rotate oppositely, avoiding damage to the first brush component 132 due to excessive impact force, thereby extending the service life.

[0082] In some embodiments, a surface of the first brush component 132 is provided with a plurality of first protrusions 1321. The plurality of first protrusions on the first brush component 132 are evenly distributed in an extension direction of the surface of the first brush component 132, and the plurality of first protrusions 1321 can increase the friction force between the brush member and the garbage, resulting in more effective sweeping.

[0083] In some embodiments, as shown in FIG. 6-1, the second roller brush 200 includes a second shaft component 220 and a second brush member 230. The second shaft component 220 is coaxial with the second brush member 230. The second brush member 230 sleeves an outer side of the second shaft component 220. The second shaft component 220 forms a second shaft rod of the second roller brush 200. The second shaft component 220 is a rigid and hard member. The second shaft component 220 includes at least one fitting member 210 disposed on at least one end of the second shaft component 220 (for example, the fitting member 210 may be disposed on one end or two ends of the second shaft component 220), and is connected to the multi-stage gear set of the driving system 2000 through the fitting member 210 to receive the driving force of the driving system 2000 and achieve forward rotation or reverse rotation. The second shaft component 220 is in the shape of a long-strip-shaped cylinder, long-strip-shaped rectangular prism, or long-strip-shaped polygonal prism, which is not limited herein. The shape of a long-strip-shaped cylinder is used as an example for illustration hereinafter.

[0084] In some embodiments, as shown in FIG. 6-1, the second shaft component 220 includes a hollow structure 221. The hollow structure 221 extends axially through the axis of the second shaft component 220 along the second shaft component 220. The second shaft component 220 has a second inner diameter D2in and a second outer diameter D2out, and the second inner diameter D2in and the second outer diameter D2out define a radial thickness of the second shaft component 220. At least one end of the hollow structure (for example, one end or two ends of the second shaft component 220) includes a stepped part. The stepped part includes one, two, or three steps. For example, when the stepped part includes two steps, an end surface of the hollow structure 221 has a third inner diameter and a fourth inner diameter. The second inner diameter is less than the third inner diameter and less than the fourth inner diameter. An end portion of the stepped part located at the outermost position of the hollow structure 221 forms an accommodating cavity 222 of the largest diameter (for example, the accommodating cavity 222 has the fourth inner diameter). The fitting member 210 is of a shape or structure matching the stepped part, and the fitting member 210 is fixedly or detachably connected to the hollow structure after being assembled to the stepped part. The fitting member 210 is configured to be directly or indirectly connected to the multi-stage gear set of the driving system, to receive the driving force of the driving system 2000 and achieve forward rotation or reverse rotation of the second shaft component 220.

[0085] The second roller brush 200 further includes a second brush member 230. The second brush member 230 sleeves an outer side of the second shaft component 220. The second brush member 230 includes a second cylindrical member 231. The second cylindrical member 231 is configured to sleeve the outer side of the second shaft component 220, such that the second cylindrical member 231 is coaxial with the second shaft component 220. The second cylindrical member 231 is generally cylindrical and has a length substantially the same as that of the second shaft component 220. The second cylindrical member 231 is generally compressible. For example, the second cylindrical member is made of an elastic plastic or rubber material, so as to sleeve the outer side of the second shaft component 220. The second cylindrical member 231 generally has a certain thickness to enhance the wear resistance of the second brush member 230 as a whole. In addition, the second brush member 230 further includes a second brush component 232. The second brush component 232 may be a plurality of sheet-like structures. The second brush component 232 extends from an outer surface of the second cylindrical member 231 in a direction away from the second cylindrical member 231. At least one second brush component 232 extends from one end of the second cylindrical member 231 to the other end of the second cylindrical member 231 in an axial direction of the second cylindrical member 231. The second brush component 232 may be in the form of blades, bristles, or the like.

[0086] In some embodiments, a plurality of second brush components 232 are provided. Each second brush component 232 is of a spiral structure on the outer surface of the second cylindrical member 231, the plurality of second brush components 232 are substantially evenly distributed in a circumferential direction of the second cylindrical member 231, and the spiral structures of the plurality of second brush components 232 are substantially parallel. The shape of the second brush component 232 matches the shape of the first brush component 132. That is, when the shape of the second brush component 232 is a spiral structure, the shape of the first brush component 132 is also a spiral structure. By designing the second brush component 232 in a spiral structure, garbage can be easily rolled up when the front and rear roller brushes rotate oppositely, avoiding damage to the second brush component 132 due to excessive impact force, thereby extending the service life.

[0087] In some embodiments, a plurality of second brush components 232 are provided. Each second brush component 232 is of a V-shaped structure on the outer surface of the second cylindrical member 231, the plurality of second brush components 232 are substantially evenly distributed in a circumferential direction of the second cylindrical member 231, and tips of the V-shaped structures of the plurality of second brush components 232 all point in the same direction in the circumferential direction of the second cylindrical member 231. The shape of the second brush component 232 matches the shape of the first brush component 132. That is, when the shape of the second brush component 232 is a V-shaped structure, the shape of the first brush component 132 is also a V-shaped structure. By designing the second brush component 132 in a V-shaped structure, when the front and rear roller brushes rotate oppositely, the tip of the V-shaped structure of the second brush component 232 can interfere with the tip of the V-shaped structure of the first brush component 132, thereby easily rolling up garbage.

[0088] In other embodiments, the second roller brush 200 may also be implemented in other forms, as shown in FIG. 6-2. For example, the second roller brush 200 includes a second shaft rod 240, a second filler 250, and a second brush member 230. The structure of the second brush member 230 is as described in the above embodiments, which is not repeated herein. The second shaft component as described in the above embodiments is formed by the second shaft rod 240 and the second filler 250. The second filler 250 sleeves the second shaft rod 240, such that the second filler 250 is coaxial with the second shaft rod 240. A cross section of the second filler 250 is of an annular structure, an inner ring shape of the second filler matches a cross section shape of the second shaft rod 240, and the inner ring shape may be a circle, a square, a polygon, or the like, which is not limited herein. The inner ring being a circle is used as an example for illustration hereinafter, and the outer ring shape is generally a circle. When 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 substantially equal to the diameter of the second shaft rod 240, so as to achieve seamless sleeved fitting between the second filler 250 and the second shaft rod 240. The outer diameter is substantially equal to the inner diameter of the second cylindrical member 231, so as to achieve seamless sleeved fitting between the second filler 250 and the second cylindrical member 231. The second filler 250 is made of an incompressible material. The second filler 250 has characteristics of not being substantially compressed inward by a force, so as to provide a sufficient supporting force to the second brush member 230. The material of the second filler 250 is, for example, a rigid material such as a hard plastic, a hard resin material, or a metal material, which will not be exhausted herein. In addition, the second filler 250 may also be made of a hollowed-out material or structure having the same incompressible characteristics, for example, an incompressible keel structure, to reduce the weight of the second roller brush, which will not be exhausted herein either.

[0089] In other embodiments, the second filler 250 may be integrally formed with the second shaft rod 240, and the integral structure is uniformly formed of a hard material, to reduce a rotation clearance.

[0090] After the first roller brush 100 and the second roller brush 200 are mounted, when the first roller brush 100 and the second roller brush 200 operate, the first roller brush 100 and the second roller brush 200 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 component and the second brush component are always in an interference contact state in the middle position, that is, the brush components in a lower layer make contact before the brush components in an upper layer are separated. As the rotation continues, the brush components in the upper layer are separated, and the brush components at two ends of the lower layer make contact, forming a diamond-shaped enclosed air path in the middle. As the brush member rotates, garbage is collected in the middle, such that the garbage is sucked into the dust box in the device through the air duct 5400, thereby achieving the purpose of cleaning. As the first roller brush and the second roller brush rotate synchronously, the diamond-shaped enclosed air path formed by the brush components of the lower layer gradually narrows until the current enclosed sweeping is completed, at which point the next enclosed sweeping immediately begins. That is, the brush components at two ends of another lower layer make contact, forming a diamond-shaped enclosed air path in the middle. In this cycle, the first roller brush and the second roller brush can achieve the effect of continuous sweeping, thereby further improving the dust pickup efficiency.

[0091] In some embodiments, a surface of the second brush component 232 is provided with a plurality of second protrusions 2321. The plurality of second protrusions on the second brush component 232 are evenly distributed in an extension direction of the surface of the second brush component 232, and the plurality of second protrusions 2321 can increase the friction force between the brush member and the garbage, resulting in more effective sweeping.

[0092] In other embodiments, the first brush member in the first roller brush 100 may be different from the second brush member in the second roller brush 200, which may be specifically provided according to sweeping requirements. Optionally, the first roller brush 100 is a hair brush, and the second roller brush 200 is a rubber brush. This combination can achieve cleaning effects in various ground environments. That is, the first roller brush can be used to clean garbage on soft ground such as a carpet based on a good cleaning capacity of the hair brush for hair or fine soft fibers, and the second roller brush can be used to clean ground such as a floor or a tile based on a good cleaning capacity of the rubber brush for hard ground.

[0093] In some embodiments, an outer diameter of the second shaft component is less than an outer diameter of the first filler, and / or the outer diameter of the second shaft component is greater than an inner diameter of the first filler. Since the second roller brush is of an incompressible hard core structure, to avoid a significant reduction in the passability of large-particle garbage caused by the incompressible hard core structure, it is necessary to configure the blades of the second roller brush to have a larger length than the blades of the first roller brush. The distance from the outer diameter of the second shaft component (of a hard core) of the second roller brush to the ground is not less than the distance from the outer diameter of the first filler (of a soft core) of the first roller brush to the ground. In this case, it is necessary to enable the outer diameter of the second shaft component to be smaller than the outer diameter of the first filler. In addition, when the outer diameter of the second shaft component (of a hard core) of the second roller brush is too large, the flexible space allowed to pass between the front and rear roller brushes is reduced, and larger hard garbage may be stuck between the first roller brush and the second roller brush. In addition, when the outer diameter of the second shaft component (of a hard core) of the second roller brush is further reduced, and the outer contour diameters 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 gradually increases with the reduction of the outer diameter of the second shaft component (of a hard core). If the length of the second brush component exceeds a reasonable range, the sweeping force will be weakened due to the second brush component becoming too long, and the surface area of the second brush component is increased, such that the second brush component is more likely to be adhered with dust, which affects the cleaning effect. Therefore, to ensure the sweeping effect, the length of the second brush component should not be too large, and the outer diameter of the corresponding second shaft component (of a hard core) should not be too small in this case, such that the outer diameter of the second shaft component can be greater than the inner diameter of the first filler, thereby ensuring that the length of the second brush component is within a suitable range.

[0094] In some embodiments, a plane where the lowest point of the first filler is located is lower than a plane where the lowest point of the second shaft component is located. Since the first filler is compressible, to ensure the passability of garbage below the first roller brush and the second roller brush, the plane where the lowest point of the first filler is located needs to be lower than the plane where the lowest point of the second shaft component is located. When the first roller brush is a front roller brush, the passability of garbage can be ensured as the first filler can be compressed.

[0095] In some embodiments, a maximum distance of the first brush component extending from an outer surface of the first cylindrical member in a direction away from the first cylindrical member is smaller than a maximum distance of the second brush component extending from an outer surface of the second cylindrical member in a direction away from the second cylindrical member. As described above, since the outer diameter of the first filler is greater than the outer diameter of the second shaft component, if the length of the first brush component is not less than the length of the second brush component, the first roller brush will be large as a whole. When the assembly positions of the first roller brush and the second roller brush are substantially located on the same horizontal plane, the interference amount between the first brush component and the ground is greatly increased, thereby increasing the noise caused by the first brush component tapping the ground, increasing the resistance to the traveling process of the automatic cleaning device, and making it inconvenient for the automatic cleaning device to perform a cleaning task.

[0096] In some embodiments, the outer contour formed by the maximum distance of the first brush component extending from the outer surface of the first cylindrical member in the direction away from the first cylindrical member forms the outer diameter of the first roller brush, and the outer contour formed by the maximum distance of the second brush component extending from the outer surface of the second cylindrical member in the direction away from the second cylindrical member forms the outer diameter of the second roller brush. The outer diameter of the first roller brush is substantially equal to the outer diameter of the second roller brush. When the assembly positions of the first roller brush and the second roller brush are substantially located on the same horizontal plane or have little difference, it can be ensured that the first roller brush and the second roller brush have sufficient interference amount with the ground, thereby achieving a cleaning effect of the dual brushes. In addition, for the automatic cleaning device in a non-operating state, the dual roller brushes in a storage state can be substantially smoothly stored in the cleaning module, thereby reducing the complexity of design and processing caused by the inconsistent design of the front cleaning brush mounting position and the rear cleaning brush mounting position.

[0097] In some embodiments, the distance between an axis of the first roller brush and an axis of the second roller brush is not greater than the outer diameter of the first roller brush and / or the outer diameter of the second roller brush. When the outer diameters of the first roller brush and / or the second roller brush are substantially 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 outer diameter of the second roller brush, no interference effect exists between the first brush component and the second brush component, such that the garbage swept to a position between the first roller brush and the second roller brush cannot be smoothly rolled up, thereby affecting the overall cleaning effect of the cleaning device.

[0098] In some embodiments, the outer contour formed by the maximum distance of the first brush component extending from the outer surface of the first cylindrical member in the direction away from the first cylindrical member forms the outer diameter of the first roller brush, and the outer contour formed by the maximum distance of the second brush component extending from the outer surface of the second cylindrical member in the direction away from the second cylindrical member forms the outer diameter of the second roller brush. The distance between the axis of the first roller brush and the axis of the second roller brush is not greater than half a sum of the outer diameters of the first roller brush and the second roller brush. When 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, no interference effect exists between the first brush component and the second brush component, such that the garbage swept to a position between the first roller brush and the second roller brush cannot be smoothly rolled up, thereby affecting the overall cleaning effect of the cleaning device.

[0099] In some embodiments, a minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft component is greater than a difference between the inner diameter and the outer diameter of the first filler. When the minimum distance from the inner diameter of the first filler to the outer diameter of the second shaft component is too small as the inner diameter of the first filler is too large or the outer diameter of the second shaft component is too large, the flexible space allowed to pass between the front and rear brushes is reduced, and larger garbage or even flexible garbage may be stuck between the two brushes and cannot enter or exit the dust box. The limit distance is that the outer diameter of the second shaft component is in contact with the outer diameter of the first filler. In this case, although the first filler still has a space allowance that can be compressed, the first filler and the second shaft component block a suction force of the fan on the garbage as no clearance exists between the first filler and the second shaft component, thereby greatly reducing an effect of the garbage entering or exiting the dust box, and reducing cleaning efficiency.

[0100] In some embodiments, the first roller brush and the second roller brush are arranged sequentially in a traveling direction of the automatic cleaning device. In this case, a dual-brush assembly structure with a soft front brush and a hard rear brush is formed. To ensure that garbage is leaked from the rear, the plane where the lowest point of the outer contour of the second roller brush is located needs to be configured lower than the plane where the lowest point of the outer contour of the first roller brush is located, so as to increase the interference amount between the second brush component and the ground, thereby preventing the garbage from leaking out from below the second roller brush.

[0101] In the automatic cleaning device provided by the embodiments of the present disclosure, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, and the second shaft component in the second roller brush is configured as the rigid member, such that the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes. Therefore, the passability of garbage between the first roller brush and the second roller brush can be improved, and the interference amount between the soft and hard roller brushes and the ground can be reasonably configured, thereby improving the overall cleaning efficiency on the ground.

[0102] In some embodiments, as shown in FIG. 6-3, the cleaning module 5000 includes a first roller brush 100 arranged in a first direction perpendicular to an axis of the mobile platform 1000 and a second roller brush 200 arranged in a direction parallel to the first roller brush 100. The first roller brush 100 includes a first filler 120. The first filler 120 is configured to be arranged in an axial direction of the first roller brush 100. The second roller brush 200 includes a second filler 250. The second filler 250 is configured to be arranged in an axial direction of the second roller brush 100. An elastic modulus of the first filler 120 is less than an elastic modulus of the second filler 250. During a cleaning process of the cleaning module 5000, an object to be cleaned 300 is cleaned by first passing through the first roller brush 100 and then passing through the second roller brush 200. A direction indicated by an arrow in FIG. 6-3 is a traveling direction of the cleaning device. In this embodiment, the object to be cleaned first passes through the first roller brush with a small elastic modulus. The first roller brush increases the passability of the object to be cleaned due to the small elastic modulus. Especially for a hard object to be cleaned, the first roller brush can be compressed under the driving force of the forward movement of the cleaning device, such that the object to be cleaned can enter the rear of the first roller brush, so as to avoid blocking the object to be cleaned in front of the first roller brush and reducing the cleaning effect. In addition, the elastic modulus of the second roller brush is larger, which prevents the object to be cleaned from leaking out of the cleaning module due to compression of the second roller brush in a manner similar to the compression of the first roller brush, thereby further enhancing the cleaning effect.

[0103] In some embodiments, the first filler is an elastic member, and the second filler is a rigid member. During the cleaning process of the cleaning device, when the object to be cleaned is small particles, such as dust in a carpet or paper scraps, cleaning can be completed only by tapping, rolling, and sucking of the brush component. For a hard object to be cleaned of a larger volume, when the first filler is an elastic member, the first roller brush can be compressed under the driving force of the forward movement of the cleaning device, such that the object to be cleaned can enter the rear of the first roller brush, and then the first filler is restored to its original shape under the elastic effect and cleaning is continued by tapping of the brush component, so as to avoid blocking the hard object to be cleaned in front of the first roller brush and reducing the cleaning effect. In addition, the second filler is a rigid member and can block the object to be cleaned, which prevents the hard object to be cleaned from leaking out of the cleaning module due to compression of the second roller brush in a manner similar to the compression of the first roller brush, thereby further enhancing the cleaning effect. Moreover, the second roller brush is configured as the rigid member, such that the dimensional accuracy of the second roller brush is easier to control, the interference amount between the second roller brush and the ground is easier to control, and the noise can be reduced while ensuring that the object to be cleaned is not leaked.

[0104] In some embodiments, as shown in FIG. 6-3, a plane where the lowest point of the first filler 120 is located is higher than a plane where the lowest point of the second filler 250 is located. Since the second filler 250 is a rigid member which is incompressible, configuring the lowest point of the second filler 250 to be lower helps prevent garbage from leaking out of the cleaning module from the second roller brush. When little difference exists between the first brush component 132 and the second brush component 232, since the plane where the lowest point of the first filler 120 is located is higher than the plane where the lowest point of the second filler 250 is located, the interference amount between the first brush component 132 and the ground is less than the interference amount between the second brush component 232 and the ground, thereby reducing the noise caused by the first brush component 132 tapping and contacting the ground. Especially when the first brush component 132 has no interference amount with the ground, the noise caused by the first brush component 132 tapping and contacting the ground is greatly reduced. Meanwhile, due to a certain interference amount between the second brush component 232 and the ground, the sweeping effect of the second roller brush is ensured, thereby preventing the object to be cleaned from leaking out.

[0105] In some embodiments, the first roller brush 100 further includes: a first shaft rod 110. The first filler 120 sleeves the first shaft rod 110, such that the first filler 120 is coaxial with the first shaft rod 110. The second roller brush 200 further includes: a second shaft rod 210. The second filler 250 sleeves the second shaft rod 210, such that the second filler 250 is coaxial with the second shaft rod 210. A plane where the first shaft rod 110 is located is higher than a plane where the second shaft rod 210 is located. When the diameter of the outer contour of the first roller brush is substantially equal to the diameter of the outer contour of the second roller brush, the plane (the distance D1 shown in FIG. 6-3) where the first shaft rod 110 is located is configured to be larger than the plane (the distance D2 shown in FIG. 6-3) where the second shaft rod 210 is located, such that the second filler 250 helps prevent garbage from leaking out of the cleaning module from the second roller brush. In addition, the interference amount between the first brush component 132 and the ground is enabled to be less than the interference amount between the second brush component 232 and the ground, thereby reducing the noise caused by the first brush component 132 tapping and contacting the ground. Meanwhile, due to a sufficient interference amount between the second brush component 232 and the ground, the sweeping effect of the second roller brush is ensured, thereby preventing the object to be cleaned from leaking out.

[0106] In some embodiments, the second roller brush 200 further includes a second shaft rod (i.e., the second shaft component as described in the above embodiments). The second shaft rod in this embodiment directly forms the second filler. Compared with the second shaft rod described in the above embodiments, the diameter of the second shaft rod described in this embodiment is substantially equivalent to the diameter of the shaft rod and the filler, which are in sleeved fitting, of the second roller brush in the above embodiments. That is, the second roller brush is formed by the second shaft rod being sleeved with the second brush member. The plane where the first shaft rod 110 is located is higher than the plane where the second shaft rod is located. When the diameter of the outer contour of the first roller brush is substantially equal to the diameter of the outer contour of the second roller brush, the plane (the distance D1 shown in FIG. 6-3) where the first shaft rod 110 is located is configured to be larger than the plane (the distance D2 shown in FIG. 6-3) where the second shaft rod is located, such that the second shaft rod helps prevent garbage from leaking out of the cleaning module from the second roller brush. In addition, the interference amount between the first brush component 132 and the ground is enabled to be less than the interference amount between the second brush component 232 and the ground, thereby reducing the noise caused by the first brush component 132 tapping and contacting the ground. Meanwhile, due to a sufficient interference amount between the second brush component 232 and the ground, the sweeping effect of the second roller brush is ensured, thereby preventing the object to be cleaned from leaking out.

[0107] In some embodiments, the first roller brush further includes: a first brush component arranged at an outer side of the first roller brush in the axial direction of the first roller brush and configured to perform a cleaning operation on the object to be cleaned. The second roller brush further includes: a second brush component arranged at an outer side of the second roller brush in the axial direction of the second roller brush and configured to perform a cleaning operation on the object to be cleaned. An interference amount between the first brush component and the operating surface is less than an interference amount between the second brush component and the operating surface. As described above, the interference amount between the first brush component and the ground is small to avoid the noise of tapping and contacting with the ground, and the interference amount between the second brush component and the ground is large to ensure the sweeping effect without garbage leakage.

[0108] In some embodiments, the second roller brush further includes a second brush member sleeving an outer side of the second filler, the second brush member includes a second cylindrical member configured to sleeve the outer side of the second filler, and the second brush component extends from an outer surface of the second cylindrical member in a direction away from the second cylindrical member. The second cylindrical member has a preset thickness, and the preset thickness is much less than an outer diameter of the second filler. In some embodiments, the second cylindrical member is made of an elastic material. The second filler is a rigid member, and the second cylindrical member of the preset thickness sleeves the outer side of the second filler. Due to the small thickness, such as 1-3 mm, and certain elasticity of the second cylindrical member, the rigid characteristics of the second roller brush can be ensured while the second cylindrical member conveniently sleeves the outer side of the second filler which is the rigid member.

[0109] In some embodiments, the elastic material of the second cylindrical member is, for example, rubber, plastic, or silk fabric, which is not limited herein.

[0110] In some embodiments, the first roller brush further includes a first brush member sleeving an outer side of the first filler, the first brush member includes a first cylindrical member configured to sleeve the outer side of the first filler, and the first brush component extends from an outer surface of the first cylindrical member in a direction away from the first cylindrical member.

[0111] In some embodiments, a surface of the first brush component is provided with at least one first protrusion, and / or a surface of the second brush component is provided with at least one second protrusion. A plurality of first protrusions or second protrusions can increase the friction force between the brush member and the garbage, resulting in more effective sweeping, increasing the strength of the brush member, and enhancing the wear resistance.

[0112] In the automatic cleaning device provided by the embodiments of the present disclosure, a dual-roller-brush structure of the first roller brush and the second roller brush is provided, the first filler in the first roller brush is configured as the elastic member, the second filler in the second roller brush is configured as the rigid member, and the first roller brush and the second roller brush are arranged in the front-rear direction, such that the interference amounts between the soft and hard roller brushes and the ground can be reasonably configured, and the automatic cleaning device can effectively clean the ground by using the soft and hard roller brushes, thereby improving the overall cleaning efficiency on the ground.

[0113] The specific structure of the above first roller brush (also referred to as a soft brush or a cleaning brush) will be described in detail below with reference to FIGS. 7-12, and the same structure and function have the same technical effects, which will not be repeated herein.

[0114] FIG. 7 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure. FIG. 8 is a diagram of a three-dimensional structure of an example of an end portion member of the cleaning brush in FIG. 7. FIG. 9 is a diagram of a three-dimensional structure of the end portion member of the cleaning brush in FIG. 8 from another angle.

[0115] Referring to FIGS. 7 to 9, an embodiment of the present disclosure provides a cleaning brush 100. The cleaning brush 100 includes: a shaft rod 110 including a shaft rod body 113 and a first end portion 111 and a second end portion 112 located at two sides of the shaft rod body 113; and a first end portion member 120 configured to be mounted to the first end portion 111, where a first assembly structure 121 is provided at a side of the first end portion member 120 distal to the shaft rod 110. Specifically, the first assembly structure 121 is a transmission structure, and the first assembly structure 121 is connected to a driving mechanism of the cleaning device.

[0116] Specifically, the first end portion member 120 is provided with at least one first guiding portion 1221, the first end portion 111 is provided with at least one first fitting portion 1111, and the at least one first guiding portion 1221 matches the at least one first fitting portion 1111 to form a guiding engagement structure, such that the first end portion member 120 can only be mounted to the first end portion 111 in a circumferential assembly manner, that is, the first end portion member 120 and the shaft rod 110 have a single mounting direction when assembled.

[0117] The meaning of the circumferential assembly manner herein is as follows: Two assemblies are rotated by 360 degrees relative to each other, and if N assembly manners exist, it is determined that the two assemblies have N circumferential assembly manners, where N is greater than or equal to 1.

[0118] As shown in FIG. 8, the first end portion member 120 includes a first guide sleeve 122. The first guide sleeve 122 is configured to accommodate the first end portion 111. The at least one first guiding portion 1221 is arranged on an inner peripheral wall of the first guide sleeve 122 and is a protruding portion protruding inward from the inner peripheral wall of the first guide sleeve 122. The first end portion member 120 is mounted to the first end portion 111 located at the driving side.

[0119] Specifically, the at least one first guiding portion 1221 spirally extends in a circumferential direction of the first guide sleeve 122 in a direction away from the first assembly structure 121, and is specifically in a spiral shape spirally extending in a rotating manner along the inner peripheral wall, such that the first guiding portion 1221 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis z of the shaft rod 110.

[0120] It should be noted that, in this example, the first guiding portion 1221 is a protruding portion protruding from the inner peripheral wall of the first guide sleeve 122, but it is not limited thereto, as long as one of the first guiding portion 1221 and the first fitting portion 1111 is a protruding portion and the other is a recessed portion.

[0121] In the example of FIG. 8, the number of the first guiding portions 1221 is two, and the sizes of the two first guiding portions 1221 are different. By providing the two first guiding portions of different sizes, it can be effectively ensured that the first end portion member 120 and the end portion of the shaft rod at the driving side have only a single mounting direction, thereby controlling the mounting direction of the components such as the blades of the cleaning brush to be unique.

[0122] It should be noted that, in this example, the number of the first guiding portions 1221 is two, but it is not limited thereto. In other examples, the number of the first guiding portions 1221 may also be three or more. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0123] As can be seen from FIG. 9, the first fitting portions 1111 corresponding to the first guiding portions 1221 are provided on the outer periphery of the first end portion 111 of the shaft rod 110. In this example, two first fitting portions 1111 are arranged on the outer periphery of the first end portion 111, and the two first fitting portions 1111 are in one-to-one correspondence to the two first guiding portions 1221, respectively. Each first fitting portion 1111 is a groove portion recessed inward from the outer peripheral surface of the first end portion 111. The first guiding portion 1221 matches the first fitting portion 1111 to form a guiding engagement structure, such that the first end portion member 120 can only be mounted to the first end portion 111 in a circumferential assembly manner.

[0124] By adding two first guiding portions of different sizes to the inner peripheral wall of the first guide sleeve, guided mounting can be performed more effectively, and the first end portion member can only be mounted to the first end portion in a circumferential assembly manner, which can improve the mounting simplicity of the end portion member and the stability of the mounting structure.

[0125] Optionally, an indicating portion 1223 (referring to FIG. 8) is provided on the outer periphery of the first guide sleeve 122. The indicating portion is configured to indicate a position of the first guiding portion 1221 on the outer periphery of the first guide sleeve 122, so as to indicate a rotational assembly direction in which the first end portion member 120 is mounted to the first end portion 111 of the shaft rod 110, such that the first guiding portion 1221 is aligned with the first fitting portion 1111 for assembly.

[0126] As shown in FIGS. 8 to 10, the first guide sleeve 122 is provided with a first locking portion 1222, for example, a groove portion recessed inward from an outer peripheral surface of the first guide sleeve 122. Correspondingly, the first end portion 111 is provided with a first lock matching portion 1112. The first locking portion 1222 is fitted to the first lock matching portion 1112 to lock the first end portion member 120 to the first end portion 111.

[0127] Referring to FIGS. 9 and 10, the first end portion member 120 further includes a first guide shaft 123. The first guide shaft 123 extends along an axis of the first guide sleeve 122. A first guide hole 1113 is formed on an end surface of the first end portion 111 distal to the second end portion 112, and the first guide hole 113 is coaxial with the shaft rod 110 and configured to accommodate the first guide shaft 123.

[0128] As shown in FIGS. 9 and 10, an end surface of the first assembly structure 121 distal to the shaft rod has a regular polygon 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 an outer end surface of the first end portion member has a corresponding relationship with the number of sets of brush components of the automatic cleaning device. For example, the number N of sides of the regular polygon is a divisor of the number of sets (for example, 4 sides and 8 sets of blades; and for another example, 4 sides and 4 sets of blades). As such, it can be ensured that after the cleaning brush is mounted to the main machine of the automatic cleaning device in N directions, the components such as the blades in the brush component of the cleaning brush have the same orientation.

[0129] It should be noted that, in this embodiment, the sides of the regular polygon are N straight-line sides, but it is not limited thereto. In other embodiments, the sides may be adjusted to, for example, curved sides, or a combination of straight-line sides and curved sides. In addition, in other examples, the regular polygon shape may be adaptively changed based on the number of brush components.

[0130] In the example of FIG. 7, the cleaning brush 100 further includes a brush member 130 coaxially arranged with the shaft rod 110. The brush member 130 includes: a cylindrical member 131 sleeving an outer periphery of the shaft rod; and a plurality of brush components 132. The plurality of brush components 132 extend from an outer surface of the cylindrical member in a direction away from the cylindrical member 131, and the plurality of brush components 132 are evenly arranged in a circumferential direction of the cylindrical member.

[0131] Specifically, the brush components 131 include a first brush component. For example, the first brush component is V-shaped and includes five sets of first brush components.

[0132] It should be noted that, in other examples, the brush components may further include a second brush component, a third brush component, etc., and the second brush component and the third brush component have different shapes, lengths, and the like from the first brush component. In addition, different sets of brush components generally have the same structure. Each set of brush components may include one or more blades. When a plurality of blades are included, structures of the plurality of blades are often not exactly the same.

[0133] Specifically, a flexible filler (not shown) is filled between the brush member 130 and the shaft rod 110, and the flexible filler wraps the outer periphery of the shaft rod body and exposes the first end portion and the second end portion.

[0134] Further, the first end portion member 120 further includes a first blocking structure 125 arranged between the first assembly structure 121 and the first guide sleeve 122, so as to prevent the winding object from excessively extending away from the brush member and prevent the winding object from excessively extending away from the cleaning brush. The first blocking structure 125 is, for example, at least one blocking ring, and two blocking rings in this example. By providing the blocking structure, the winding object such as garbage is wound around the blocking structure of the first end portion member, such that the winding object is effectively prevented from being wound around the shaft rod, and the winding object can be removed directly along with the removal of an end cover member when the end portion member is detached.

[0135] A guiding engagement structure is formed by the first guiding portion in the first guide sleeve of the first end portion member and the end portion of the shaft rod at the driving side, and a lock engagement structure is formed by the first locking portion on the first guide sleeve being fitted to the first lock matching portion of the end portion of the shaft rod. The guiding engagement structure and the lock engagement structure coordinate and cooperate with each other, achieving a more effective mounting structure, and further optimizing the mounting structure of the end portion member and the shaft rod, thereby optimizing the overall structure of the cleaning brush.

[0136] FIG. 11 is an exploded view of a three-dimensional structure of the cleaning brush in FIG. 7 from another angle; and FIG. 12 is a partial structural exploded view of a second end portion member and the shaft rod of the cleaning brush in FIG. 7 from an angle.

[0137] As shown in FIGS. 11 and 12, the cleaning brush 100 further includes a second end portion member 140. The second end portion member 140 is located at the driven side and is mounted to the second end portion 112 of the shaft rod 110. A second assembly structure 141 (specifically, a bearing structure) is provided at a side of the second end portion member 140 distal to the shaft rod 110. The second assembly structure 141 is rotatable relative to the shaft rod and rotatably connected to another structure (for example, a machine body) of the cleaning device through the second assembly structure 141.

[0138] As shown in FIGS. 11 and 12, the second end portion member 140 is provided with at least one second guiding portion 1421, the second end portion 112 is provided with at least one second fitting portion 1121, and the at least one second guiding portion 1421 matches the at least one second fitting portion 1121 to form a guiding engagement structure, such that the second end portion member 140 can be mounted to the second end portion in various circumferential assembly manners.

[0139] Further, the second guiding portion 1421 spirally extends in a circumferential direction of the second guide sleeve 142 in a direction away from the second assembly structure 141, and is specifically in a spiral shape spirally extending in a rotating manner along the inner peripheral wall, such that the second guiding portion 1421 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis z of the shaft rod 110, thereby forming a second guiding direction. In this example, the second guiding direction is the same as the first guiding direction.

[0140] It should be noted that, in this example, the first guiding direction and the second guiding direction are the same, but it is not limited thereto. In other examples, the rotation direction of the first guiding portion may also be, for example, non-spiral or linear. In addition, in other examples, the second guiding direction may be different from the first guiding direction. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0141] As shown in FIG. 12, the at least one second guiding portion 1421 includes two second guiding portions 1421, and the two second guiding portions 1421 have the same shape and size, such that the second end portion member can be mounted to the second end portion 112 in two circumferential assembly manners.

[0142] Preferably, when the first guiding portions 1221 and the second guiding portions 1421 have the same guiding direction, the two first guiding portions 1221 have different sizes (correspondingly, the first fitting portion 1111 and the second fitting portion 1121 have different sizes), the two second guiding portions 1421 have the same size, and the size of the second guiding portions 1421 is between the sizes of the two first guiding portions 1221.

[0143] The size of the two second guiding portions at the driven end is between the sizes of the two first guiding portions at the driving side, such that it can be ensured that the second end portion member can be freely mounted at multiple angles, and it can be ensured that the end portion members at two sides are not mounted upside down, which can effectively ensure a correct orientation of the components such as the blades after the cleaning brush is mounted.

[0144] It should be noted that the number of the second guiding portions may also be three or more in other examples. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure. In addition, for the first end portion member and the second end portion member, it is preferable to provide two first guiding portions of different sizes at the driving side, because a requirement is presented for the mounting angle at the driving side, and the second end portion member at the driven side does not need a design with different sizes, because the second assembly structure (specifically, the bearing structure) at the driven side can rotate freely relative to the shaft rod. After the bearing structure is assembled to the machine body of the automatic cleaning device, the rest of the cleaning brush is allowed to rotate freely relative to the bearing structure. No strict requirement is presented for the assembly angle at the driven side. Therefore, in other examples, the second guiding portions may have the same size.

[0145] More effective guiding engagement structures can be achieved by forming guiding engagement structures between the first guiding portion 1221 and the first fitting portion 1111 and between the second guiding portion 1421 and the second fitting portion 1121. Due to the different sizes of the two first guiding portions 1221 and the different size of the second guiding portions from the first guiding portions, the first end portion member can only be mounted to the first end portion in a circumferential assembly manner, and the second end portion member can be mounted to the second end portion in various circumferential assembly manners. In this way, mounting angles of the first end portion member and the second end portion member to the shaft rod can be accurately determined, thereby achieving a more effective mounting structure.

[0146] Further, an outer periphery of the second guide sleeve 142 of the second end portion member 140 is provided with a second locking portion 1422, for example, a groove portion recessed inward from an outer peripheral surface of the second guide sleeve 142, and the second locking portion 1422 may also be a through hole penetrating the second guide sleeve 142. Correspondingly, the second end portion 112 is provided with a first lock matching portion 1123. The second locking portion 1422 is fitted to the second lock matching portion 1123 to lock the second end portion member 140 to the second end portion 112 to form a lock engagement structure.

[0147] As shown in FIG. 12, the second end portion member 140 further includes a second guide shaft 144. The second guide shaft 144 extends along an axis of the second guide sleeve 142. A second guide hole (not shown) is formed on an end surface of the second end portion 112 distal to the first end portion 111, and the second guide hole is coaxial with the shaft rod 110 and configured to accommodate the second guide shaft 144.

[0148] Further, the second end portion member 140 further includes a second blocking structure 145. The second blocking structure 145 is arranged at a side of the second guide sleeve 142 distal to the shaft rod 110.

[0149] Specifically, an outer diameter of the blocking structure 145 is greater than an outer diameter of the second guide sleeve 142. By providing the blocking structure on the second end portion member, the winding object such as garbage is wound around the blocking structure of the second end portion member, such that the winding object is effectively prevented from being wound around the shaft rod, and the winding object can be removed directly along with the removal of an end cover member when the end portion member is detached.

[0150] Optionally, the second guide sleeve 142 may be further provided with an indicating portion 1423 configured to indicate a position of the second guiding portion 1421 on the outer periphery of the second guide sleeve 142, so as to indicate a rotational assembly direction in which the second end portion member 140 is mounted to the shaft rod 110 and the second end portion 112, such that the second guiding portion is aligned with the second fitting portion for assembly.

[0151] Further, the second assembly structure 141 of the second end portion member 140 is configured in a polygon shape corresponding to the number of the brush components. In this example, the polygon shape of the outer end surface of the second assembly structure 141 is a pentagon formed by a combination of straight lines and curved lines.

[0152] Preferably, the regular polygon shape of the outer end surface of the first end portion member 120 is different from the polygon shape of the outer end surface of the second assembly structure 141, such that the outer end surfaces of the first end portion member and the second end portion member are of different shapes, making it easier to distinguish the two end portions and improving the convenience of mounting.

[0153] In the cleaning brush of the present disclosure, a relatively fixed mounting direction at the driving end is ensured by providing the guiding member of the end portion member of the driving end with a unique circumferential assembly manner, which facilitates the controllability of the mounting angle of the roller brush. This is particularly beneficial in some scenarios having certain preset requirements for the orientation or alignment direction of sub-components of the roller brush, especially the blades, such as those scenarios where two roller brushes of the present disclosure are used to form a dual-brush system and have certain alignment requirements for their respective blades.

[0154] In the cleaning brush of the present disclosure, a guiding engagement structure is formed by the guiding portion in the inner wall of the guide sleeve of the end portion member and the end portion of the shaft rod, and a lock engagement structure is formed by the locking portion at the outer periphery of the guide sleeve and the end portion of the shaft rod. The guiding engagement structure and the lock engagement structure coordinate and cooperate with each other, such that guided mounting can be performed more effectively, a more effective guiding engagement structure can be achieved, a more effective fool-proof mounting structure can be achieved, the mounting simplicity and the stability of the mounting structure of the end portion member can be improved, and the mounting structure of the end portion member and the shaft rod can be optimized, thereby optimizing the overall structure of the cleaning brush.

[0155] In addition, due to the different sizes of the two first guiding portions and the different size of the second guiding portions from the first guiding portions, the first end portion member can only be mounted to the first end portion in a circumferential assembly manner, and the second end portion member can be mounted to the second end portion in various circumferential assembly manners. In this way, mounting angles of the first end portion member and the second end portion member to the shaft rod can be accurately determined, thereby achieving a more effective mounting structure.

[0156] In addition, the indicating portions are provided on the outer peripheries of the first guide sleeve and the second guide sleeve to indicate the rotational assembly directions in which the first end portion member and the second end portion member are mounted to the first end portion and the second end portion of the shaft rod, thereby effectively ensuring the alignment of the first guiding portion and the first fitting portion for assembly, and effectively ensuring the alignment of the second guiding portion and the second fitting portion for assembly.

[0157] In addition, the number of sides of the regular polygon of the outer end surface of the first end portion member and the divisor of the number of sets of the brush components of the automatic cleaning device can ensure that after the cleaning brush is mounted to the main machine of the automatic cleaning device in N directions, the components such as the blades in the brush component of the cleaning brush have the same orientation.

[0158] In addition, by providing the blocking structure on the end portion member, the winding object is directly wound around the blocking structure of the end portion member, such that the winding object can be effectively prevented from being wound around the shaft rod.

[0159] The specific structure of the above second roller brush (also referred to as a hard brush or a cleaning brush) will be described in detail below with reference to FIGS. 13-21, and the same structure and function have the same technical effects, which will not be repeated herein.

[0160] FIG. 13 is an exploded view of a three-dimensional structure of an example of a cleaning brush according to the present disclosure. FIG. 14 is a schematic cross-sectional view of the cleaning brush in FIG. 13. FIG. 15 is a diagram of a three-dimensional structure of an example of an end portion member of the cleaning brush in FIG. 13. FIG. 16 is a schematic diagram of a three-dimensional structure of an example of a fitting member of the shaft rod in FIG. 13. FIG. 17 is a schematic diagram of a three-dimensional structure of an example of a guiding engagement structure of the end portion member and the fitting member of the shaft rod in FIG. 13. FIG. 18 is a structural exploded view of the guiding engagement structure in FIG. 17.

[0161] Referring to FIGS. 13 to 18, the cleaning brush 200 includes: a shaft rod 210 having a first end portion 211 and a second end portion 212 opposite to each other in an axial direction, at least one of the first end portion 211 and the second end portion 212 including a fitting member 213; a brush member 230, the brush member 230 coaxially sleeving an outer periphery of the shaft rod 210; and an end portion member 220 configured to be mounted to the fitting member 213 in a fitted manner, an assembly structure 221 being provided at a side of the end portion member 220 distal to the fitting member 213.

[0162] Specifically, the assembly structure 221 includes, for example, a bearing structure 221″ and a transmission structure 221′. When the end portion member 220 is an end portion member located at the driving side, that is, when the end portion member 220 is a first side end portion member 220′ connected to the drive unit of the cleaning module, the assembly structure 221 is, for example, the transmission structure 221′. When the end portion member 220 is an end portion member located at the driven side, that is, when the end portion member 220 is a second side end portion member 220″ opposite to the first side end portion member 220′, the assembly structure 221 is, for example, the bearing structure 221″.

[0163] The connection and assembly relationship between the end portion member and the shaft rod is mainly described below by using the end portion member at the driving side as an example, and the connection relationship between the end portion member at the driven side and the shaft rod is similar.

[0164] As shown in FIG. 14, an accommodating space 214 is formed on an end surface, facing the end portion member 220, of an end portion where the fitting member 213 is located, the fitting member 213 is accommodated in the accommodating space 214, and a portion of the end portion member 220 is inserted into the accommodating space 214 to be mounted to the fitting member 213 in a fitted manner.

[0165] Specifically, an end surface of the fitting member 213 proximal to the assembly structure 221 is farther away from the assembly structure 221 relative to an opening portion 2141 of the accommodating space 214, which is specifically shown in FIG. 14.

[0166] Optionally, an end surface of the brush member 230 proximal to the assembly structure 221 is flush with the opening portion 2141 of the accommodating space 214, which is specifically shown in FIG. 14. On the one hand, the end portion of the brush member is effectively supported, maintaining a required strength when sweeping the ground; on the other hand, the brush member can effectively protect the core rod and the internal fitting member and other three-dimensional mounting and engagement structures, so as to prevent user experience from being impaired due to impact damage.

[0167] As shown in FIG. 15, the end portion member 220 includes a guide rod 222. The guide rod 222 is located at a side of the assembly structure 221 proximal to the shaft rod 210. A leading portion 2221 is provided at an end portion of the guide rod 222 distal to the assembly structure 221, and the leading portion 2221 is configured to form a rotational engagement structure with the fitting member 213.

[0168] Specifically, the leading portion 2221 spirally extends in a circumferential direction of the guide rod 222 in a direction away from the assembly structure 221. The leading portion 2221 is configured in a spiral shape with a rotation direction, and is specifically in a spiral shape spirally extending (i.e., spirally extending in a rotating manner) along the outer peripheral surface of the guide rod 222, such that the leading portion 2221 has a rotation direction, for example, a clockwise (or counterclockwise) rotation direction around the axis of the shaft rod 210.

[0169] Referring to FIGS. 14 and 15, the end portion member 220 includes a guide rod 222 and at least one leading portion 2221. The leading portion 2221 is disposed on an outer peripheral surface of the guide rod 222, and the plurality of leading portions 2221 are evenly distributed in a circumferential direction of the guide rod 222, such that the leading portions 2221 and the fitting member 213 form a rotational engagement structure, as shown in FIGS. 14 and 17.

[0170] In the example of FIG. 15, the leading portions 2221 are formed by etching grooves into the outer peripheral surface of the guide rod 222 to form protruding parts. The leading portions 2221 are formed at an end portion of the guide rod 222 distal to the assembly structure 221.

[0171] Specifically, a plurality of leading portions 2221 are provided. In the example of FIG. 15, the number of the leading portions 2221 is five, and the five leading portions 2221 are of the same size.

[0172] It should be noted that, in other examples, the number of the leading portions may also be three, four, six, or more, and the sizes of the leading portions may also be different. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure. In addition, for the formation of the leading portions, the leading portions may also be grooves formed by etching inward from the outer peripheral surface of the guide rod. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure. Optionally, the leading portions 211 are different in at least one of the shape, the number, and the size.

[0173] Further, the end portion member 220 further includes a guide shaft 223. The guide shaft 223 extends from the guide rod 222 away from the assembly structure 221, and a snap-fit member 2231 is provided at an end portion of the guide shaft 223 distal to the guide rod 222.

[0174] In this embodiment, an end of the guide shaft 223 proximal to the assembly structure 221 is sleeved in the guide rod 222.

[0175] Specifically, the guide shaft 223 includes the snap-fit member 2231 arranged along the outer peripheral surface. The snap-fit member 2231 is, for example, an annular groove, such that the snap-fit member 2231 and the fitting member 213 form a snap-fit structure.

[0176] As shown in FIG. 16, the fitting member 213 includes a fitting portion 2131 fitted with the shape of the leading portion 2221, and the fitting portion 2131 is provided with spiral grooves for accommodating the leading portion 2221.

[0177] Specifically, the fitting member 213 includes a main body portion 2130. The main body portion 2130 has a cavity. The main body portion 2130 includes a fitting portion 2131 disposed in the cavity. The fitting portion 2131 includes spiral grooves extending along an inner wall of the cavity. The fitting portion 2131 and the leading portion 2221 form a rotational engagement structure, such that the guide rod of the end portion member and the fitting member form a rotational engagement mechanism, which is specifically shown in FIG. 17.

[0178] In this example, the number of the fitting portions 311 is the same as the number of the leading portions 211, for example, both being five.

[0179] It should be noted that for the shape of the fitting portion, in other examples, the fitting portion may also be a groove, and the leading portion may be a protruding part. In other examples, the number of the fitting portions may also be three, four, six, or more, as long as the number of the leading portions is the same as the number of the fitting portions. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0180] By adding the leading portion to the outer peripheral surface of the guide rod, the guide rod of the end portion member and the fitting member of the shaft rod form a rotational engagement structure, such that guided mounting can be performed effectively, an effective fool-proof mounting structure can be achieved, the mounting simplicity of the end portion member can be improved, and the stability of the mounting structure can be improved. By means of the rotational engagement structure formed by the guide rod of the end portion member and the fitting member inside the shaft rod in combination with the snap-fit structure formed by the guide shaft and the fitting member, guided mounting can be performed more effectively, a more effective fool-proof mounting structure can be achieved, the mounting simplicity of the end portion member can be further improved, and the stability of the mounting structure can be further improved.

[0181] In the example of FIG. 16, the fitting member 213 includes an extension portion 2132 connected to the main body portion 2130 and extending outward from the main body portion 2130. The extension portion 2132 is closer to the center of the shaft rod 210 than the main body portion 2130, and an outer diameter of the extension portion 2132 is smaller than an outer diameter of the main body portion 2130.

[0182] As shown in FIGS. 17 and 18, the outer peripheral surface of the extension portion 2132 is provided with a plurality of evenly distributed arises 21321, such that the outer peripheral surface of the extension portion 2132 forms a concave-convex surface for forming a corresponding engagement structure with the interior of the shaft rod 210 (i.e., the shape of the interior of the shaft rod), so as to increase the contact area between the fitting member 213 and the interior of the shaft rod 210, which is more conducive to bonding the fitting member 213 into the accommodating space 214 of the shaft rod 210, thereby increasing the bonding strength of the bonding structure between the fitting member 213 and the shaft rod 210, and enabling the mounting to be more stable.

[0183] It should be noted that the bonding structure between the fitting member 213 and the interior of the shaft rod 210 may also be a stepped engagement structure or the like. In other embodiments, the whole or at least a portion of the assembly of the fitting member 213 may be integrally formed with the shaft rod 210. The above descriptions are only optional examples for illustration and should not be construed as limiting the present disclosure.

[0184] As shown in FIG. 17, a snap-fit portion 21322 is provided at an end portion of the fitting member 213 proximal to the center side of the shaft rod, and the snap-fit portion 21322 is closer to the center side of the shaft rod than the arris 21321. The snap-fit portion 21322 is, for example, a claw portion, and the snap-fit portion 21322 and the snap-fit member 2231 (i.e., the annular groove portion) of the guide shaft 223 of the end portion member 220 form a snap-fit structure.

[0185] In the example of FIG. 13, the end portion member 220 is provided with a blocking structure 225 for preventing the winding object from excessively extending away from the cleaning brush. The blocking structure 225 is arranged at a side closer to the assembly structure 221 than the guide rod 210 (i.e., a side distal to the center side of the shaft rod).

[0186] Specifically, an outer diameter of the blocking structure 225 is larger than an outer diameter of the guide rod 210, and the blocking structure 225 is spaced apart from the first end portion 211 of the shaft rod 210 by a certain distance, as shown in FIGS. 17 and 18.

[0187] By providing the blocking structure on the end portion member, the winding object is directly wound around the blocking structure of the end portion member, such that the winding object can be effectively prevented from being wound around the shaft rod.

[0188] In another example, in the cleaning brush 200 shown in FIG. 19, the end portion member 220 includes a first side end portion member 220′ and a second side end portion member 220″, which are respectively mounted to the fitting members 213 of the first end portion 211 and the second end portion 212 of the shaft rod 210 in a fitted manner. The shaft rod 210 is a rigid component, the brush member 230 directly sleeves the shaft rod 210, and the cleaning brush 200 is, for example, a hard brush. Optionally, the shaft rod 210 is a rigid component, and a rigid filler is filled between the brush member 230 and the shaft rod 210.

[0189] In this example, the first leading portion 2221′ of the first side end portion member 220′ (i.e., the end portion member 220 in FIG. 14) and the second leading portion 2221″ of the second side end portion member 220″ are different in at least one of the shape, the number, and the size.

[0190] In an optional embodiment, the shape and size of the first leading portion 2221′ of the first side end portion member 220′ are the same as the shape and size of the second leading portion 2221″ of the second side end portion member 220″. The number of the first leading portions 2221′ of the first side end portion member 220′ is greater than the number of the second leading portions 2221″ of the second side end portion member 220″, and the number of the second leading portions 2221″ of the second side end portion member 220″ is not a divisor of the number of the first leading portions 2221′ of the first side end portion member 220′. For example, the number of the first leading portions 2221′ of the first side end portion member 220′ is five, and the number of the second leading portions 2221″ of the second side end portion member 220″ is two.

[0191] As shown in FIGS. 19 and 20, the first side end portion member 220′ (i.e., the end portion member 220 located at the driving side, or the left side end portion shown in FIG. 20) is mounted to the first end portion 210 of the shaft rod 210. The first side end portion member 220′ includes a transmission structure 221′. The transmission structure 221′ is closer to the outside than the first blocking structure 225′, and an end surface of the transmission structure 221′ is in a polygon shape, for example, a regular polygon. The transmission mechanism 221′ is connected to the driving mechanism of the automatic cleaning device.

[0192] In this example, the brush member 230 includes: a cylindrical member sleeving an outer periphery of the shaft rod; and a plurality of brush components 232 extending from an outer surface of the cylindrical member in a direction away from the cylindrical member 231. The plurality of brush components 232 are evenly arranged in a circumferential direction of the cylindrical member.

[0193] It should be noted that, in this example, the brush components 232 include first brush components of at least one size, for example, five sets of brush components. Each set of brush components includes first brush components of two sizes. For example, the first brush components are V-shaped or spiral-shaped. Since the brush member 230 in this example is substantially the same as the brush member 230 in the example of FIG. 13, the description of the same parts is omitted.

[0194] Specifically, the number of the first leading portions 2221′ of the first side end portion member 220′ is a divisor of the number of the brush components 232. For example, if the number of the first leading portions 2221′ is five, the number of the brush components 232 is a multiple of five, for example, five sets or ten sets, where each set includes two or more brush components.

[0195] By setting the number of the first leading portions 2221′ to be a divisor of the number of sets of the brush components 232, the brush components 232 are enabled to have a specific mounting angle when the roller brushes are assembled into the roller brush framework, facilitating matching and interference of corresponding brush components of the two roller brushes.

[0196] In the example of FIG. 19, the number of the first leading portions 2221′ is five, and the number of sets of the brush components 232 is five.

[0197] As shown in FIG. 20, the second side end portion member 220″ is mounted to the second end portion 212 of the shaft rod 210 (i.e., the end portion member located at the driven side, or the right side end portion shown in FIG. 20). The second side end portion member 220″ includes an assembly structure (specifically, a bearing structure 221″). The bearing structure 221″ is rotatable relative to the shaft rod 210, and is connected to other structures (for example, the machine body) of the cleaning device through rotation of the bearing structure 221″ relative to the shaft rod.

[0198] Specifically, the first side end portion member 220′ is mounted to the first fitting member 213′ of the first end portion 211 inside the shaft rod 210, and the second side end portion member 220″ is mounted to the second fitting member 213″ of the second end portion 212 inside the shaft rod 210.

[0199] It should be noted that since the structures of the shaft rod and the brush member in the example of FIG. 18 are substantially the same as the structures of the shaft rod and the brush member in the example of FIG. 13, the description of the same parts is omitted. In addition, since the structure of the first fitting member 213′ in FIG. 19 is substantially the same as the structure of the fitting member 213 in FIG. 16, the description of the same parts is omitted.

[0200] In the example of FIG. 19, the first side end portion member 220′ includes a first guide rod 222′, at least one first leading portion 2221′, and a first guide shaft 223′. The first guide rod 222′ is provided with a plurality of first leading portions 2221′. The first leading portions 2221′ are formed by etching grooves into an outer peripheral surface of the first guide rod 222′ to form protruding parts. The first leading portion 2221′ is formed at an end portion of the first guide rod 222′ distal to the assembly structure 221′.

[0201] As shown in FIGS. 20 and 21, the second side end portion member 220″ includes a second guide rod 222″, at least one second leading portion 2221″, and a second guide shaft 223″. The second guide rod 222″ is provided with a plurality of second leading portions 2221″.

[0202] Optionally, when the shape of the first leading portion 2221′ of the first side end portion member 220′ is the same as the shape of the second leading portion 2221″ of the second side end portion member 220″, the number of the first leading portions 2221′ of the first side end portion member 220′ is different from the number of the second leading portions 2221″ of the second side end portion member 220″.

[0203] Optionally, the number of the first leading portions 2221′ of the first side end portion member 220′ is odd, and the number of the second leading portions 2221″ of the second side end portion member 220″ is even. Preferably, the number of the first leading portions 2221′ of the first side end portion member 220′ and the number of the second leading portions 2221″ of the second side end portion member 220″ are not divisors for each other, so as to ensure that the side end portion member with less leading portions cannot be mounted to the fitting member corresponding to the side end portion member with more leading portions by mistake, thereby ensuring that any side end portion member will not be mounted by mistake and achieving maximum fool-proofness.

[0204] As shown in FIGS. 20 and 21, the second end portion 212 of the shaft rod 210 includes a second fitting member 213″ matching a second leading portion 2221″ of the second guide rod 222″. The number of the second leading portions 2221″ is two. The second leading portions 2221″ are formed by etching grooves into an outer peripheral surface of the second guide rod 222″ to form protruding parts, and are arranged at an end portion of the second guide rod 222″ distal to the bearing structure 221″.

[0205] Specifically, the second fitting member 213″ includes an extension portion 2132″ connected to a main body portion 2130″ and extending outward from the main body portion 2130″. An outer diameter of the main body portion 2130″ is larger than an outer diameter of the extension portion 2132″. The main body portion 2130″ includes a cavity. The main body portion 2130″ includes a fitting portion 2131″ disposed in the cavity. The fitting portion 2131″ includes spiral grooves extending along an inner wall of the cavity. The fitting portion 2131″ and the second leading portion 2221″ form a rotational engagement structure, such that the guide rod of the second side end portion member and the fitting member form a rotational engagement mechanism.

[0206] As shown in FIGS. 20 and 21, the outer peripheral surface of the extension portion 2132″ of the second fitting member 213″ is provided with a plurality of evenly distributed arises 21321″, such that the outer peripheral surface of the extension portion 2132″ forms a concave-convex surface for forming a corresponding engagement structure with the interior of the shaft rod 210 (i.e., the shape of the interior of the shaft rod), so as to increase the contact area between the second fitting member 213″ and the interior of the shaft rod 210, which is more conducive to bonding the second fitting member 213″ into the accommodating space of the shaft rod 210, thereby increasing the bonding strength of the bonding structure between the second fitting member 213″ and the shaft rod 210, and enabling the mounting to be more stable.

[0207] Further, a snap-fit portion 21322″ is provided at an end portion of the second fitting member 213″ proximal to the center side of the shaft rod, and the snap-fit portion 21322″ is closer to the center side of the shaft rod than the arris 21321″. The snap-fit portion 21322″ is, for example, a claw portion, and the snap-fit portion 21322″ and the snap-fit member 2231 (i.e., the annular groove portion) of the guide shaft 223 of the second side end portion member 220″ form a snap-fit structure.

[0208] In the example of FIG. 19, the first side end portion 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 sleeved in the first guide rod 222′, the other end of the first guide shaft 223′ sleeves a first guide hole of the first end portion 211′, and the first guide hole is coaxially formed on an end surface of the first end portion 211′.

[0209] The assembly structure 221″ and the second guide rod 222″ of the second side end portion member 220″ are split-type structures. Specifically, one end of the second guide shaft 223″ passes through the assembly structure (specifically, the bearing structure 221″) of the second side end portion member 220″, the other end of the second guide shaft 223″ sleeves a second guide hole of the second end portion 212, and the second guide hole is coaxially formed on an end surface of the first end portion 211.

[0210] Optionally, the first side end portion member 220′ is provided with a blocking structure 225′. The blocking structure is specifically disposed between the assembly structure (specifically, the transmission structure 221′) and the first guide rod 222′. The second side end portion member 220″ is provided with a blocking structure 225″. The blocking structure is specifically disposed between the assembly structure (specifically, the bearing structure 221″) and the second guide rod 222″. The blocking structures on the end portion members at two sides are both used to prevent the winding object from excessively extending away from the brush member 230.

[0211] In this example, the end surface at the outer end of the first side end portion member 220′ is configured in the shape of a first polygon corresponding to the number of the brush components 232. Specifically, the end surface of the transmission structure 221′ of the first side end portion member 220′ distal to the guide rod 222 is in a regular polygon shape, and the number of sides of the regular polygon is the same as the number of the first leading portions 2221′ of the first side end portion member 220′. Meanwhile, the number of the first leading portions 2221′ of the first side end portion member 220′ is a divisor of the number of the brush components 232.

[0212] In this way, when the roller brush is mounted to the roller brush framework, the brush component 232 may have a specific mounting angle. When a plurality of roller brushes with similar structures are provided, this design is very advantageous for forming a fitting relationship between the blades of the plurality of roller brushes. In particular, when the blades of two roller brushes need to be aligned, the blades can be ensured to be aligned to achieve synchronous operation, interference, or staggering according to a certain posture, thereby meeting different sweeping effect requirements.

[0213] Compared with the prior art, in the cleaning brush of the present disclosure, by means of the rotational engagement structure formed by the leading portion of the guide rod of the end portion member and the fitting member inside the shaft rod in combination with the snap-fit structure formed by the guide shaft and the fitting member, guided mounting can be performed more effectively, a more effective fool-proof mounting structure can be achieved, the mounting simplicity of the end portion member can be further improved, and the stability of the mounting structure can be further improved.

[0214] In addition, by providing the blocking structure on the end portion member, the winding object is directly wound around the blocking structure of the end portion member, such that the winding object can be effectively prevented from being wound around the shaft rod.

[0215] It should be noted that the embodiments in the specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and reference should be made to each other for the same or similar parts. Since the system or apparatus disclosed in the embodiment corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference may be made to the description of the method part.

[0216] The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present disclosure.

Examples

Embodiment Construction

[0054]For clearer descriptions of the objectives, technical solutions, and advantages of the present disclosure, the present disclosure is further described in detail hereinafter with reference to the accompanying drawings. Apparently, the described embodiments are merely some embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0055]It should be further noted that the terms “comprise”, “comprising”, “include”, “including”, or any other variation thereof, are intended to encompass a non-exclusive inclusion, such that a commodity or an apparatus including a list of elements includes not only those elements, but also other elements not explicitly listed or inherent to such commodity or apparatus. Without further limitation, an element defined by the phras...

Claims

1. An automatic cleaning device, comprising:a mobile platform configured to move on an operating surface; anda cleaning module assembled to the mobile platform and configured to clean the operating surface, the cleaning module comprising:a first roller brush arranged in a first direction perpendicular to a front-rear axis of the mobile platform, the first roller brush comprising a first filler, and the first filler being configured to be arranged in an axial direction of the first roller brush; anda second roller brush arranged in a direction parallel to the first roller brush, the second roller brush comprising a second filler, and the second filler being configured to be arranged in an axial direction of the second roller brush,wherein an elastic modulus of the first filler is less than an elastic modulus of the second filler, and during a cleaning process of the cleaning module, a surface to be cleaned is cleaned by first passing through the first roller brush and then passing through the second roller brush.

2. The automatic cleaning device according to claim 1, wherein the first filler is an elastic member, and the second filler is a rigid member.

3. The automatic cleaning device according to claim 1, wherein a plane where a lowest point of the first filler is located is higher than a plane where a lowest point of the second filler is located.

4. The automatic cleaning device according to claim 1, whereinthe first roller brush further comprises: a first shaft rod, the first filler sleeving the first shaft rod such that the first filler is coaxial with the first shaft rod; andthe second roller brush further comprises: a second shaft rod, the second filler sleeving the second shaft rod such that the second filler is coaxial with the second shaft rod.

5. The automatic cleaning device according to claim 1, whereinthe first roller brush further comprises: a first shaft rod, the first filler sleeving the first shaft rod such that the first filler is coaxial with the first shaft rod; andthe second filler of the second roller brush is directly formed by the second shaft rod.

6. The automatic cleaning device according to claim 4, wherein a plane where the first shaft rod is located is higher than a plane where the second shaft rod is located.

7. The automatic cleaning device according to claim 1, whereinthe first roller brush further comprises: a first brush component arranged at an outer side of the first roller brush in the axial direction of the first roller brush and configured to perform a cleaning operation on an object to be cleaned; andthe second roller brush further comprises: a second brush component arranged at an outer side of the second roller brush in the axial direction of the second roller brush and configured to perform a cleaning operation on the object to be cleaned,wherein an interference amount between the first brush component and the operating surface is less than an interference amount between the second brush component and the operating surface.

8. The automatic cleaning device according to claim 7, wherein the second roller brush further comprises a second brush member sleeving an outer side of the second filler, the second brush member comprises a second cylindrical member configured to sleeve the outer side of the second filler, and the second brush component extends from an outer surface of the second cylindrical member in a direction away from the second cylindrical member.

9. The automatic cleaning device according to claim 8, wherein the second cylindrical member has a preset thickness, and the preset thickness is much less than an outer diameter of the second filler.

10. The automatic cleaning device according to claim 8, wherein the second cylindrical member is made of an elastic material.

11. The automatic cleaning device according to claim 8, wherein the first roller brush further comprises a first brush member sleeving an outer side of the first filler, the first brush member comprises a first cylindrical member configured to sleeve the outer side of the first filler, and the first brush component extends from an outer surface of the first cylindrical member in a direction away from the first cylindrical member.

12. The automatic cleaning device according to claim 11, wherein a surface of the first brush component is provided with at least one first protrusion, and / or a surface of the second brush component is provided with at least one second protrusion.

13. The automatic cleaning device according to claim 5, wherein a plane where the first shaft rod is located is higher than a plane where the second shaft rod is located.

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