Rolling brush assembly for robot vacuum cleaner and robot vacuum cleaner

Abstract

The present application relates to a rolling brush assembly for a robot vacuum cleaner and a robot vacuum cleaner. On the basis of the application, the rolling brush assembly comprises a rotating main shaft, a cutting mechanism and a clutch mechanism; the cutting mechanism comprises a fixed tooth row component and a movable tooth row component which are stacked and arranged; and the clutch mechanism is able to change a clutch state in response to a change of the rotating direction of the rotating main shaft, such that the movable tooth row component executes reciprocating cutting motion relative to the fixed tooth row component only in response to the rotation of the rotating main shaft in a first rotating direction, and stops the reciprocating cutting motion when the rotating main shaft rotates in a second rotating direction. Therefore, starting or stopping the reciprocating cutting motion of the movable tooth row component relative to the fixed tooth row component can be controlled by means of switching the rotating direction of the rotating main shaft, such that by means of selectively controlling stopping of the reciprocating cutting motion, friction noises and ineffective power consumption generated by the cutting mechanism are reduced.

Description

Roller brush assembly for sweeping robot and sweeping robot

[0001] This application claims priority to the Chinese patent applications filed with the China Patent Office on August 31, 2023, with application number 202311120321.0 and invention name “Roller brush assembly for sweeping robot and sweeping robot” and application number 202322363513.6 and invention name “Roller brush assembly for sweeping robot and sweeping robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent cleaning, and in particular to a roller brush assembly for a sweeping robot, and a sweeping robot. Background Art

[0003] The sweeping robot includes a mobile chassis, a roller brush assembly, a suction component and a dust collecting component (such as a hard dust box or a flexible dust bag), wherein the roller brush assembly can use a cleaning brush radiating from a rotating main shaft to perform a hoisting operation on the lower area of ​​the mobile chassis.

[0004] Discrete impurities such as dust and food crumbs can be swept into the interior of the robot vacuum by the cleaning brush and then sucked into the dust collection unit by the suction airflow generated by the suction unit. However, filamentous impurities such as hair may become entangled in the roller brush assembly and thus cannot be sucked into the dust collection unit by the suction airflow generated by the suction unit.

[0005] In order to facilitate the cleaning of filamentous dirt entangled in the roller brush assembly, the roller brush assembly can be provided with a cutting mechanism, which includes a stacked fixed tooth row component and a movable tooth row component, wherein the movable tooth row component can continuously perform reciprocating cutting motion relative to the fixed tooth row component during the rotation of the roller brush assembly to cut the filamentous dirt into a discrete state that can be sucked into the dust collecting component by the airflow.

[0006] However, the cutting of filamentous dirt only requires a momentary reciprocating cutting motion. Continuously performing the reciprocating cutting motion during the rotation of the rotating roller brush will cause the sweeping robot to generate invalid power consumption. Moreover, the friction noise between the moving tooth row component and the fixed tooth row component when performing the reciprocating cutting motion will also continue to be generated during the power-on startup of the sweeping robot.

[0007] It can be seen that how to reduce the friction noise and ineffective power consumption generated by the cutting mechanism has become a technical problem to be solved in the existing technology.

[0008] Summary of the Invention

[0009] In an embodiment of the present application, a roller brush assembly for a sweeping robot and a sweeping robot are provided, which help to reduce friction noise and ineffective power consumption generated by a cutting mechanism.

[0010] One embodiment of the present application provides a roller brush assembly for a sweeping robot, comprising:

[0011] A rotating main shaft, wherein the rotating main shaft is provided with a cleaning brush radiating from an outer shaft wall;

[0012] A cutting mechanism, comprising a fixed tooth row component and a movable tooth row component installed on the outer shaft wall along the axial direction of the rotating main shaft;

[0013] an axis shifting mechanism, the axis shifting mechanism being movably mounted in the hollow axis cavity of the rotating main shaft surrounded by the outer axis wall along the axial direction, the axis shifting mechanism and the rotating main shaft forming a bidirectional synchronous constraint in a first rotational direction and a second rotational direction opposite to each other;

[0014] A guide mechanism, wherein the guide mechanism is in driving cooperation with the shaft shifting mechanism in the hollow shaft cavity, the guide mechanism is fixed in an axial position in the hollow inner cavity, and the guide mechanism can be switched between a rotation-stopping state and a rotation-following state;

[0015] A clutch mechanism, wherein the clutch mechanism is in transmission cooperation with the guide mechanism in the hollow shaft cavity, wherein:

[0016] When the shaft shifting mechanism rotates along the first rotation direction following the rotating main shaft, the clutch mechanism is in a first clutch state that keeps the guide mechanism in the rotation-stopped state, and the shaft shifting mechanism is guided by the guide mechanism in the rotation-stopped state to move back and forth axially along the axial direction, and the reciprocating axial movement induces a reciprocating cutting motion of the movable tooth row member relative to the fixed tooth row member;

[0017] When the axial shifting mechanism rotates along the second rotation direction following the rotating main shaft, the clutch mechanism is in the second clutch state which keeps the guide mechanism in the following rotation state. The guide mechanism in the following rotation state cancels the guidance of the axial shifting mechanism by rotating along the second rotation direction following the axial shifting mechanism.

[0018] In an embodiment of the present application, a roller brush assembly for a sweeping robot and a sweeping robot are provided, which help to reduce friction noise and ineffective power consumption generated by a cutting mechanism.

[0019] One embodiment of the present application provides a roller brush assembly for a sweeping robot, comprising:

[0020] A rotating main shaft, wherein the rotating main shaft is provided with a cleaning brush radiating from an outer shaft wall;

[0021] A cutting mechanism, comprising a fixed tooth row component and a movable tooth row component installed on the outer shaft wall along the axial direction of the rotating main shaft;

[0022] an axis shifting mechanism, the axis shifting mechanism being movably mounted in the hollow axis cavity of the rotating main shaft surrounded by the outer axis wall along the axial direction, the axis shifting mechanism and the rotating main shaft forming a bidirectional synchronous constraint in a first rotational direction and a second rotational direction opposite to each other;

[0023] A guide mechanism, wherein the guide mechanism is in driving cooperation with the shaft shifting mechanism in the hollow shaft cavity, the guide mechanism is fixed in an axial position in the hollow inner cavity, and the guide mechanism can be switched between a rotation-stopping state and a rotation-following state;

[0024] A clutch mechanism, wherein the clutch mechanism is in transmission cooperation with the guide mechanism in the hollow shaft cavity, wherein:

[0025] When the shaft shifting mechanism rotates along the first rotation direction following the rotating main shaft, the clutch mechanism is in a first clutch state that keeps the guide mechanism in the rotation-stopped state, and the shaft shifting mechanism is guided by the guide mechanism in the rotation-stopped state to move back and forth axially along the axial direction, and the reciprocating axial movement induces a reciprocating cutting motion of the movable tooth row member relative to the fixed tooth row member;

[0026] When the axial shifting mechanism rotates along the second rotation direction following the rotating main shaft, the clutch mechanism is in the second clutch state which keeps the guide mechanism in the following rotation state. The guide mechanism in the following rotation state cancels the guidance of the axial shifting mechanism by rotating along the second rotation direction following the axial shifting mechanism.

[0027] In some examples, optionally, a driving end cover is installed at the first shaft end of the rotating main shaft, and a static end cover is installed at the second shaft end of the rotating main shaft, wherein the driving end cover and the rotating main shaft form a bidirectional synchronous constraint in the first rotation direction and the second rotation direction, the driving end cover is used to cooperate with the power motor transmission, and the rotating main shaft and the static end cover are rotationally cooperated; the clutch mechanism is located between the guide mechanism and the static end cover, wherein the clutch mechanism axially limits the guide mechanism so that the relative axial position between the guide mechanism and the static end cover is fixed, and: when the clutch mechanism is in the first clutch state, the clutch mechanism forms a rotation-stopping constraint between the guide mechanism and the static end cover to prevent the guide mechanism from rotating relative to the static end cover along the first rotation direction, so as to constrain the guide mechanism to the rotation-stopping state; when the clutch mechanism is in the second clutch state, the guide mechanism is in the rotation-following state in which it can freely rotate relative to the static end cover under the drive of the axial shift mechanism.

[0028] In some examples, optionally, the clutch mechanism includes a clutch sleeve movable in the axial direction, wherein: when the clutch mechanism is located at a first axial position, the clutch sleeve is in the first clutch state; when the clutch sleeve is located at a second axial position, the clutch mechanism is in the second clutch state; the clutch sleeve switches between the first axial position and the second axial position in response to a switching change between the first rotational direction and the second rotational direction.

[0029] In some examples, optionally, the clutch mechanism further includes a fixed gear ring and a transmission gear ring, the fixed gear ring is fixedly connected to the static end cover, the transmission gear ring is fixedly connected to the guide mechanism, the fixed gear ring has a clutch convex tooth groove at one end facing the clutch sleeve, and the transmission gear ring has a transmission tooth groove at one end facing the clutch sleeve; the clutch sleeve is movably mounted between the fixed gear ring and the transmission gear ring, the clutch sleeve has a clutch convex tooth at a first annular opening end facing the fixed gear ring, and the clutch sleeve has a transmission convex tooth at a second annular opening end facing the transmission gear ring, wherein: when the clutch sleeve is in the first axial position When the clutch sleeve is in the second axial position, the clutch tooth and the clutch tooth groove form a first limiting engagement that prevents the clutch sleeve from rotating along the first rotation direction relative to the static end cover, and the transmission tooth and the transmission tooth groove form a second limiting engagement that prevents the guide mechanism from rotating along the first rotation direction relative to the clutch sleeve, and the anti-rotation constraint is applied to the guide mechanism through the cascade cooperation of the first limiting engagement and the second limiting engagement; when the clutch sleeve is in the second axial position, the clutch tooth disengages from the clutch tooth groove, and the first limiting engagement and the second limiting engagement are released in response to the disengagement of the clutch tooth from the clutch tooth groove.

[0030] In some examples, optionally, the clutch mechanism further includes a fixed shaft seat coaxially fixedly connected to the static end cover, and a transmission shaft coaxially fixedly connected to the guide mechanism; the fixed shaft seat and the transmission shaft form an axial limit that fixes the relative axial position between the guide mechanism and the static end cover; the fixed gear ring is integrated in the end surface of the fixed shaft seat facing the clutch sleeve and the transmission shaft, and the transmission gear ring is fixedly sleeved on the transmission shaft, and the clutch sleeve is movably sleeved on the transmission shaft.

[0031] In some examples, optionally, when the clutch sleeve is located at the second axial position, the first limit engagement and the second limit engagement also generate a first axial retaining force that prevents the clutch sleeve from leaving the first axial position; when the clutch sleeve is located at the second axial position, the transmission cam and the transmission tooth groove also form a synchronous drive engagement that causes the clutch sleeve and the guide mechanism to rotate along the second rotation direction under the drive of the axial shift mechanism, and the synchronous drive engagement generates a second axial retaining force that causes the clutch sleeve to prevent the clutch sleeve from leaving the second axial position.

[0032] In some examples, optionally, the clutch cam groove has a stop-rotation limit groove wall parallel to the longitudinal section of the rotating main shaft on the first phase side opposite to the first rotation direction, and the clutch cam groove has a first arc surface groove wall on the second phase side in the same direction as the first rotation direction; the clutch cam has a stop-rotation limit tooth wall parallel to the longitudinal section of the rotating main shaft on the second phase side, and the clutch cam has a first arc surface tooth wall adapted to the first arc surface groove wall on the first phase side; the transmission tooth groove has a second arc surface groove wall on the second phase side, and the transmission tooth groove has a synchronous interlocking groove wall parallel to the longitudinal section of the rotating main shaft on the first phase side; the transmission tooth has a second arc surface tooth wall adapted to the second arc surface groove wall on the first phase side, and the transmission tooth The phase side has a synchronous meshing tooth wall parallel to the longitudinal section of the rotating main shaft; when the clutch sleeve is in the first axial position, the anti-rotation limit tooth wall and the anti-rotation limit groove wall relative to each other form the first limit meshing through plane contact, and the second arc surface tooth wall and the second arc surface groove wall relative to each other form the second limit meshing through arc surface contact; when the clutch sleeve is in the second axial position, the synchronous meshing groove wall and the synchronous meshing tooth wall relative to each other form the synchronous drive meshing through plane contact; in the position switching process between the first axial position and the second axial position, a sliding fit for guiding the position switching is generated between the first arc surface groove wall and the first arc surface tooth wall relative to each other, and between the second arc surface tooth wall and the second arc surface groove wall relative to each other.

[0033] In some examples, optionally, the clutch mechanism also includes a switching mechanism, wherein: when the axial shifting mechanism switches from the second rotational direction to the first rotational direction following the rotation direction of the rotating main shaft, the switching mechanism responds to the first phase offset that occurs when the guide mechanism follows the axial shifting mechanism in the first rotational direction, and generates a first axial driving force that drives the clutch sleeve to move from the second axial position to the first axial position; when the axial shifting mechanism switches from the first rotational direction to the second rotational direction following the rotation direction of the rotating main shaft, the switching mechanism responds to the second phase offset that occurs when the guide mechanism follows the axial shifting mechanism in the second rotational direction, and generates a second axial driving force that drives the clutch sleeve to move from the first axial position to the second axial position.

[0034] In some examples, optionally, the clutch mechanism also includes a transmission shaft coaxially fixedly connected to the guide mechanism, the transmission gear ring is fixedly sleeved on the transmission shaft, and the clutch sleeve is movably sleeved on the transmission shaft; the clutch sleeve has an inclined guide groove inclined at a preset angle relative to the axial direction; the switching mechanism includes a fixed outer cylinder and a reversing ball, wherein: the fixed outer cylinder is sleeved on the outer periphery of the clutch sleeve, the fixed outer cylinder covers the inclined guide groove, and the fixed outer cylinder is constrained to be stationary relative to the static end cover; the reversing ball is movably accommodated in the inclined guide groove, and the reversing ball rolls with the transmission shaft and the fixed outer cylinder; the first groove end of the inclined guide groove is inclined toward the first axial position, and the second groove end of the inclined guide groove is inclined toward the second axial position; when the axial shift mechanism switches from the second rotation direction to the first rotation direction following the rotation direction of the rotating main shaft, the The guide mechanism drives the reversing ball to generate a first planetary motion in the first rotation direction on the inner surface of the fixed outer cylinder through the transmission shaft during the first phase offset, and the first planetary motion causes the reversing ball to change its relative position from the second groove end to the first groove end in the inclined guide groove, prompting the reversing ball to generate the first axial driving force on the inclined guide groove; when the axial shift mechanism switches from the first rotation direction to the second rotation direction following the rotation direction of the rotating main shaft, the guide mechanism drives the reversing ball to generate a second planetary motion in the second rotation direction on the inner surface of the fixed outer cylinder through the transmission shaft during the second phase offset, and the second planetary motion causes the reversing ball to change its relative position from the first groove end to the second groove end in the inclined guide groove, prompting the reversing ball to generate the second axial driving force on the inclined guide groove.

[0035] Another embodiment of the present application provides a sweeping robot, comprising a mobile chassis, an integrated cavity shell supported on the mobile chassis, and a roller brush assembly as described in the aforementioned embodiment, wherein the roller brush assembly is installed in the integrated cavity shell, wherein: the mobile chassis has a chassis opening, the integrated cavity shell has a hoisting window exposed at the chassis opening, and a suction window for communicating with a dust collection mechanism, and the installation position of the roller brush assembly in the integrated cavity shell enables the cleaning brush to extend out of the hoisting window to perform a hoisting operation during the rotation process; the integrated cavity shell is fixedly equipped with a power motor, and the first shaft end of the rotating main shaft is in transmission cooperation with the power motor, the power motor drives the rotating main shaft to rotate along the first rotation direction when the sweeping robot is in a self-cleaning mode in which the mobile chassis stops moving, and the power motor drives the rotating main shaft to rotate along the second rotation direction when the sweeping robot is in a working mode in which the mobile chassis moves; when the clutch mechanism is in the first clutch state, the guide mechanism is kept in the stopped state by utilizing the anti-rotation constraint applied by the integrated cavity shell at the second shaft end of the rotating main shaft opposite to the first shaft end.

[0036] Based on the above embodiment, the roller brush assembly includes a rotating main shaft, a cutting mechanism and a clutch mechanism, the cutting mechanism includes a fixed tooth row component and a movable tooth row component installed along the axial direction of the rotating main shaft, and the clutch mechanism can change the clutch state in response to the change of the rotation direction of the rotating main shaft, so that the movable tooth row component only performs a reciprocating cutting motion relative to the fixed tooth row component in response to the rotation of the rotating main shaft along the first rotation direction, and stops the reciprocating cutting motion when the rotating main shaft rotates along the second rotation direction. Therefore, the start or stop of the reciprocating cutting motion of the movable tooth row component relative to the fixed tooth row component can be controlled by switching the rotation direction of the rotating main shaft, so that the friction noise and invalid power consumption generated by the cutting mechanism can be reduced by selectively controlling the stop of the reciprocating cutting motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0038] FIG1a is a schematic structural diagram of a roller brush assembly for a sweeping robot in an assembled state according to an embodiment of the present application;

[0039] FIG1b is a schematic structural diagram of the roller brush assembly shown in FIG1a without the cutting mechanism installed;

[0040] FIG2 is a schematic structural diagram of a roller brush assembly for a sweeping robot in an embodiment of the present application in a disassembled state;

[0041] FIG3 is a schematic diagram of the working principle of the cutting mechanism of the roller brush assembly of the sweeping robot in an embodiment of the present application;

[0042] FIG4 is a cross-sectional view of a clutch mechanism of a roller brush assembly for a sweeping robot according to an embodiment of the present application;

[0043] FIG5 is a schematic diagram of a partial structure of a clutch mechanism of a roller brush assembly for a sweeping robot according to an embodiment of the present application;

[0044] FIG6 is a schematic diagram showing the working principle of the clutch mechanism of the roller brush assembly of the sweeping robot in an embodiment of the present application;

[0045] FIG7 is a schematic diagram of a state switching process of a clutch mechanism of a roller brush assembly for a sweeping robot according to an embodiment of the present application;

[0046] FIG8 is a schematic diagram of the exploded structure of the roller brush assembly for the sweeping robot in an embodiment of the present application further including a pre-tightening mechanism;

[0047] FIG9 is a schematic diagram of a partial hierarchical structure of a first example of a pre-tightening mechanism of a roller brush assembly for a sweeping robot according to an embodiment of the present application;

[0048] FIG10 is a cross-sectional view of a first embodiment of the pre-tightening mechanism shown in FIG9 ;

[0049] FIG11 is a schematic diagram of a partial hierarchical structure of a second example of a pre-tightening mechanism of a roller brush assembly for a sweeping robot according to an embodiment of the present application;

[0050] FIG12 is a cross-sectional view of a second embodiment of the preload mechanism shown in FIG9 ;

[0051] FIG13 is a schematic diagram of a partial hierarchical structure of a third example of a pre-tightening mechanism of a roller brush assembly for a sweeping robot according to an embodiment of the present application;

[0052] FIG14 is a cross-sectional view of a third embodiment of the preload mechanism shown in FIG13 ;

[0053] FIG15 is a schematic diagram of a partial structure of a sweeping robot in an embodiment of the present application;

[0054] FIG16 is a schematic structural diagram of the integrated cavity shell of the sweeping robot in an embodiment of the present application;

[0055] FIG17 is a schematic diagram of the docking structure between the integrated chamber shell and the dust collecting component shown in FIG16 .

[0056] Explanation of Reference Numerals 10 Rotating Spindle; 100 Hollow Shaft Cavity; 11 First Semi-Cylinder Shell; 110 Semi-Shell Main Body; 111 Arc-Shaped Section; 112 Circular Notch; 113 Assembly Positioning Pin; 115 Arc-Shaped Joint; 12 Second Semi-Cylinder Shell; 13 Follower Ring; 130 Static End Cover; 14 Driving End Cover; 15 Mounting Slit; 151 Sidewall Groove; 152 Sidewall Blind Hole; 153 Sidewall Ridge; 17 Guide Comb; 18 Sliding Keyway; 20 Guide Mechanism; 21 Inner Sleeve; 210 Ball Constraint Through-hole; 22 Guide Ball; 23 Outer Sleeve; 30 Axis Shifting Mechanism; 31 Transmission Slider; 311 Radial Key; 315 Holding Groove; 32 Guide Rotating Shaft; 320 Inclined Ring Groove; 40 Cleaning Brush; 45 Adhesive Tape; 50 Cutting mechanism; 51 Fixed tooth row component; 510 Fixed tooth teeth; 511 Fixed tooth mounting strip; 512 Fixed tooth mounting lug; 52 Moving tooth row component; 520 Moving tooth teeth; 521 Moving tooth mounting strip; 522 Moving tooth mounting lug; 523 Moving tooth transmission arm; 53 Stacking positioning pin; 60 Integrated chamber housing; 600 Rolling brush chamber; 61 Winch window; 62 Suction window; 63 Support shaft seat; 64 Power shaft seat; 65 Anti-rotation notch; 66 Channel assembly; 70 Moving chassis; 700 Chassis opening; 71 Power motor; 72 Speed ​​reduction mechanism; 80 Preload mechanism; 81 First preload mechanism; 82 Second preload mechanism; 821 Preload spring; 822 Floating ball; 90 Clutch mechanism; 91 Fixed gear ring; 910 Clutch convex tooth groove; 910a Stop-rotation limit groove wall; 910b First arcuate groove wall; 92 Transmission gear ring; 920 Transmission gear groove; 920a Second arcuate groove wall; 920b Synchronous engagement groove wall; 93 Clutch sleeve; 931 Clutch convex tooth; 931a Stop-rotation limit tooth wall; 931b First arcuate tooth wall; 932 Transmission convex tooth; 932a Second arcuate tooth wall; 932b Synchronous meshing tooth wall; 935 inclined guide groove; 935a first groove end; 935b second groove end; 95 switching mechanism; 951 fixed outer cylinder; 952 reversing ball; 97 fixed shaft seat; 971 axial screw; 972 shaft seat bearing; 973 anti-rotation keyway; 98 transmission shaft; 981 synchronous keyway; 982 positioning ring groove; 983 synchronous retaining ring; 984 end bearing; 985 embedded shaft end; 986 embedded bearing. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the described examples are only some examples of the present invention, not all examples. All other examples derived by persons of ordinary skill in the art based on the examples of the present invention fall within the scope of protection of the present invention.

[0058] Figure 1a is a schematic diagram of the structure of the roller brush assembly for a sweeping robot in an assembled state in an embodiment of the present application. Figure 1b is a schematic diagram of the structure of the roller brush assembly shown in Figure 1a when the cutting mechanism is not installed. Figure 2 is a schematic diagram of the structure of the roller brush assembly for a sweeping robot in an embodiment of the present application in a disassembled state (the dotted lines in each figure indicate the corresponding assembly position of a certain component). Figure 3 is a schematic diagram of the working principle of the cutting mechanism of the roller brush assembly for a sweeping robot in an embodiment of the present application. Please refer to Figures 1a to 3. In an embodiment of the present application, the roller brush assembly for a sweeping robot may include a rotating spindle 10, a cutting mechanism 50, an axial shift mechanism 30, a guide mechanism 20 and a clutch mechanism.

[0059] The rotating spindle 10 may be provided with a cleaning brush 40 radiating from an outer shaft wall.

[0060] As shown in Figures 1a, 1b, and 2, the cutting mechanism 50 includes a fixed tooth row component 51 and a movable tooth row component 52, which are mounted on the outer shaft wall along the axial direction of the rotating main shaft 10. As shown in Figures 2 and 3, the axial shifting mechanism 30 is movably mounted along the axial direction within the hollow shaft cavity 100 of the rotating main shaft 10, which is surrounded by the outer shaft wall. The axial shifting mechanism 30 and the rotating main shaft 10 form a bidirectional synchronous constraint in a first rotational direction and a second rotational direction that are opposite to each other. As shown in Figures 2 and 3, the guide mechanism 20 is in transmission cooperation with the axial shifting mechanism 30 within the hollow shaft cavity 100. The axial position of the guide mechanism 20 in the hollow inner cavity 100 is fixed, and the guide mechanism 20 can switch between a fixed state and a rotating state.

[0061] As shown in FIG2 , the clutch mechanism 90 is in transmission cooperation with the guide mechanism 20 in the hollow shaft cavity 100 , wherein:

[0062] When the axial shifting mechanism 30 rotates along the first rotation direction following the rotating main shaft 10, the clutch mechanism 90 is in the first clutch state that keeps the guide mechanism 20 in the stopped state, and the axial shifting mechanism 30 is guided by the guide mechanism 20 in the stopped state to move reciprocatingly in the axial direction. The reciprocating axial movement causes the movable tooth row component 52 to make a reciprocating cutting motion relative to the fixed tooth row component 51.

[0063] When the axial shifting mechanism 30 rotates along the second rotation direction following the rotating main shaft 10, the clutch mechanism 90 is in the second clutch state that keeps the guide mechanism 20 in the follow-rotating state. The guide mechanism 20 in the follow-rotating state rotates along the second rotation direction following the axial shifting mechanism 30, thereby canceling the guidance of the axial shifting mechanism 30.

[0064] As can be seen from the embodiments shown in Figures 1a to 3, using the embodiments of the present application, the clutch mechanism 90 can change its clutch state in response to changes in the rotational direction of the rotating spindle 10, so that the movable tooth row member 52 only performs reciprocating cutting motion relative to the fixed tooth row member 51 in response to rotation of the rotating spindle 10 in a first rotational direction, and stops reciprocating cutting motion when the rotating spindle 10 rotates in a second rotational direction. Therefore, the reciprocating cutting motion of the movable tooth row member 52 relative to the fixed tooth row member 51 can be controlled by switching the rotational direction of the rotating spindle 10. This can reduce friction noise and inefficient power consumption generated by the cutting mechanism by selectively controlling the stopping of the reciprocating cutting motion.

[0065] In the embodiment shown in the drawings of the present application, as shown in Figures 1a to 3, the rotating main shaft 10 includes a first semi-cylindrical shell 11 and a second semi-cylindrical shell 12 as an example. Among them, the cylindrical surfaces of the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 are complementary, and the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 are snap-fitted and spliced. After the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 are spliced, a hollow shaft cavity 100 can be formed. In Figure 2, only the part of the hollow shaft cavity 100 in the second semi-cylindrical shell 12 is shown. For example, the snap-fit ​​splicing of the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 can be fixed by snap-fitting at the edge of the cylinder and / or by screw locking shown in the illustrated expression. In this case, as shown in Figure 2, a pair of seams between the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 can respectively fix and clamp a pair of cleaning brushes 40. It can be seen from the drawings of the embodiments of the present application that the joint between the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 may not be limited to a straight line shape, but may be set to a broken line shape, so that the elongated cleaning brush 40 is constrained to be bent by the broken line joint between the first semi-cylindrical body 11 and the second semi-cylindrical body 12. Such a bent shape can cause the discrete dirt brushed by the cleaning brush 40 to converge to the middle area of ​​the elongated strip during the rotation of the rotating main shaft 10.

[0066] In the embodiment of the present application, the cutting mechanism 50 can be mounted on the outer wall of the rotating spindle 10, and the cutting mechanism 50 and the cleaning brush 40 can be mounted away from each other on the outer wall of the rotating spindle 10. For example, the cutting mechanism 50 can be mounted on the first semi-cylindrical shell 11. As shown in Figures 1a to 3, the cutting mechanism 50 can be mounted on the outer wall of the first semi-cylindrical shell 11. Furthermore, the second semi-cylindrical shell 12 can be equipped with an adhesive tape 45 that can avoid the cleaning brush 40 and the cutting mechanism 50. The adhesive tape 45 can adhere to the dirt being cleaned. As shown in Figures 1a to 3, the adhesive tape 45 can be mounted on the outer wall of the second semi-cylindrical shell 12. It is understood that the adhesive tape 45 is not a necessary component of the rotating roller brush, and the cutting mechanism 50 can also be arranged in pairs like the cleaning brush 40, and mounted on the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12 respectively.

[0067] As shown in Figures 1a to 3, the cutting mechanism 50 can specifically include a fixed tooth row component 51 and a movable tooth row component 52 stacked and inserted into the outer shaft wall of the rotating spindle 10, that is, the fixed tooth row component 51 can be fixedly inserted into the outer shaft wall of the rotating spindle 10, and the movable tooth row component 52 can be movably inserted into the outer shaft wall of the rotating spindle 10 along the axial direction of the rotating spindle 10, and the movable tooth row component 52 can perform reciprocating cutting motion relative to the fixed tooth row component 51 in response to the rotation of the rotating spindle 10.

[0068] In an embodiment of the present application, in order to facilitate the insertion of the cutting mechanism 50 into the outer shaft wall of the rotating spindle 10, as shown in Figures 1a and 1b, the outer shaft wall of the rotating spindle 10 may have a mounting slit 15 extending along the axial direction of the rotating spindle 10, and the fixed tooth row component 51 of the cutting mechanism 50 is fixedly inserted into the mounting slit 15, and the movable tooth row component 52 of the cutting mechanism 50 is movably inserted into the mounting slit 15 along the axial direction. As shown in FIG2 , in this case, the fixed tooth row member 51 may include a fixed tooth mounting strip 511 fixed in the mounting slot 15, and a plurality of fixed teeth 510 protruding from the fixed tooth mounting strip 511 to the outside of the outer shaft wall of the rotating main shaft 10, and the movable tooth row member 52 may include a movable tooth mounting strip 521 movably mounted in the mounting slot 15, and a plurality of movable teeth 520 protruding from the movable tooth mounting strip 521 to the outside of the outer shaft wall of the rotating main shaft 10, and the reciprocating cutting motion of the movable tooth row member 52 relative to the fixed tooth row member 51 may cause the movable teeth 520 to be reciprocally displaced relative to the fixed teeth 510 in the axial direction.

[0069] In an embodiment of the present application, taking the installation slit 15 located in the first semi-cylindrical shell 11 as an example, as shown in Figures 2 and 3, the first semi-cylindrical shell 11 may include a half-shell body 110, which has an arc portion 111 smoothly spliced ​​with the outer shaft wall of the second semi-cylindrical shell 12, and a circular notch 112 adjacent to the arc portion 111. The first semi-cylindrical shell 11 may also include an arc surface splicing piece 115, which is detachably installed (for example, by means of screws) on the circular notch 112, that is, half of the outer shaft wall provided by the first semi-cylindrical shell 11 for the rotating main shaft 10 includes the arc portion 111 and the outer arc surface of the arc surface splicing piece 115, and the installation slit 15 is located between the arc portion 111 and the arc surface splicing piece 115.

[0070] The split structure of the first semi-cylindrical shell 11 including the half shell body 110 and the arc surface splicing piece 115 facilitates the stacking and installation of the fixed tooth row component 51 and the movable tooth row component 52. That is, during assembly:

[0071] 2 , first, the stacked fixed tooth row components 51 and the movable tooth row components 52 can be stacked on the surface of the arcuate surface 111 of the half-shell body 110 of the first semi-cylindrical shell 11 of the arcuate surface splicing piece 115. For example, the fixed tooth row components 51 can further include a fixed tooth mounting lug 512 protruding from the fixed tooth mounting strip 511, and the movable tooth row components 52 can further include a movable tooth mounting lug 522 protruding from the movable tooth mounting strip 521. Moreover, the fixed tooth row components 51 and the movable tooth row components 52 can be stacked on the surface of the arcuate surface splicing piece 115 by using stacking positioning pins 53 that pass through the fixed tooth mounting lug 512 and the movable tooth mounting lug 522 and are plugged into the arcuate surface splicing piece 115.

[0072] Then, with the fixed tooth row components 51 and the movable tooth row components 52 facing the arcuate surface 111 of the half shell body 110 of the first semi-cylindrical shell 11, the arcuate surface splicing piece 115 and the stacked fixed tooth row components 51 and the movable tooth row components 52 are installed together into the circular notch 112 of the half shell body 110 of the first semi-cylindrical shell 11;

[0073] Finally, the arc surface splicing piece 115 is locked in the circular notch portion 112 of the half shell body 110 of the first semi-cylindrical shell 11 by using the assembly positioning pin 113 along the axial direction of the rotating main shaft 10 .

[0074] It can be understood that if the cutting mechanism 50 is also arranged in pairs like the cleaning brush 40, and is respectively installed in the first semi-cylindrical shell 11 and the second semi-cylindrical shell 12, then the second semi-cylindrical shell 12 can adopt a structure basically the same as the first semi-cylindrical shell 11, that is, the second semi-cylindrical shell 12 can also have a mounting slit 15.

[0075] In an embodiment of the present application, as shown in Figures 1a, 1b, and 2, the rotating main shaft 10 may further include a plurality of guide comb teeth 17 spaced apart along the axial direction on the outer shaft wall to form a drainage channel spanning the installation slit 15 between every two adjacent guide comb teeth 17. For example, the guide comb teeth 17 may be spaced apart at the slit edges on opposite sides of the installation slit 15 in the slit width direction, that is, the guide comb teeth 17 may be provided at the opposing edges of the arc surface portion 111 and the arc surface splicing piece 115. As shown in Figures 1a, 1b, and 2, the installation slit 15 is located between the guide comb teeth 17 of the arc surface portion 111 and the guide comb teeth 17 of the splicing piece 115.

[0076] Specifically, as shown in Figures 1a, 1b and 2, the first semi-cylindrical shell 11 has two parts: a first part including an arcuate portion 111 and its adjacent circular notch portion 112, and a second part including an arcuate joint piece 115. The top of the arcuate portion 111 has guide comb teeth 17, and the surface thereof facing the arcuate joint piece 115 is formed with a notch with an L-shaped cross-section, namely the circular notch portion 112. The arcuate joint piece 115 is mounted on the bottom surface of the L-shaped notch, and the side of the arcuate joint piece 115 having the guide comb teeth 17 is spaced relative to the vertical surface of the L-shaped notch, so that the mounting slit 15 is formed between the vertical surface of the L-shaped notch and the side of the arcuate joint piece 115 having the guide comb teeth 17.

[0077] In this case, the fixed teeth 510 and the guide comb teeth 17 are aligned in the axial direction to prevent the fixed teeth 510 from blocking the drainage channel. For example, the guide comb teeth 17 can have comb sidewalls that are flush with the slit edges, and the fixed teeth 510 can be aligned and abutted against the comb sidewall of the guide comb teeth 17 at one side of the slit edge, and the movable teeth 520 can be slidably engaged with the comb sidewall of the guide comb teeth 17 at the other side of the slit edge.

[0078] In this embodiment, the reciprocating offset movement stroke of the movable tooth 520 relative to the fixed tooth 510 can be greater than the channel width of the guide channel in the axial direction of the rotating main shaft 10. Preferably, the movement stroke can be greater than the sum of the comb tooth width of the guide comb 17 in the axial direction of the rotating main shaft 10 and the channel width of the two guide channels.

[0079] Based on the guide channel formed by the guide comb teeth 17, the filamentous dirt can cross the mounting slit 15 in a posture perpendicular to or approximately perpendicular to the mounting slit 15, so that the filamentous dirt can be more easily cut off by the movable teeth 520 that perform cutting motion along the mounting slit 15, thereby improving the cutting efficiency of the roller brush assembly in autonomously and actively cutting the filamentous dirt wrapped around the outer shaft wall of the rotating main shaft 10.

[0080] In an embodiment of the present application, the reciprocating cutting motion of the movable tooth row component 52 relative to the fixed tooth row component 51 can be driven by the axial shifting mechanism 30 and the guide mechanism 20. For example, based on the coordinated driving of the axial shifting mechanism 30 and the guide mechanism 20, the movable tooth row component 52 can perform a reciprocating cutting motion relative to the fixed tooth row component 51 in response to one rotation of the rotating main shaft 10.

[0081] The axial shifting mechanism 30 can be movably installed in the hollow axial cavity 100 of the rotating main shaft 10 surrounded by the outer axial wall along the axial direction of the rotating main shaft 10. The axial shifting mechanism 30 can form a bidirectional synchronous constraint with the rotating main shaft 10 in the first rotation direction and the second rotation direction opposite to each other, and the axial shifting mechanism 30 can also cooperate with the movable gear row component 52 in transmission.

[0082] For example, as shown in Figure 3, the axial shift mechanism 30 may include a transmission slider 31, which can move back and forth in the axial direction of the rotating spindle 10, and the transmission slider 31 can form a bidirectional synchronous constraint with the rotating spindle 10 in a first rotation direction and a second rotation direction opposite to each other.

[0083] Specifically, the transmission slider 31 of the axial shifting mechanism 30 may include a radial cam 311. As shown in Figure 2, the rotating spindle 10 may include a sliding keyway 18 located in the hollow axial cavity 100, and the radial cam 311 can be inserted into the sliding keyway 18, so as to utilize the limiting fit of the radial cam 311 and the sliding keyway 18 in the first rotation direction and the second rotation direction so that the transmission slider 31 can form a bidirectional synchronous constraint with the rotating spindle 10 in the first rotation direction and the second rotation direction opposite to each other, and the axial shifting mechanism 30 can also be allowed to move back and forth in the axial direction of the rotating spindle 10 by utilizing the clearance fit of the radial cam 311 and the sliding keyway 18 in the axial direction of the rotating spindle 10.

[0084] Moreover, as shown in Figure 3, the transmission slider 31 of the axial shifting mechanism 30 may also include a clamping groove 315, and the movable tooth row component 52 may also include a movable tooth transmission arm 523 extending from the movable tooth mounting strip 521 to the hollow shaft cavity 100, and the movable tooth transmission arm 523 can be inserted into the clamping groove 315 to utilize the limiting fit of the movable tooth transmission arm 523 and the clamping groove 315 in the axial direction of the rotating main shaft 10, thereby allowing the movable tooth row component 52 to follow the reciprocating movement of the axial shifting mechanism 30 in the axial direction of the rotating main shaft 10, and perform reciprocating cutting motion relative to the fixed tooth row component 51. In this case, the mounting slit 15 can pass through the outer shaft wall of the rotating main shaft 10 to the hollow shaft cavity 100 (that is, the arc surface portion 111 and the notch portion 112 have a connecting gap that allows the mounting slit 15 to pass through the hollow shaft cavity 100), so that the movable tooth transmission arm 523 of the movable tooth row component 52 can penetrate into the hollow shaft cavity 100 from the mounting slit 15.

[0085] In this embodiment, the guide mechanism 20 is in transmission cooperation with the axis shifting mechanism 30 within the hollow shaft cavity 100 of the rotating spindle 10. When the guide mechanism 20 is in a rotationally restrained state, this transmission cooperation can cause the axis shifting mechanism 30 to reciprocate axially while following the rotation of the rotating spindle 10.

[0086] In an embodiment of the present application, as shown in Figures 1a, 1b, and 2, a driving end cap 14 can be mounted on the first end of the rotating spindle 10, and a follower collar 13 can be mounted on the second end of the rotating spindle 10. Both the driving end cap 14 and the follower collar 13 form a bidirectional, synchronous constraint with the rotating spindle 10 in both the first and second rotational directions. The driving end cap 14 is configured to engage with the power motor. Furthermore, the second end of the rotating spindle 10 also includes a static end cap 130 that rotationally engages with the follower collar 13. For example, the static end cap 130 can be rotatably inserted into the follower collar 13. Therefore, when the rotating spindle 10 is driven to rotate by the power motor via the driving end cap 14, the follower collar 13 also rotates with the rotating spindle 10. Furthermore, the static end cap 130 can remain stationary, not rotating with the rotating spindle, and the anti-rotation constraint imposed on the guide mechanism 20 can originate from the second end of the rotating spindle 10 (i.e., the static end cap 130). In addition, the static end cover 130 may be axially limited at the second axial end of the rotating main shaft 10 by the follower collar 13 fixedly connected to the rotating main shaft 10 .

[0087] Specifically, the transmission cooperation between the guide mechanism 20 and the axial shift mechanism 30 in the hollow shaft cavity 100 of the rotating main shaft 10 can be achieved by screwing, and the screwing axis of the screwing cooperation is tilted relative to the axial direction of the rotating main shaft 10, that is, the guide mechanism 20 and the axial shift mechanism 30 can achieve transmission cooperation between the two by screwing. In this case, as shown in Figure 3, the axial shift mechanism 30 can also include a guide shaft 32 coaxially connected to the axial shift slider 31, and the guide shaft 32 can have an inclined annular groove 320; the guide mechanism 20 can include an inner sleeve 21, a guide ball 22, and an outer sleeve 23, and the anti-rotation state of the guide mechanism 20 is constrained by anti-rotation, which means that the inner sleeve 21 and the outer sleeve 23 do not rotate with the rotating main shaft 10.

[0088] Among them, the inner sleeve 21 is sleeved on the outer periphery of the guide shaft 32 and covers the inclined annular groove 320 of the guide shaft 32. The central axis of the inclined annular groove 320 is tilted relative to the axial direction of the rotating main shaft 10, and the screwing axis of the screwing fit described above coincides with the central axis of the inclined annular groove 320; the inner sleeve 21 is provided with a ball accommodating through hole 210 passing through the cylinder wall, and the guide ball 22 can be rolled and accommodated in the ball constraint through hole 210 and spherically matched with the inclined annular groove 320 covered by the inner sleeve 21; the outer sleeve 23 is sleeved on the outside of the inner sleeve 21 and covers the guide ball 22 to prevent the guide ball 22 from falling off from the inclined annular groove 320 and the ball accommodating through hole 210. Thus, when the axial shift mechanism 30 rotates following the rotating main shaft 10, the guide shaft 32 can drive the guide ball 22 to rotate through the spherical fit of the inclined annular groove 320 and the guide ball 22, and the phase position of the guide ball 22 in the rotation direction and the axial position in the axial direction are fixed by the inner sleeve 21. Therefore, the rotation of the guide ball 22 will cause the spherical fit position between the guide ball 22 and the inclined annular groove 320 to change.

[0089] Since the spherical fitting position of the inclined annular groove 320 and the guide ball 22 changes back and forth in the axial direction during rotation, the change in the spherical fitting position between the guide ball 22 and the inclined annular groove 320 can cause the axial shifting mechanism 30 to move back and forth axially while following the rotation of the rotating spindle 10.

[0090] That is, the spherical fit between the guide ball 22 and the inclined annular groove 320 is used to guide the rotation of the axial shift mechanism 30 relative to the guide mechanism 20, and the axial shift mechanism 30 can generate reciprocating axial movement in response to the change in the spherical fit position between the guide ball 22 and the inclined annular groove 320.

[0091] In an embodiment of the present application, the guide mechanism 20 can be selectively subject to a rotation-stopping constraint from the second axial end of the rotating main shaft 10 (i.e., the static end cover 130), that is, the guide mechanism 20 can be switchably in a rotation-stopping state, and a rotation-following state following the rotation of the axial shift mechanism 30, and the switching of the guide mechanism 20 between the rotation-stopping state and the rotation-following state is controlled by the clutch mechanism 90.

[0092] 2 , the clutch mechanism 90 is in transmission engagement with the guide mechanism 20 within the hollow shaft cavity 100 of the rotating spindle 10 , and the clutch mechanism 90 can switch between a first clutch state and a second clutch state in response to the rotational direction of the rotating spindle 10 and the shaft shifting mechanism 30 , wherein:

[0093] When the shaft shifting mechanism 30 rotates along the first rotational direction following the rotating main shaft 10, for example, when the power motor drives the rotating main shaft 10 to rotate along the first rotational direction via the driving end cover 14 in the self-cleaning mode when the sweeping robot is in a stationary state, the clutch mechanism 90 is in the first clutch state that keeps the guide mechanism 20 in the aforementioned non-rotating state, and, as described above, the shaft shifting mechanism 30 rotating along the first rotational direction following the rotating main shaft 10 can be guided by the guide mechanism 20 in the non-rotating state to move reciprocatingly in the axial direction, and the reciprocating axial movement of the shaft shifting mechanism 30 can induce a reciprocating cutting motion of the movable tooth row member 52 relative to the fixed tooth row member 51;

[0094] When the axis shifting mechanism 30 rotates along the second rotation direction following the rotating main shaft 10, for example, when the power motor drives the rotating main shaft 10 to rotate along the second rotation direction in the working mode in which the sweeping robot is in a moving state, the clutch mechanism 90 is in the second clutch state that keeps the guide mechanism 20 in the following rotation state described above. The guide mechanism 20 in the following rotation state can cancel the guidance of the axis shifting mechanism 30 by rotating along the second rotation direction following the axis shifting mechanism 30. The first rotation direction and the second rotation direction are two opposite directions, for example, they can be clockwise and counterclockwise respectively. Of course, they can also be counterclockwise and clockwise respectively, and this application does not impose any restrictions.

[0095] Based on the above embodiment, the roller brush assembly includes a rotating main shaft 10, a cutting mechanism 50 and a clutch mechanism 90. The cutting mechanism 50 includes a stacked fixed tooth row component 51 and a movable tooth row component 52. The clutch mechanism 90 can change the clutch state in response to the change in the rotation direction of the rotating main shaft 10, so that the movable tooth row component 52 only performs a reciprocating cutting motion relative to the fixed tooth row component 51 in response to the rotation of the rotating main shaft 10 along the first rotation direction, and stops the reciprocating cutting motion when the rotating main shaft 10 rotates along the second rotation direction. Therefore, the start or stop of the reciprocating cutting motion of the movable tooth row component 52 relative to the fixed tooth row component 51 can be controlled by switching the rotation direction of the rotating main shaft 10, so that the friction noise and invalid power consumption generated by the cutting mechanism can be reduced by selectively controlling the stop of the reciprocating cutting motion.

[0096] FIG4 is a cross-sectional view of the clutch mechanism of the roller brush assembly for the sweeping robot in the embodiment of the present application. Referring to FIG4 , as described above, the first shaft end of the rotating main shaft 10 is equipped with a drive end cover 14, and the second shaft end of the rotating main shaft 10 is equipped with a static end cover 130. The drive end cover 14 and the rotating main shaft 10 form a bidirectional synchronous constraint in the first rotation direction and the second rotation direction, and the drive end cover 14 is used to cooperate with the power motor transmission, and the rotating main shaft 10 and the static end cover 130 are rotationally coordinated. In this case, the clutch mechanism 90 is located between the guide mechanism 20 and the static end cover 130, wherein the clutch mechanism 90 can limit the axial position of the guide mechanism 20 so that the relative axial position between the guide mechanism 20 and the static end cover 130 is fixed, and:

[0097] When the clutch mechanism 90 is in the first clutch state, the clutch mechanism 90 forms a rotation-stop constraint between the guide mechanism 20 and the static end cover 130 to prevent the guide mechanism 20 from rotating relative to the static end cover 130 in the first rotation direction, thereby constraining the guide mechanism 20 in the rotation-stop state.

[0098] When the clutch mechanism 90 is in the second clutch state, the guide mechanism 20 is in a follow-rotating state in which it can freely rotate relative to the static end cover 130 under the drive of the shaft shift mechanism 30 .

[0099] Figure 5 is a schematic diagram of the partial structure of the clutch mechanism of the roller brush assembly for a sweeping robot according to an embodiment of the present application. Figure 6 is a schematic diagram of the working principle of the clutch mechanism of the roller brush assembly for a sweeping robot according to an embodiment of the present application. Referring to Figures 5 and 6, and referring back to Figures 2 and 4, in the embodiment of the present application, the clutch mechanism 90 may include a clutch sleeve 93 movable in the axial direction of the rotating main shaft 10, wherein:

[0100] When the clutch sleeve 93 is located at the first axial position, the clutch mechanism 90 is in the first clutch state described above;

[0101] When the clutch sleeve 93 is located at the second axial position, the clutch mechanism 90 is in the second clutch state described above;

[0102] The clutch sleeve 93 switches between the first axial position and the second axial position in response to the switching change between the first rotational direction and the second rotational direction, so as to realize the state switching of the clutch mechanism 90 between the first clutch state and the second clutch state described above.

[0103] Moreover, the clutch mechanism 90 may further include a fixed gear ring 91 and a transmission gear ring 92 .

[0104] The fixed gear ring 91 is fixedly connected to the static end cover 130. For example, the clutch mechanism 90 may further include a fixed shaft seat 97 coaxially fixedly connected to the static end cover 130, and the fixed gear ring 91 is integrated into the end surface of the fixed shaft seat 97 facing the clutch sleeve 93. As shown in Figures 2 and 5, in the embodiment of the present application, the fixed shaft seat 97 can be coaxially fixedly connected to the static end cover 130 via an axial screw 971; the fixed shaft seat 97 can also be provided with a shaft seat bearing 972 to maintain the coaxiality between the fixed shaft seat 97 and the static end cover 130 by using the shaft seat bearing 972; and the fixed shaft seat 97 can also have a plug-in fit with the static end cover 130, and a keyway 973 is provided on the portion inserted into the static end cover 130 to maintain the fixed shaft seat 97 and the static end cover 130 in a rotationally restrained position in the first and second rotational directions by using the keyway 973.

[0105] In this embodiment, the transmission gear ring 92 is fixedly connected to the guide mechanism 20. For example, as shown in Figures 2 and 6, the clutch mechanism 90 may further include a transmission shaft 98 coaxially fixedly connected to the guide mechanism 20 (e.g., the inner sleeve 21), and the transmission gear ring 92 may be fixedly sleeved on the transmission shaft 98. The fixed sleeve of the transmission gear ring 92 on the transmission shaft 98 may mean that the transmission gear ring 92 is fixed relative to the transmission shaft 98 in the axial direction of the rotating main shaft 10 and in the first and second rotational directions. For example, the transmission shaft 98 may have a synchronization keyway 981, and the transmission gear ring 92 can use the synchronization keyway 981 to achieve positional engagement with the transmission shaft 98 in the first and second rotational directions. For another example, the transmission shaft 98 may further have a positioning ring groove 982, and the transmission gear ring 92 can be axially limited by a synchronization retaining ring 983 that is engaged with the positioning ring groove 982, so as to be fixed relative to the transmission shaft 98 in the axial direction of the rotating main shaft 10.

[0106] In addition, as shown in Figures 2 and 4 to 6, the end of the transmission shaft 98 facing the transmission mechanism 20 can be coaxially fixedly connected to the guide mechanism 20 (e.g., the inner sleeve 21) by means of a screw, and the end of the transmission shaft 98 fixedly connected to the transmission mechanism 20 can be sleeved with an end bearing 984; the end of the transmission shaft 98 facing the fixed shaft seat 97 has an embedded shaft end 985, which can be inserted into the fixed shaft seat 97, and the embedded shaft end 985 can achieve coaxial rotational engagement with the fixed shaft seat 97 via an embedded bearing 986 embedded in the fixed shaft seat 97. Thus, the transmission shaft 98 and the transmission shaft 98 form an axial support between the guide mechanism 20 and the static end cover 130, that is, form an axial limit that fixes the relative axial position between the guide mechanism 20 and the static end cover 130.

[0107] In this embodiment, the clutch sleeve 93 is movably mounted between the fixed gear ring 91 and the transmission gear ring 92 . For example, the clutch sleeve 93 can be movably mounted on the transmission shaft 98 along the axial direction.

[0108] When the clutch mechanism 90 includes the fixed gear ring 91, the transmission gear ring 92, and the clutch sleeve 93:

[0109] As shown in FIG2 and FIG4 to FIG6 , the end of the fixed gear ring 91 facing the clutch sleeve 93 may have a clutch convex tooth groove 910 , and the end of the transmission gear ring 92 facing the clutch sleeve 93 may have a transmission tooth groove 920 ;

[0110] A first annular opening end of the clutch sleeve 93 facing the fixed gear ring 91 has a clutch convex tooth 931 , and a second annular opening end of the clutch sleeve 93 facing the transmission gear ring 92 has a transmission convex tooth 932 .

[0111] Based on the above structure:

[0112] As shown in the enlarged view at the top of Figure 6 , when the clutch sleeve 93 is in the first axial position that forces the clutch mechanism 90 into the first clutch state, the clutch teeth 931 and the clutch tooth grooves 910 form a first limiting engagement that prevents the clutch sleeve 93 from rotating relative to the static end cover 130 in the first rotational direction. The transmission teeth 932 and the transmission tooth grooves 920 form a second limiting engagement that prevents the guide mechanism 20 from rotating relative to the clutch sleeve 93 in the first rotational direction. Furthermore, the aforementioned anti-rotation constraint is applied to the guide mechanism 20 through the cascaded cooperation of the first and second limiting engagements. The first limiting engagement can be a tight engagement, while the second limiting engagement can be a partial engagement. That is, in the first clutch state, the clutch teeth 931 and the clutch tooth grooves 910 are tightly engaged, while the transmission teeth 932 and the transmission tooth grooves 920 are partially engaged.

[0113] As shown in the enlarged view at the bottom of FIG6 , when the clutch sleeve 93 is in the second axial position that causes the clutch mechanism 90 to be in the second clutch state, the clutch cam 931 disengages from the clutch cam groove 910, and the first and second position-limiting engagements formed when the clutch sleeve 93 is in the first axial position are released in response to the disengagement of the clutch cam 931 from the clutch cam groove 910. The transmission cam 932 and the transmission cam groove 920 prevent the guide mechanism 20 from tightly engaging with the clutch sleeve 93 in the first rotational direction, thereby forming the synchronous drive engagement described above.

[0114] Specifically, please pay special attention to Figure 5:

[0115] The clutch convex tooth groove 910 has a rotation-stopping groove wall 910a parallel to the longitudinal section of the rotating main shaft 10 on the first phase side opposite to the first rotation direction, and the clutch convex tooth groove 910 has a first arc surface groove wall 910b on the second phase side in the same direction as the first rotation direction;

[0116] The clutch tooth 931 has a rotation-stopping tooth wall 931a parallel to the longitudinal section of the rotating main shaft 10 on the second phase side in the same direction as the first rotation direction, and the clutch tooth 931 has a first arcuate tooth wall 931b adapted to the first arcuate groove wall 910b on the first phase side opposite to the first rotation direction;

[0117] The transmission tooth groove 920 has a second arc surface groove wall 920a on the second phase side in the same direction as the first rotation direction, and the transmission tooth groove 920 has a synchronous engagement groove wall 920b parallel to the longitudinal section of the rotating main shaft 10 on the first phase side;

[0118] The transmission tooth 932 has a second arcuate tooth wall 932a adapted to the second arcuate groove wall 920a on the first phase side opposite to the first rotation direction, and the transmission tooth 932 has a synchronous interlocking tooth wall 932b parallel to the longitudinal section of the rotating main shaft 10 on the second phase side in the same direction as the first rotation direction.

[0119] Thus, please see Figure 6:

[0120] When the clutch sleeve 93 is in the first axial position that causes the clutch mechanism 90 to be in the first clutch state, the mutually opposed anti-rotation limiting tooth wall 931a and the anti-rotation limiting groove wall 910a form the first limiting engagement described above through planar contact, and the mutually opposed second arcuate tooth wall 932a and the second arcuate groove wall 920a form the second limiting engagement described above through arcuate contact.

[0121] When the clutch sleeve 93 is in the second axial position for causing the clutch mechanism 90 to be in the second clutch state, the synchronous engagement groove wall 920b and the synchronous engagement tooth wall 932b facing each other form the synchronous drive engagement described above through planar contact.

[0122] When the clutch sleeve 93 is in the second axial position, the first and second limiting engagements formed by the clutch sleeve 93 in the first axial position further generate a first axial retaining force that prevents the clutch sleeve 93 from leaving the first axial position. For example, the first axial retaining force may include the sum of the surface contact friction between the anti-rotation limiting tooth wall 931a and the anti-rotation limiting groove wall 910a, and the axial component of the arcuate contact pressure between the second arcuate tooth wall 932a and the second arcuate groove wall 920a.

[0123] When the clutch sleeve 93 is located in the second axial position, the transmission protrusion 932 and the transmission tooth groove 920 also form a synchronous drive engagement that causes the clutch sleeve 93 to rotate along the second rotation direction together with the guide mechanism 20 under the drive of the axial shift mechanism 30, and the synchronous drive engagement generates a second axial retaining force that causes the clutch sleeve 93 to prevent the clutch sleeve 93 from leaving the second axial position. For example, the second axial retaining force may include the surface contact friction between the synchronous engagement groove wall 920b and the synchronous engagement tooth wall 932b.

[0124] In addition, during the position switching of the clutch sleeve 93 between the first axial position and the second axial position, a sliding fit for guiding position switching is generated between the first arc surface groove wall 910b and the first arc surface tooth wall 931b opposite to each other, and between the second arc surface tooth wall 932a and the second arc surface groove wall 920a opposite to each other.

[0125] FIG7 is a schematic diagram of the state switching process of the clutch mechanism of the roller brush assembly for the sweeping robot in an embodiment of the present application. Referring to FIG7 , in an embodiment of the present application, the clutch mechanism 90 of the roller brush assembly may further include a switching mechanism 95, wherein:

[0126] As shown in the upper enlarged view of FIG. 7 , when the axis shift mechanism 30 switches from the second rotational direction to the first rotational direction following the rotation direction of the rotating main shaft 10, the switching mechanism 95 generates a first axial driving force that drives the clutch sleeve 93 from the second axial position to the first axial position in response to the first phase shift of the guide mechanism 20 following the axis shift mechanism 30 in the first rotational direction.

[0127] As shown in the enlarged view at the bottom of Figure 7, when the axial shifting mechanism 30 switches from the first rotational direction to the second rotational direction following the rotation direction of the rotating main shaft 10, the switching mechanism 95 responds to the second phase offset that occurs in the second rotational direction following the guide mechanism 20 following the axial shifting mechanism 30, and generates a second axial driving force that drives the clutch sleeve 93 to move from the first axial position to the second axial position.

[0128] Specifically, the clutch sleeve 93 has an inclined guide groove 935 inclined at a preset angle (for example, 45°) relative to the axial direction of the rotating main shaft 10, wherein the first groove end 935a of the inclined guide groove 935 is inclined toward the first axial position, and the second groove end 935b of the inclined guide groove 935 is inclined toward the second axial position.

[0129] Furthermore, as shown in Figure 7, the switching mechanism 95 includes a fixed outer cylinder 951 and a reversing ball 952. The fixed outer cylinder 951 is sleeved around the outer periphery of the clutch sleeve 93, covering the inclined guide groove 935, and is constrained to remain stationary relative to the static end cover 130. For example, the fixed outer cylinder 951 can be integrated with the fixed gear ring 91 on the end surface of the fixed shaft seat 97 facing the clutch sleeve 93. Alternatively, the fixed outer cylinder 951 can be a component independent of the fixed shaft seat 97 and coaxially fixedly connected thereto. The reversing ball 952 is movably accommodated in the inclined guide groove 935. The fixed outer cylinder 951 drives the reversing ball 952 to rotate on the inclined guide groove 935. The inclined guide groove 935 provides a leftward decomposition force during forward rotation to stabilize the tight fit between the transmission protruding tooth 932 and the transmission tooth groove 920. During reverse rotation, it provides a rightward decomposition force to stabilize the tight fit between the clutch protruding tooth 931 and the clutch tooth groove 910. Alternatively, the inclined guide groove 935 can be positioned between two ribs.

[0130] As mentioned above, the clutch mechanism 90 may also include a transmission shaft 98 coaxially fixedly connected to the guide mechanism 20, and the transmission gear ring 92 is fixedly sleeved on the transmission shaft 98, and the clutch sleeve 93 is movably sleeved on the transmission shaft 98. In this case, the reversing ball 952 accommodated in the inclined guide groove 935 can be confined between the transmission shaft 98 and the fixed outer cylinder 951, and rollingly cooperate with the transmission shaft 98 and the fixed outer cylinder 951.

[0131] Based on the above structure:

[0132] As shown in the upper enlarged view of FIG7 , when the axis shift mechanism 30 switches from the second rotation direction to the first rotation direction following the rotation direction of the rotating main shaft 10, the guide mechanism 20 can drive the reversing ball 952 to generate a first planetary motion in the first rotation direction on the inner surface of the fixed outer cylinder 951 through the transmission shaft 98 during the first phase offset described above. The first planetary motion of the reversing ball 952 causes the relative position of the reversing ball 952 to change from the second groove end 935b to the first groove end 935a in the inclined guide groove 935. Moreover, the first planetary motion of the reversing ball 952 has an offset component toward the first axial position, thereby prompting the reversing ball 952 to generate the first axial driving force described above on the inclined guide groove 935.

[0133] As shown in the enlarged view at the bottom of Figure 7, when the axial shift mechanism 30 switches from the first rotation direction to the second rotation direction following the rotation direction of the rotating main shaft 10, the guide mechanism 20 can drive the reversing ball 952 to produce a second planetary motion in the second rotation direction on the inner surface of the fixed outer cylinder 951 through the transmission shaft 98 during the second phase offset described above. The second planetary motion of the reversing ball 952 causes the relative position of the reversing ball 952 to change from the first groove end 935a to the second groove end 935b in the inclined guide groove 935, and the second planetary motion of the reversing ball 952 has an offset component toward the second axial position, thereby prompting the reversing ball 952 to produce the second axial driving force described above on the inclined guide groove 935.

[0134] In an embodiment of the present application, in order to avoid rigid interference between the movable tooth row member 52 and the side wall of the mounting slit 15 when performing a reciprocating cutting motion relative to the fixed tooth row member 51, the width of the mounting slit 15 can be set to be greater than the stacking thickness of the fixed tooth row member 51 and the movable tooth row member 52 of the cutting mechanism 50. In this case, there may be a gap between the fixed tooth row member 51 and the movable tooth row member 52 in the stacking direction.

[0135] Figure 8 is a schematic diagram of the exploded structure of the roller brush assembly for the sweeping robot in an embodiment of the present application, wherein the roller brush assembly further includes a pre-tightening mechanism. Referring to Figure 8 , in order to suppress the aforementioned gap, in an embodiment of the present application, the roller brush assembly may further include a pre-tightening mechanism 80 .

[0136] The pre-tightening mechanism 80 can apply an elastic pre-tightening force to the cutting mechanism 50 in the stacking direction of the fixed tooth row component 51 and the movable tooth row component 52, and the pre-tightening force applied by the pre-tightening mechanism 80 to the cutting mechanism 50 can suppress the gap between the fixed tooth row component 51 and the movable tooth row component 52 in the stacking direction during the reciprocating cutting motion of the movable tooth row component 52 in the axial direction relative to the fixed tooth row component 51.

[0137] For example, the pre-tightening mechanism 80 can be installed in the installation slit 15 , and the pre-tightening mechanism 80 can generate the above-mentioned elastic pre-tightening force on the cutting mechanism 50 in the stacking area of ​​the fixed tooth installation bar 511 and the movable tooth installation bar 521 .

[0138] Thus, during the reciprocating cutting motion of the movable tooth row member 52 relative to the fixed tooth row member 51, the gap between the fixed tooth row member 51 and the movable tooth row member 52 in the stacking direction can be suppressed or even completely eliminated, so as to help reduce the probability of failure of cutting achieved by the reciprocating cutting motion, thereby helping to improve the cutting efficiency of the cutting mechanism for filamentous dirt.

[0139] In an embodiment of the present application, the fixed tooth mounting strip 511 is close to the first side wall of the mounting slit 15 in the slit width direction (for example, the surface of the arcuate surface 111 facing the arcuate surface splicing piece 115), and the movable tooth mounting strip 521 is close to the second side wall of the mounting slit 15 in the slit width direction (for example, the surface of the arcuate surface splicing piece 115 facing the arcuate surface 111). In this case, as shown in FIG. 8 , the pre-tightening mechanism 80 may include a first pre-tightening mechanism 81 and / or a second pre-tightening mechanism 82, wherein:

[0140] The first pre-tightening mechanism 81 is installed on the first side wall of the installation slot 15, and the first pre-tightening mechanism 81 is in surface contact with the fixed tooth installation strip 511. In addition, the elastic pre-tightening force generated by the pre-tightening mechanism 80 on the cutting mechanism 50 may include a first elastic pre-tightening force generated by the first pre-tightening mechanism 81 through surface contact with the fixed tooth installation strip 511.

[0141] The second pre-tightening mechanism 82 is installed on the second side wall of the mounting slit 15, and the second pre-tightening mechanism 82 is in point contact with the movable tooth mounting strip 521. Preferably, the second pre-tightening mechanism 82 can slide and roll with the movable tooth mounting strip 521 at the point contact position to reduce the friction between the movable tooth mounting strip 521, and the elastic pre-tightening force of the pre-tightening mechanism 80 on the cutting mechanism 50 includes a second elastic pre-tightening force generated by the second pre-tightening mechanism 82 through point contact with the movable tooth mounting strip 521.

[0142] Figure 9 is a schematic diagram of a partial hierarchical structure of a first embodiment of a pretensioning mechanism for a roller brush assembly of a sweeping robot according to an embodiment of the present application. Figure 10 is a cross-sectional view of the first embodiment of the pretensioning mechanism shown in Figure 9. In the first embodiment shown in Figures 9 and 10, the pretensioning mechanism 80 may include a first pretensioning mechanism 81 and not a second pretensioning mechanism 82. In this case, to reduce friction between the movable tooth row member 52 (i.e., the movable tooth mounting strip 521) and the second sidewall of the mounting slot 15, the second sidewall of the mounting slot 15 may have a sidewall ridge 153, and the sidewall ridge 153 may be in line contact with the movable tooth mounting strip 521. Compared to the surface contact friction between the movable tooth row member 52 (i.e., the movable tooth mounting strip 521) and the second sidewall of the mounting slot 15, the line contact friction between the sidewall ridge 153 and the movable tooth mounting strip 521 is smaller.

[0143] FIG11 is a schematic diagram of a partial hierarchical structure of a second embodiment of a pre-tensioning mechanism for a roller brush assembly of a sweeping robot according to an embodiment of the present application. FIG12 is a cross-sectional view of the second embodiment of the pre-tensioning mechanism shown in FIG11 . In the second embodiment shown in FIG11 and FIG12 , the pre-tensioning mechanism 80 may include a second pre-tensioning mechanism 82 and does not include a first pre-tensioning mechanism 81. Since the fixed tooth row member 51 does not undergo axial movement, the contact method between the fixed tooth row member 51 and the first side wall of the mounting slot 15 is not limited. Preferably, the fixed tooth row member 51 and the first side wall of the mounting slot 15 are in surface contact.

[0144] Figure 13 is a schematic diagram of a partial hierarchical structure of a third embodiment of a pre-tensioning mechanism for a roller brush assembly of a sweeping robot according to an embodiment of the present application. Figure 14 is a cross-sectional view of the third embodiment of the pre-tensioning mechanism shown in Figure 13. In the third embodiment shown in Figures 13 and 14, the pre-tensioning mechanism 80 can include both a first pre-tensioning mechanism 81 and a second pre-tensioning mechanism 82.

[0145] As can be seen from Figures 9 and 10 as well as Figures 13 and 14 , the first pre-tightening mechanism 81 includes a strip-shaped elastic body. For example, the first pre-tightening mechanism 81 may include a plurality of strip-shaped elastic bodies that are segmented to avoid the stacking positioning pins 53. The first pre-tightening mechanism 81 (i.e., the strip-shaped elastic body) may be fixedly mounted in the sidewall groove 151 of the first sidewall 511, and the first pre-tightening mechanism 81 (i.e., the strip-shaped elastic body) is squeezed and deformed by the fixed tooth mounting strip 511 in the stacking direction of the fixed tooth row members 51 and the movable tooth row members 52. For example, the normal thickness of the strip-shaped elastic body in the stacking direction of the fixed tooth row members 51 and the movable tooth row members 52 is greater than the depth of the sidewall groove 151 in the stacking direction, and a portion of the strip-shaped elastic body is accommodated in the sidewall groove 151, while another portion protrudes from the sidewall groove 151 into the mounting slit 15 and contacts the fixed tooth mounting strip 511. Therefore, the first elastic preload force generated by the first preload mechanism 81 may include a regional elastic force generated in the region where the first preload mechanism 81 (ie, the strip-shaped elastic body) contacts the fixed tooth row member 51 due to extrusion deformation.

[0146] It can be seen from Figures 11 to 14 that the second pre-tightening mechanism 82 may include a pre-tightening spring 821 and a floating ball 822, wherein the pre-tightening spring 821 is inserted into the side wall blind hole 152 of the second side wall of the mounting slit 15, and the floating ball 822 realizes point contact with the movable tooth mounting strip 521 at the opening of the side wall blind hole 152 by sliding and rolling with the movable tooth mounting strip 521, and the pre-tightening spring 821 and the passive tooth mounting strip 521 are squeezed and deformed by the floating ball 822, and the second elastic pre-tightening force generated by the second pre-tightening mechanism 82 includes a discrete elastic force generated by the pre-tightening spring 821 in a sliding and rolling manner at the point contact position through the suspended ball 822 due to the extrusion deformation.

[0147] The above is a detailed description of the roller brush assembly in the embodiment of the present application. In another embodiment of the present application, a sweeping robot using the roller brush assembly is also provided.

[0148] Figure 15 is a schematic diagram of the partial structure of the sweeping robot in an embodiment of the present application. Figure 16 is a schematic diagram of the structure of the integrated cavity shell of the sweeping robot in an embodiment of the present application. Referring to Figures 15 and 16, the sweeping robot in an embodiment of the present application may include a mobile chassis 70 (only the chassis panel of the mobile chassis 70 is shown in the figure for exemplary representation), an integrated cavity shell 60 supported by the mobile chassis 70, and the roller brush assembly described in the aforementioned embodiment.

[0149] The movable chassis 70 has a chassis opening 700, the integrated chamber shell 60 has a hoisting window 61 exposed at the chassis opening 700, the roller brush assembly is installed in the integrated chamber shell 60, and the installation position of the roller brush assembly in the integrated chamber shell 60 enables the cleaning brush 40 to extend out of the hoisting window 61 to perform a hoisting operation during the rotation of the rotating main shaft 10 relative to the guide mechanism 20.

[0150] The integrated cavity housing 60 is also fixedly mounted with a power motor 71. The first shaft end of the rotating main shaft 10 (e.g., the drive end cover 14 mounted on the first shaft end) can be in transmission cooperation with the power motor 71 (e.g., through a reduction mechanism 72). The power motor 71 can drive the rotating main shaft 10 to rotate in a first rotational direction when the sweeping robot is in a self-cleaning mode in which the mobile chassis 70 stops moving, and the power motor 71 can drive the rotating main shaft 10 to rotate in a second rotational direction when the sweeping robot is in an operating mode in which the mobile chassis 70 moves.

[0151] The integrated housing 60 may include a roller brush chamber 600 for accommodating a roller brush assembly. The hoisting window 61 is in communication with the roller brush chamber 600. The opposite side walls of the roller brush chamber 600 include a support shaft seat 63 and a power shaft seat 64, respectively.

[0152] The first shaft end of the rotating main shaft 10 (e.g., the driving end cover 14) can be installed in the power shaft seat 64, the input shaft of the reduction mechanism 72 is connected to the power motor 71, and the output shaft of the reduction mechanism 72 is located in the power shaft seat 64. In addition, the first shaft end of the rotating main shaft 10 (e.g., the driving end cover 14) can be coaxially connected to the output shaft of the reduction mechanism 72 in the power shaft seat 64;

[0153] The second end of the rotating spindle 10 (e.g., the static end cap 130) can be mounted on the support shaft seat 63. The support shaft seat 63 has a rotation-stopping notch 65 that engages with the static end cap 130. Furthermore, the static end cap 130 can be locked against rotation by the rotation-stopping notch 65 at the support shaft seat 63. Thus, when the clutch mechanism 90 is in the first clutch state, the guide mechanism 20 can be maintained in the rotation-stopping state by utilizing the rotation-stopping constraint applied by the integrated cavity housing 60 at the second end of the rotating spindle 10, opposite the first end.

[0154] FIG17 is a schematic diagram of the docking structure between the integrated chamber housing and the dust collection member shown in FIG16. Referring to FIG17 and referring back to FIG16, in an embodiment of the present application, the integrated chamber housing 60 may further include a suction window 62 for communicating with the dust collection mechanism. For example, the suction window 62 may communicate with the roller brush chamber 600, and the suction window 62 may be equipped with a channel assembly 66 for docking with the dust collection member.

[0155] The sweeping robot in the embodiment of the present application adopts the aforementioned roller brush assembly, which can reduce the friction noise and ineffective power consumption generated by the cutting mechanism.

[0156] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A roller brush assembly for a sweeping robot, characterized in that: include: A rotating main shaft (10), wherein the rotating main shaft (10) is provided with a cleaning brush (40) extending radially from an outer shaft wall; A cutting mechanism (50), the cutting mechanism (50) comprising a fixed tooth row component (51) and a movable tooth row component (52) installed on the outer shaft wall along the axial direction of the rotating main shaft (10); an axial shift mechanism (30), the axial shift mechanism (30) being movably mounted in a hollow shaft cavity (100) of the rotating main shaft (10) and surrounded by the outer shaft wall along the axial direction, the axial shift mechanism (30) and the rotating main shaft (10) forming a bidirectional synchronous constraint in a first rotation direction and a second rotation direction opposite to each other; A guide mechanism (20), wherein the guide mechanism (20) is in transmission cooperation with the shaft shifting mechanism (30) in the hollow shaft cavity (100), the axial position of the guide mechanism (20) in the hollow inner cavity (100) is fixed, and the guide mechanism (20) can be switched between a rotation-stopping state and a rotation-following state; A clutch mechanism (90), wherein the clutch mechanism (90) is in transmission cooperation with the guide mechanism (20) in the hollow shaft cavity (100), wherein: When the shaft shifting mechanism (30) rotates along the first rotation direction following the rotating main shaft (10), the clutch mechanism (90) is in a first clutch state that keeps the guide mechanism (20) in the rotation-stopping state, and the shaft shifting mechanism (30) is guided by the guide mechanism (20) in the rotation-stopping state to reciprocate axially along the axial direction, and the reciprocating axial movement induces a reciprocating cutting motion of the movable tooth row component (52) relative to the fixed tooth row component (51); When the axial shifting mechanism (30) rotates along the second rotation direction following the rotating main shaft (10), the clutch mechanism (90) is in a second clutch state for keeping the guide mechanism (20) in the following rotation state, and the guide mechanism (20) in the following rotation state cancels the guidance of the axial shifting mechanism (30) by rotating along the second rotation direction following the axial shifting mechanism (30).

2. The roller brush assembly according to claim 1, characterized in that: A driving end cover (14) is installed at the first shaft end of the rotating main shaft (10), and a static end cover (130) is installed at the second shaft end of the rotating main shaft (10), wherein the driving end cover (14) and the rotating main shaft (10) form a bidirectional synchronous constraint in the first rotation direction and the second rotation direction, the driving end cover (14) is used for transmission cooperation with the power motor (71), and the rotating main shaft (10) and the static end cover (130) are rotationally cooperated; The clutch mechanism (90) is located between the guide mechanism (20) and the static end cover (130), wherein the clutch mechanism (90) limits the axial position of the guide mechanism (20) so that the relative axial position between the guide mechanism (20) and the static end cover (130) is fixed, and: When the clutch mechanism (90) is in the first clutch state, the clutch mechanism (90) forms a rotation-stopping constraint between the guide mechanism (20) and the static end cover (130) to prevent the guide mechanism (20) from rotating relative to the static end cover (130) along the first rotation direction, so as to constrain the guide mechanism (20) in the rotation-stopping state; When the clutch mechanism (90) is in the second clutch state, the guide mechanism (20) is in the follow-rotation state in which it can freely rotate relative to the static end cover (130) under the drive of the shaft shift mechanism (30).

3. The roller brush assembly according to claim 2, characterized in that: The clutch mechanism (90) comprises a clutch sleeve (93) movable in the axial direction, wherein: When the clutch mechanism (90) is located at a first axial position, the clutch sleeve (93) is in the first clutch state; When the clutch sleeve (93) is located at the second axial position, the clutch mechanism (90) is in the second clutch state; The clutch sleeve (93) switches between the first axial position and the second axial position in response to a switching change between the first rotational direction and the second rotational direction.

4. The roller brush assembly according to claim 3, characterized in that: The clutch mechanism (90) further comprises a fixed gear ring (91) and a transmission gear ring (92), wherein the fixed gear ring (91) is fixedly connected to the static end cover (130), and the transmission gear ring (92) is fixedly connected to the guide mechanism (20), and the fixed gear ring (91) has a clutch convex tooth groove (910) at one end facing the clutch sleeve (93), and the transmission gear ring (92) has a transmission tooth groove (920) at one end facing the clutch sleeve (93); The clutch sleeve (93) is movably mounted between the fixed gear ring (91) and the transmission gear ring (92); a first annular opening end of the clutch sleeve (93) facing the fixed gear ring (91) has a clutch convex tooth (931); and a second annular opening end of the clutch sleeve (93) facing the transmission gear ring (92) has a transmission convex tooth (932), wherein: When the clutch sleeve (93) is located at the first axial position, the clutch convex tooth (931) and the clutch convex tooth groove (910) form a first limit engagement to prevent the clutch sleeve (93) from rotating relative to the static end cover (130) along the first rotation direction, and the transmission convex tooth (932) and the transmission tooth groove (920) form a second limit engagement to prevent the guide mechanism (20) from rotating relative to the clutch sleeve (93) along the first rotation direction, and the anti-rotation constraint is applied to the guide mechanism (20) through the cascade cooperation of the first limit engagement and the second limit engagement; When the clutch sleeve (93) is located at the second axial position, the clutch tooth (931) is disengaged from the clutch tooth groove (910), and the first limit engagement and the second limit engagement are released in response to the disengagement of the clutch tooth (931) from the clutch tooth groove (910).

5. The roller brush assembly according to claim 4, characterized in that: The clutch mechanism (90) further comprises a fixed shaft seat (97) coaxially fixedly connected to the static end cover (130), and a transmission shaft rod (98) coaxially fixedly connected to the guide mechanism (20); The fixed shaft seat (97) and the transmission shaft (98) form an axial limiter that fixes the relative axial position between the guide mechanism (20) and the static end cover (130); The fixed gear ring (91) is integrated into the end surface of the fixed shaft seat (97) facing the clutch sleeve (93), and the transmission gear ring (92) is fixedly sleeved on the transmission shaft (98), and the clutch sleeve (93) is movably sleeved on the transmission shaft (98).

6. The roller brush assembly according to claim 5, characterized in that: When the clutch sleeve (93) is located at the second axial position, the first position-limiting engagement and the second position-limiting engagement further generate a first axial retaining force that prevents the clutch sleeve (93) from leaving the first axial position; When the clutch sleeve (93) is located at the second axial position, the transmission cam (932) and the transmission tooth groove (920) also form a synchronous drive engagement that causes the clutch sleeve (93) and the guide mechanism (20) to rotate along the second rotation direction under the drive of the axial shift mechanism (30), and the synchronous drive engagement generates a second axial retaining force that causes the clutch sleeve (93) to prevent the clutch sleeve (93) from leaving the second axial position.

7. The roller brush assembly according to claim 6, characterized in that: The clutch convex tooth groove (910) has a rotation-stopping limit groove wall (910a) parallel to the longitudinal section of the rotating main shaft (10) on a first phase side opposite to the first rotating direction, and the clutch convex tooth groove (910) has a first arc surface groove wall (910b) on a second phase side in the same direction as the first rotating direction; The clutch convex tooth (931) has a rotation-stopping tooth wall (931a) parallel to the longitudinal section of the rotating main shaft (10) on the second phase side, and the clutch convex tooth (931) has a first arc surface tooth wall (931b) adapted to the first arc surface groove wall (910b) on the first phase side; The transmission tooth groove (920) has a second arc surface groove wall (920a) on the second phase side, and the transmission tooth groove (920) has a synchronous bite groove wall (920b) parallel to the longitudinal section of the rotating main shaft (10) on the first phase side; The transmission convex tooth (932) has a second arc surface tooth wall (932a) adapted to the second arc surface groove wall (920a) on the first phase side, and the transmission convex tooth (932) has a synchronous meshing tooth wall (932b) parallel to the longitudinal section of the rotating main shaft (10) on the second phase side; When the clutch sleeve (93) is in the first axial position, the mutually opposed anti-rotation limit tooth wall (931a) and the mutually opposed anti-rotation limit groove wall (910a) form the first limit bite through plane contact, and the mutually opposed second arc surface tooth wall (932a) and the second arc surface groove wall (920a) form the second limit bite through arc surface contact; When the clutch sleeve (93) is in the second axial position, the synchronous engagement groove wall (920b) and the synchronous engagement tooth wall (932b) facing each other form the synchronous drive engagement through planar contact; During the position switching process between the first axial position and the second axial position, a sliding fit for guiding the position switching is generated between the first arc surface groove wall (910b) and the first arc surface tooth wall (931b) relative to each other, and between the second arc surface tooth wall (932a) and the second arc surface groove wall (920a) relative to each other.

8. The roller brush assembly according to claim 3, characterized in that: The clutch mechanism (90) further comprises a switching mechanism (95), wherein: When the shaft shifting mechanism (30) switches from the second rotational direction to the first rotational direction following the rotational direction of the rotating main shaft (10), the switching mechanism (95) generates a first axial driving force to drive the clutch sleeve (93) to move from the second axial position to the first axial position in response to a first phase shift in the first rotational direction caused by the guide mechanism (20) following the shaft shifting mechanism (30); When the axial shifting mechanism (30) switches from the first rotational direction to the second rotational direction following the rotation direction of the rotating main shaft (10), the switching mechanism (95) generates a second axial driving force that drives the clutch sleeve (93) to move from the first axial position to the second axial position in response to the second phase shift that occurs when the guide mechanism (20) follows the axial shifting mechanism (30) in the second rotational direction.

9. The roller brush assembly according to claim 8, characterized in that: The clutch mechanism (90) further comprises a transmission shaft (98) coaxially fixedly connected to the guide mechanism (20), the transmission gear ring (92) is fixedly sleeved on the transmission shaft (98), and the clutch sleeve (93) is movably sleeved on the transmission shaft (98); The clutch sleeve (93) has an inclined guide groove (935) inclined at a preset angle relative to the axial direction; The switching mechanism (95) comprises a fixed outer cylinder (951) and a reversing ball (952), wherein: The fixed outer cylinder (951) is sleeved on the outer circumference of the clutch sleeve (93), the fixed outer cylinder (951) covers the inclined guide groove (935), and the fixed outer cylinder (951) is constrained to be stationary relative to the static end cover (130); The reversing ball (952) is movably accommodated in the inclined guide groove (935), and the reversing ball (952) is in rolling cooperation with the transmission shaft (98) and the fixed outer cylinder (951); The first groove end (935a) of the inclined guide groove (935) is inclined toward the first axial position, and the second groove end (935b) of the inclined guide groove (935) is inclined toward the second axial position; When the shaft shift mechanism (30) switches from the second rotation direction to the first rotation direction following the rotation direction of the rotating main shaft (10), the guide mechanism (20) drives the reversing ball (952) to generate a first planetary motion in the first rotation direction on the inner surface of the fixed outer cylinder (951) through the transmission shaft (98) during the first phase shift, and the first planetary motion causes the relative position of the reversing ball (952) in the inclined guide groove (935) to change from the second groove end (935b) to the first groove end (935a), thereby causing the reversing ball (952) to generate the first axial driving force on the inclined guide groove (935); When the axial shift mechanism (30) follows the rotation direction of the rotating main shaft (10) to switch from the first rotation direction to the second rotation direction, the guide mechanism (20) drives the reversing ball (952) to generate a second planetary motion in the second rotation direction on the inner surface of the fixed outer cylinder (951) through the transmission shaft (98) during the second phase shift, and the second planetary motion causes the reversing ball (952) to change its relative position from the first groove end (935a) to the second groove end (935b) in the inclined guide groove (935), prompting the reversing ball (952) to generate the second axial driving force on the inclined guide groove (935).

10. A sweeping robot, characterized in that: The invention comprises a mobile chassis (70), an integrated cavity shell (60) carried by the mobile chassis (70), and a roller brush assembly according to any one of claims 1 to 9, wherein the roller brush assembly is installed in the integrated cavity shell (60), wherein: The movable chassis (70) has a chassis opening (700), the integrated chamber shell (60) has a hoisting window (61) exposed at the chassis opening (700), and a suction window (62) for communicating with a dust collecting mechanism, and the installation position of the roller brush assembly in the integrated chamber shell (60) enables the cleaning brush (40) to extend out of the hoisting window (61) during the rotation process to perform a hoisting operation; The integrated cavity shell (60) is fixedly provided with a power motor (71), and the first shaft end of the rotating main shaft (10) is in driving cooperation with the power motor (71). When the sweeping robot is in a self-cleaning mode in which the mobile chassis (70) stops moving, the power motor (71) drives the rotating main shaft (10) to rotate along the first rotation direction; and when the sweeping robot is in a working mode in which the mobile chassis (70) moves, the power motor (71) drives the rotating main shaft (10) to rotate along the second rotation direction; When the clutch mechanism (90) is in the first clutch state, the guide mechanism (20) is kept in the stopped state by utilizing the anti-rotation constraint applied by the integrated chamber shell (60) at the second axial end of the rotating main shaft (10) opposite to the first axial end.

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