Anti-tangle side brush structure for robotic vacuum cleaner

Abstract

The present application provides a side brush and a cleaning robot. The side brush comprises a main body portion, a first cleaning branch portion, and a second cleaning branch portion. The main body portion is configured to rotate, in a working state of the cleaning robot, around a first axis inclined with respect to a surface to be cleaned. The first cleaning branch portion and the second cleaning branch portion are directly or indirectly connected to the main body portion. The first cleaning branch portion is fixedly connected to the main body portion; and the second cleaning branch portion is movably connected to the main body portion. When the main body portion rotates in a first direction, an included angle between the first cleaning branch portion and the second cleaning branch portion is a first included angle, wherein the first included angle is less than or equal to 180 degrees. When the rotation direction of the main body portion changes, the second cleaning branch portion moves toward or away from the first cleaning branch portion under the action of inertia or external force, so that when the main body portion rotates in a second direction, the included angle between the first cleaning branch portion and the second cleaning branch portion decreases to a second included angle, wherein the second included angle ranges from 0 to 15 degrees. In this way, the risk of the side brush getting tangled with elongated objects such as hairs and wires can be reduced.

Description

Sweeping robot side brush anti-winding structure

[0001] This application claims priority to Chinese Utility Model Patent Application No. CN2024216707168 filed on July 15, 2024, and German Patent Application No. DE202024104959.4 filed on August 30, 2024, which are incorporated by reference in their entirety.

TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning, in particular to a side brush and a cleaning robot.

BACKGROUND

[0003] In today's society, with the continuous development of science and technology, cleaning robots have been widely used in people's daily life, greatly facilitating household cleaning work and reducing the intensity of household chores. However, the side brushes equipped in the commonly used cleaning robots are prone to winding hair, electric wires and other slender objects.

SUMMARY

[0004] The present application provides a side brush and a cleaning robot, which can reduce the risk of winding hair, electric wires and other slender objects, and improve the cleaning effect and user experience.

[0005] To solve the above technical problems, the present application provides a side brush suitable for a cleaning robot, which comprises a main body part, a first cleaning branch part and a second cleaning branch part. The main body part is configured to rotate around a first axis inclined to a to-be-cleaned surface in a working state of the cleaning robot. The first cleaning branch part and the second cleaning branch part are directly or indirectly connected to the main body part. The first cleaning branch part is fixedly connected to the main body part, and the second cleaning branch part is movably connected to the main body part. When the main body part rotates in a first direction, the included angle between the first cleaning branch part and the second cleaning branch part is a first included angle, which is less than or equal to 180 degrees. When the rotation direction of the main body part changes, the second cleaning branch part moves towards or away from the first cleaning branch part under the action of inertia or external force, so that when the main body part rotates in a second direction, the included angle between the first cleaning branch part and the second cleaning branch part decreases to a second included angle, which is 0 to 15 degrees.

[0006] To solve the above technical problems, the present application further provides a cleaning robot, which comprises a main body, the above-mentioned side brush, a main brush, a driving wheel and a controller. The side brush is arranged at the bottom edge of the main body. The main brush is arranged at the bottom of the main body, and the cleaning range of the side brush at least partially overlaps the cleaning range of the main brush. The driving wheel is used to drive the main body to move and is at least partially located in the cleaning range of the side brush. The controller is configured to control the movement of the side brush, the main brush and the driving wheel.

[0007] The beneficial effects of the present application are: the present application can control the included angle between the first cleaning branch and the second cleaning branch by controlling the rotation direction of the main body in the working state, for example, the first cleaning branch and the second cleaning branch can be kept at a first included angle and rotate around the first axis in a first direction following the main body, so that the edge brush works in a first working mode, and the first cleaning branch and the second cleaning branch can be spaced apart to improve the cleaning effect; the first cleaning branch and the second cleaning branch can also be kept at a second included angle and rotate around the first axis in a second direction following the main body, so that the edge brush can be switched to a second working mode for work; the edge brush can also alternately perform the above two working modes in the working state to clean the surface to be cleaned, that is, the included angle between the first cleaning branch and the second cleaning branch can be changed within a certain range in the working state, the risk of the edge brush winding around hair, wire and other elongated objects can be reduced, and the cleaning effect and user experience can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0009] Fig. 1 is a structural schematic diagram of an embodiment of the edge brush of the present application in a first working mode;

[0010] Fig. 2 is a structural schematic diagram of an embodiment of the edge brush of the present application in a second working mode;

[0011] Fig. 3 is a top view of the embodiment of Fig. 2;

[0012] Fig. 4 is a structural schematic diagram of the main body of the edge brush of the embodiment of Fig. 1;

[0013] Fig. 5 is a structural schematic diagram of the second cleaning branch of the edge brush of the embodiment of Fig. 1;

[0014] Fig. 6 is a structural schematic diagram of another embodiment of the edge brush of the present application in a second working mode;

[0015] Fig. 7 is a side view of the embodiment of Fig. 6;

[0016] Fig. 8 is a structural schematic diagram of still another embodiment of the edge brush of the present application in a first working mode;

[0017] Fig. 9 is a sectional view of part of the structure of the embodiment of Fig. 8;

[0018] Fig. 10 is a structural schematic diagram of still another embodiment of the edge brush of the present application in a second working mode;

[0019] Fig. 11 is a sectional view of part of the structure of the embodiment of Fig. 10;

[0020] Fig. 12 is a structural schematic view of another embodiment of the side brush in the first working mode;

[0021] Fig. 13 is a structural schematic view of another embodiment of the side brush in the second working mode;

[0022] Fig. 14 is a structural schematic view of another embodiment of the side brush in the first working mode;

[0023] Fig. 15 is a structural schematic view of another embodiment of the side brush in the second working mode;

[0024] Fig. 16 is a structural schematic view of an embodiment of the side brush;

[0025] Fig. 17 is a side schematic view of the embodiment of Fig. 16;

[0026] Fig. 18 is another side schematic view of the embodiment of Fig. 16;

[0027] Fig. 19 is a top schematic view of the embodiment of Fig. 16;

[0028] Fig. 20 is a top schematic view of the embodiment of Fig. 16;

[0029] Fig. 21 is a structural schematic view of another embodiment of the side brush;

[0030] Fig. 22 is a structural schematic view of another embodiment of the side brush;

[0031] Fig. 23 is a structural schematic view of another embodiment of the side brush.

[0032] Fig. 24 is a structural schematic view of another embodiment of the side brush;

[0033] Fig. 25 is a structural schematic view of another embodiment of the side brush;

[0034] Fig. 26 is a structural schematic view of another embodiment of the side brush;

[0035] Fig. 27 is a structural schematic view of an embodiment of the cleaning robot with the side brush in the second working mode;

[0036] Fig. 28 is a structural schematic view of an embodiment of the cleaning robot with the side brush in the first working mode;

[0037] Fig. 29 is a structural schematic view of another embodiment of the cleaning robot with the side brush in the second working mode;

[0038] Fig. 30 is a structural schematic view of another embodiment of the cleaning robot of the present application with the side brush in the first working mode. DETAILED DESCRIPTION

[0039] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as a particular structure, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0040] The terms "first", "second", "third", etc., are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. It should be understood that when used in the specification and the appended claims, the term "include" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should also be understood that the terms used in the present application specification are merely for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should be further understood that the term "and / or" as used in the present application specification is intended to refer to any combination of one or more of the associated listed items and all possible combinations thereof.

[0041] It should be noted that when an element is fixed to another element, it includes being directly fixed to the other element, or being fixed to the other element through at least one intermediate element. When an element is connected to another element, it includes being directly connected to the other element, or being connected to the other element through at least one intermediate element.

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0043] The application first proposes a side brush suitable for cleaning equipment, including cleaning robots, as shown in FIGS. 1-15, which includes a main body part 10, a first cleaning branch 21, and a second cleaning branch 22. The main body part 10 is configured to rotate around a first axis s1 inclined to the surface to be cleaned in the working state of the cleaning robot; the first cleaning branch 21 and the second cleaning branch 22 are directly or indirectly connected to the main body part 10; the first cleaning branch 21 is fixedly connected to the main body part 10, and the second cleaning branch 22 is movably connected to the main body part 10. When the main body part 10 rotates in a first direction x1, the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is a first included angle, which is less than or equal to 180 degrees. In some embodiments, the first included angle is 30-180 degrees. In some embodiments, the first included angle is 45-180 degrees. In some embodiments, the first included angle is 60-180 degrees. In some embodiments, the first included angle is 90-180 degrees. In some embodiments, the first included angle is 120-180 degrees; when the rotation direction of the main body part 10 changes, the second cleaning branch 22 moves closer to or away from the first cleaning branch 21 under the action of inertia, so that when the main body part 10 rotates in a second direction x2, the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is adjusted to a second included angle, which is less than or equal to 45 degrees. In some embodiments, the second included angle is 0-45 degrees. In some embodiments, the second included angle is 0-30 degrees. In some embodiments, the second included angle is 0-15 degrees.

[0044] It should be noted that the first direction x1 and the second direction x2 are two rotation directions around the first axis s1 and in opposite directions; the end of the first cleaning branch 21 away from the main body part 10 (also referred to as the first cleaning end) and the end of the second cleaning branch 22 away from the main body part 10 (also referred to as the second cleaning end) are both inclined to the side of the main body part 10 close to the surface to be cleaned, i.e., the first cleaning end and the second cleaning end are arranged towards the surface to be cleaned, which facilitates cleaning the surface to be cleaned; wherein the second included angle is smaller than the first included angle.

[0045] Specifically, in a specific working state, the main body part 10 drives the first cleaning branch 21 and the second cleaning branch 22 to rotate around the first axis s1, and the first axis s1 is inclined to the surface to be cleaned, i.e., the first axis s1 is arranged at an included angle with the surface to be cleaned. In the working state, this arrangement facilitates improving the cleaning intensity of the side brush when it contacts the surface to be cleaned during rotation.

[0046] Further, the first cleaning branch 21 and the second cleaning branch 22 are directly or indirectly connected to the main body 10. In one application scenario, the cleaning branch includes a cleaning member directly connected to the main body 10, and the cleaning member includes bristles or the like and can be used to clean the surface to be cleaned; in another application scenario, the cleaning branch includes a first connecting portion and a cleaning member, and the cleaning member is detachably connected to the main body 10 through the first connecting portion; in another application scenario (not shown in the figure), the cleaning branch includes a first connecting portion, and the cleaning robot further includes a cleaning member, and the first connecting portion is used to mount the cleaning member. At this time, the side brush acts as a side brush holder and can be used to clean the cleaning robot after mounting the cleaning member.

[0047] Further, the first cleaning branch 21 is fixedly connected to the main body 10, and the second cleaning branch 22 is movably connected to the main body 10, so that the first cleaning branch 21 can be driven to rotate by the main body 10 to change the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22.

[0048] In some embodiments, the side brush includes at least two working modes. In the first working mode, the main body 10 rotates in the first direction x1, and at this time, the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 remains unchanged and is a first included angle, that is, the first cleaning branch 21 and the second cleaning branch 22 remain the first included angle and rotate together with the main body 10 in the first direction x1 around the first axis s1. In some embodiments, the first included angle is less than or equal to 180 degrees, for example, can be 15 degrees, 30 degrees, 60 degrees, 70 degrees, 95 degrees, 100 degrees, 103 degrees, 110 degrees, 125 degrees, 130 degrees, 138 degrees, 140 degrees, 145 degrees, 150 degrees, 159 degrees, 160 degrees, 163 degrees, 170 degrees, 177 degrees or 180 degrees, etc., that is, the first cleaning branch 21 and the second cleaning branch 22 are spaced apart from each other and connected to the main body 10. This arrangement facilitates improving the cleaning effect and cleaning range of the side brush.

[0049] In some application scenarios, the first working mode is a normal cleaning mode, and the second working mode is a mode for removing entangled hair, which can also be referred to as a hair-removing mode.

[0050] Further, in the second working mode, the main body 10 rotates in the second direction x2, and the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 remains unchanged and is a second included angle or gradually changes to the second included angle, and then the first cleaning branch 21 and the second cleaning branch 22 remain the second included angle and rotate together with the main body 10 in the second direction x2 around the first axis s1. The second included angle is in the range of 0 to 15 degrees, for example, can be 0 degrees, 3 degrees, 5 degrees, 8 degrees, 10 degrees, 11 degrees, 13 degrees or 15 degrees, etc.

[0051] Further, when the rotating direction of the main body 10 changes, the second cleaning branch 22 moves close to or away from the first cleaning branch 21 under the action of inertia or external force. The external force can be resistance from the surface to be cleaned or from the main body 10, which can be passive or active. The resistance from the main body 10 can be from the active connection between the second cleaning branch 22 and the main body 10, for example, the main body 10 includes a limiting groove 30, the inner surface of which provides the above-mentioned resistance. For example, referring to FIGS. 8-11, when the rotating direction of the main body 10 changes from the first direction x1 to the second direction x2, the second cleaning branch 22 moves close to the first cleaning branch 21 under the action of inertia, so the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 first starts to decrease, until it decreases to the second included angle, the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is fixed as the second included angle, that is, the side brush exits the first working mode and enters the second working mode, and the side brush is folded. For another example, referring to FIGS. 14 and 15, when the rotating direction of the main body 10 changes from the first direction x1 to the second direction x2, the second cleaning branch 22 first moves away from the first cleaning branch 21 under the action of inertia, and then moves close to the first cleaning branch 21 when the included angle between the second cleaning branch 22 and the first cleaning branch 21 reaches 180 degrees. Therefore, the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 first starts to increase, and then gradually decreases, until it decreases to the second included angle, the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is fixed as the second included angle, that is, the side brush exits the first working mode and enters the second working mode, and the side brush is folded. For another example, referring to FIGS. 8-11, when the rotating direction of the main body 10 changes from the second direction x2 to the first direction x1, the second cleaning branch 22 moves away from the first cleaning branch 21 under the action of inertia, so the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 starts to increase, until it increases to the first included angle, the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is fixed as the first included angle, that is, the side brush exits the second working mode and enters the first working mode, and the side brush is unfolded.

[0052] In an application scenario, the side brush alternately performs the first working mode and the second working mode in the working state to clean the surface to be cleaned. In an application scenario, the side brush works in the first working mode or the second working mode in the working state. In an application scenario, the main body 10 of the side brush changes the rotation direction from the first direction x1 to the second direction x2 after the cleaning task is completed, so that the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is reduced to a second included angle, and then the main body 10 of the side brush is controlled to stop rotating, that is, the rotation direction of the main body 10 is changed from the first direction x1 to the second direction x2 to fold the side brush, thereby facilitating the removal of the entanglements such as hair entangled on the side brush.

[0053] The above arrangement can control the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 by controlling the rotation direction of the main body 10 in the working state. For example, the first cleaning branch 21 and the second cleaning branch 22 can be kept at the first included angle and rotate around the first axis s1 in the first direction x1 following the main body 10, that is, the side brush works in the first working mode, so that the first cleaning branch 21 and the second cleaning branch 22 are arranged at a distance from each other, improving the cleaning effect. The first cleaning branch 21 and the second cleaning branch 22 can also be kept at the second included angle and rotate around the first axis s1 in the second direction x2 following the main body 10, that is, the side brush can be switched to work in the second working mode. The side brush can also alternately perform the above two working modes in the working state to clean the surface to be cleaned, that is, the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 can be changed within a certain range in the working state, which can reduce the risk of entanglement of the side brush with hair, wires and other elongated objects, improve the cleaning effect and user experience.

[0054] In some embodiments, the first included angle is equal to 120 degrees. On the premise of ensuring a certain cleaning effect, the entanglement risk can be reduced to a certain extent, and the risk of large particles being blown away during cleaning can be reduced.

[0055] In some embodiments, the second cleaning branch 22 is pivotally connected to the main body 10 with the second axis s2 as the pivot axis.

[0056] Specifically, when the rotation direction of the main body 10 is the first direction x1, the second cleaning branch 22 rotates around the first axis s1 together with the main body 10; when the rotation direction of the main body 10 changes from the first direction x1 to the second direction x2, the second cleaning branch 22 rotates around the second axis s2 relative to the main body 10 under the action of inertia or external force to approach the first cleaning branch 21 until the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 decreases to the second included angle and remains unchanged (for example, the second cleaning branch 22 rotates relative to the main body 10 until it abuts against the main body 10), and then the second cleaning branch 22 rotates around the first axis s1 together with the main body 10 in the second direction x2; when the rotation direction of the main body 10 changes from the second direction x2 to the first direction x1, the second cleaning branch 22 rotates around the second axis s2 relative to the main body 10 under the action of inertia or external force to move away from the first cleaning branch 21 until the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 increases to the first included angle and remains unchanged (for example, the second cleaning branch 22 rotates relative to the main body 10 until it abuts against the main body 10 again), and then the second cleaning branch 22 rotates around the first axis s1 together with the main body 10 in the first direction x1.

[0057] In an application scenario, referring to FIGS. 8-11, the first axis s1 and the second axis s2 are parallel and do not coincide, and the second axis s2 is arranged to facilitate the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to reach 0 degrees, which can further improve the effect of preventing entanglement of long and thin objects such as hair and removing hair that has been entangled on the brush.

[0058] In another application scenario, referring to FIGS. 6 and 7, the second axis s2 and the first axis s1 can also coincide, and the first cleaning branch 21 and the second cleaning branch 22 can be arranged along the first axis s1, that is, it can be understood that the first cleaning branch 21 and the second cleaning branch 22 are at different heights on the first axis s1, and the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 can also reach 0 degrees.

[0059] In some embodiments, a limiting column 31 is arranged on the main body 10, and one end of the second cleaning branch 22 is movably connected with the limiting column 31, and when the rotation direction of the main body 10 changes, the second cleaning branch 22 rotates around the limiting column 31 under the action of inertia.

[0060] The movable connection can be achieved by arranging the limiting column 31, and the position of the second axis s2 can be adjusted by arranging the position of the limiting column 31.

[0061] In some embodiments, as shown in FIG. 4 and FIG. 5, the main body part 10 is provided with a limiting slot 30, which is configured to limit the movement of the second cleaning branch 22 relative to the main body part 10, so that the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 changes between the first included angle and the second included angle.

[0062] The activity of the second cleaning branch 22 is limited by the limiting slot 30, which facilitates the movement of the second cleaning branch 22 in the limiting slot 30 when the second cleaning branch 22 moves close to or away from the first cleaning branch 21 under the action of inertia when the main body part 10 changes the rotation direction, thereby achieving the control of the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22. Such a structure is simple and easy to assemble.

[0063] In some embodiments, the main body part 10 is a cylindrical body, as shown in FIG. 8 to FIG. 13, the distance between the first axis s1 and the central axis of the cylindrical body is less than the distance between the second axis s2 and the central axis of the cylindrical body.

[0064] In an application scenario, as shown in FIG. 8 to FIG. 11, the second axis s2 coincides with the central axis of the limiting column 31, the central axis of the limiting column 31 is parallel to and does not coincide with the first axis s1, wherein the first axis s1 coincides with the central axis of the cylindrical body, the central axis of the cylindrical body passes through the geometric center O of the cylindrical body, and the second axis s2 and the first axis s1 are parallel to the central axis of the cylindrical body. Of course, in other embodiments, the central axis of the cylindrical body can not pass through the geometric center of the cylindrical body. Such a structure can be used to set the second axis s2 away from the central axis of the cylindrical body, so as to facilitate the setting of the second cleaning branch 22 away from the central axis of the main body part 10, thereby facilitating the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to be 0 degrees, and further improving the effect of preventing the entanglement of the elongated objects such as hairs and removing the hairs that have been entangled on the edge brush. In an application scenario, the first axis s1 can be set to coincide with the central axis of the cylindrical body, which facilitates the main body part 10 to occupy a smaller rotation space when rotating.

[0065] It should be noted that there are many ways to set the limiting column 31 and the limiting slot 30, and the present application will illustrate the following embodiments.

[0066] In some embodiments, as shown in FIGS. 3-5, the main body 10 is a quasi-cylinder, the first axis s1 of the main body 10 coincides with the central axis of the quasi-cylinder, the central axis of the limiting column 31 of the second cleaning branch 22 coincides with the first axis s1, that is, the first axis s1 and the second axis s2 are parallel and coincident; the end of the second cleaning branch 22 movably connected with the main body 10 forms an annular connecting portion, the annular connecting portion is sleeved on the limiting column 31 of the main body 10 to define the relative position relationship between the rotation axis (i.e., the second axis s2) of the second cleaning branch 22 and the main body 10, and to enable the second cleaning branch 22 to be rotatably arranged with the main body 10; the side of the main body 10 close to the annular connecting portion forms two protrusions as first limiting blocks 311, and the side of the annular connecting portion of the second cleaning branch 22 close to the main body 10 forms a protrusion as a second limiting block 312; wherein the limiting groove 30 is formed between the two first limiting blocks 311, and the second limiting block 312 can move in the limiting groove 30; the first limiting block 311 and the second limiting block 312 jointly limit the rotation angle of the second cleaning branch 22 under the action of inertia or external force; this arrangement is simple and facilitates the movable connection of the second cleaning branch 22 with the main body 10.

[0067] In other embodiments, as shown in FIGS. 6-7, the main body 10 is a quasi-cylinder, the first axis s1 of the main body 10 coincides with the central axis of the quasi-cylinder, the central axis of the limiting column 31 of the second cleaning branch 22 coincides with the first axis s1, that is, the first axis s1 and the second axis s2 are parallel and coincident; the end of the second cleaning branch 22 movably connected with the main body 10 forms an annular connecting portion, the annular connecting portion is sleeved on the limiting column 31 of the main body 10 to define the relative position relationship between the rotation axis (i.e., the second axis s2) of the second cleaning branch 22 and the main body 10, and to enable the second cleaning branch 22 to be rotatably arranged with the main body 10; further, the first cleaning branch 21 and the second cleaning branch 22 are arranged along the direction of the first axis s1, that is, it can be understood that the first cleaning branch 21 and the second cleaning branch 22 are at different heights on the first axis s1. This arrangement can make the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 reach 0 degrees in the case that the first axis s1 and the second axis s2 are parallel and coincident.

[0068] In some other embodiments, as shown in FIGS. 8-11, the main body 10 is a quasi-cylinder, the central axis of the quasi-cylinder passes through the geometric center O of the quasi-cylinder perpendicularly to the paper, the first axis s1 about which the main body 10 rotates coincides with the central axis of the quasi-cylinder, and thus the first axis s1 about which the main body 10 rotates passes through the geometric center O of the quasi-cylinder perpendicularly to the paper; the central axis of the limiting post 31 for providing the second cleaning branch 22 is arranged perpendicularly to the paper and offset from the geometric center O of the quasi-cylinder, i.e., the central axis of the limiting post 31 is parallel to but does not coincide with the central axis of the quasi-cylinder, and thus it can be known that the second axis s2 parallel to and coinciding with the central axis of the limiting post 31 is parallel to but does not coincide with the first axis s1, i.e., the distance between the first axis s1 and the central axis of the quasi-cylinder is smaller than the distance between the second axis s2 and the central axis of the quasi-cylinder; further, the upper wall of the main body 10 and the lower wall form a limiting groove 30, the limiting post 31 is located in the limiting groove 30, and the second cleaning branch 22 pivots relative to the limiting post 31 to move relative to the main body 10 in the limiting groove 30. This arrangement can make the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 reach 0 degrees in the case that the first axis s1 and the second axis s2 are parallel but do not coincide.

[0069] In some embodiments, as shown in FIGS. 12-13, the main body 10 is a cylinder-like body, the central axis of the cylinder-like body passes through the geometric center of the cylinder-like body perpendicularly to the paper, the first axis s1 around which the main body 10 rotates coincides with the central axis of the cylinder-like body, and thus the first axis s1 around which the main body 10 rotates passes through the geometric center of the cylinder-like body perpendicularly to the paper; the central axis of the limiting post 31 for arranging the second cleaning branch 22 is arranged to deviate from the geometric center of the cylinder-like body perpendicularly to the paper, and thus it can be known that the central axis of the limiting post 31 is parallel to but does not coincide with the central axis of the cylinder-like body, and thus it is easy to obtain that the second axis s2 is parallel to but does not coincide with the first axis s1, i.e., the distance between the first axis s1 and the central axis of the cylinder-like body is smaller than the distance between the second axis s2 and the central axis of the cylinder-like body; further, the limiting slot 30 is formed between the upper wall and the lower wall of the main body 10, and the limiting post 31 is located between the upper wall and the lower wall; the end of the second cleaning branch 22 that is movably connected to the main body 10 forms an annular connecting portion, and the annular connecting portion is sleeved on the limiting post 31 to limit the rotatable arrangement of the second cleaning branch 22 and the main body 10; further, the side of the lower wall of the main body 10 close to the upper wall forms two protruding portions as first limiting blocks 311, and the side of the annular connecting portion of the second cleaning branch 22 close to the lower wall forms a protruding portion as a second limiting block 312, and the two first limiting blocks 311 and the second limiting block 312 jointly limit the rotation angle of the second cleaning branch 22. This arrangement can change the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 within a certain range when the first axis s1 and the second axis s2 are parallel but do not coincide; and since the distance between the first axis s1 and the central axis of the cylinder-like body is smaller than the distance between the second axis s2 and the central axis of the cylinder-like body, the second cleaning branch can move radially relative to the central axis of the cylinder-like body when rotating around the second axis s2.

[0070] In some embodiments, the position of the second axis s2 can also be changed by changing the position of the limiting post 31, so that the distance between the first axis s1 and the geometric center O of the cylinder-like body is smaller than the distance between the second axis s2 and the geometric center O of the cylinder-like body.

[0071] In some embodiments, in the working state of the cleaning robot, the included angle between the first axis s1 and the vertical direction is 5-10 degrees.

[0072] For example, the included angle is 5 degrees, 6 degrees, 8 degrees, 9 degrees or 10 degrees, and the included angle between the first axis s1 and the vertical direction is 5 to 10 degrees, so that the first cleaning branch 21 and the second cleaning branch 22 of the side brush are inclined at a corresponding angle with the horizontal plane in the working state, and the cleaning piece installed on the first connecting part or directly connected to the main body part 10 is inclined at a corresponding angle with the horizontal plane, so that the cleaning force and cleaning effect of the cleaning piece on the surface to be cleaned are improved. For example, when the surface to be cleaned is uneven, this arrangement can effectively improve the cleaning effect of the cleaning piece on the low-lying place.

[0073] In other embodiments, the included angle can also be other degrees, such as 3 degrees or 12 degrees, 15 degrees, etc.

[0074] In some embodiments, referring to FIGS. 14 and 15, the side brush further includes a third cleaning branch 23, which is directly or indirectly connected to the main body part 10 and located between the first cleaning branch 21 and the second cleaning branch 22. This arrangement can increase the number of cleaning branches of the side brush and improve the cleaning effect of the side brush.

[0075] In some embodiments, the third cleaning branch 23 is movably connected to the main body part 10. This arrangement can increase the flexibility of the third cleaning branch 23 and facilitate folding and unfolding of the side brush.

[0076] In some embodiments, the third cleaning branch 23 is pivotally connected to the main body part 10 about a third axis, the main body part 10 is a cylindrical body, the central axis of the cylindrical body passes through the geometric center of the cylindrical body perpendicular to the paper, the first axis about which the main body part 10 rotates coincides with the central axis of the cylindrical body and passes through the geometric center of the cylindrical body, the second axis corresponding to the second cleaning branch 22 is parallel to and coincides with the first axis, and the third axis corresponding to the third cleaning branch 23 is parallel to and coincides with the first axis. When the main body part 10 rotates in the first direction x1, the included angle B2 between the first cleaning branch 21 and the third cleaning branch 23 is a third included angle, the third included angle is greater than 0 degrees, and the included angle between the second cleaning branch 22 and the third cleaning branch 23 is greater than 0 degrees, i.e. the side brush is in an unfolded state, and the first cleaning branch 21, the second cleaning branch 22 and the third cleaning branch 23 are arranged apart from each other. When the rotation direction of the main body part 10 changes, the third cleaning branch 23 moves closer to or away from the first cleaning branch 21 under the action of inertia or external force, so that when the main body part 10 rotates in the second direction x2, the included angle B2 between the first cleaning branch 21 and the third cleaning branch 23 is adjusted to a fourth included angle, the fourth included angle is less than the second included angle, i.e. the side brush is in a folded state, and the third cleaning branch 23 is located between the first cleaning branch 21 and the second cleaning branch 22.

[0077] In an application scenario, referring to FIG. 14, the angle between two adjacent ones of the first cleaning branch 21, the second cleaning branch 22 and the third cleaning branch 23 can be 120 degrees in the unfolded state of the side brush.

[0078] In some other embodiments (not shown in the drawings), the third cleaning branch is pivotally connected to the main body portion with a third axis as the pivot axis, the third axis is parallel to the second axis and does not coincide with the first axis and the second axis, when the main body portion rotates in the first direction, the angle between the first cleaning branch and the third cleaning branch is a third angle, the third angle is greater than 0 degrees, and the angle between the second cleaning branch and the third cleaning branch is greater than 0 degrees; when the rotation direction of the main body portion changes, the third cleaning branch moves towards or away from the first cleaning branch under the action of inertia or external force, so that when the main body portion rotates in the second direction, the angle between the first cleaning branch and the third cleaning branch is adjusted to a fourth angle, and the fourth angle is less than or equal to the second angle. This arrangement makes the third axis parallel to the second axis and does not coincide with the first axis and the second axis, so as to facilitate the angle between the first cleaning branch, the second cleaning branch and the third cleaning branch to be 0 degrees in the folded state of the side brush, thereby improving the effect of preventing the entanglement of the elongated object.

[0079] Of course, in other embodiments, the angle between the first cleaning branch, the second cleaning branch and the third cleaning branch can also be 0 degrees in the folded state of the side brush when the third axis coincides with the first axis and the second axis, which can be improved by referring to the above embodiments, and will not be described here.

[0080] In some embodiments, the limiting groove or the limiting block can be arranged to limit the movement of the third cleaning branch in the same way as the limiting manner for the second cleaning branch 22, for example, in some embodiments, a stepped limiting groove (not shown in the drawings) can be arranged on the main body portion 10 to limit the movement of the second cleaning branch 22 and the third cleaning branch 23 respectively, so that the angle B2 between the third cleaning branch 23 and the first cleaning branch 21 changes within a certain range, and the angle B1 between the first cleaning branch 21 and the second cleaning branch 22 changes within a certain range.

[0081] In some embodiments (not shown in the drawings), the first cleaning branch and / or the second cleaning branch comprises an arc-shaped connecting portion and a cleaning piece, the cleaning piece is integrally arranged on or detachably mounted on the arc-shaped connecting portion. This arrangement can reduce the hair entanglement rate and improve the service life of the side brush to some extent.

[0082] In other embodiments, similar improvements can also be made to the side brush, which will not be described here.

[0083] In some embodiments, the side brush is used in a cleaning device, and the main body 10 rotates around the rotation axis b in the rotation plane c to drive the cleaning branches 102 to rotate. The cleaning device can control the side brush to rotate in the rotation plane c of the main body 10, so as to facilitate the cleaning operation on the surface to be cleaned, such as sweeping dust, debris and other garbage.

[0084] In some embodiments, the side brush is used in a cleaning device, and the main body 10 rotates around the rotation axis b in the rotation plane c to drive the cleaning branches 102 to rotate. The cleaning device can control the side brush to rotate in the rotation plane c of the main body 10, so as to facilitate the cleaning operation on the surface to be cleaned, such as sweeping dust, debris and other garbage.

[0085] It should be noted that the projection point refers to the projection point of the central axis of the cleaning branch 102 in the rotation plane c.

[0086] It should be noted that in the present application, the specific structure of the cleaning branch 102 is not limited unless otherwise specified. For example, in an application scenario (not shown in the figure), the cleaning branch includes a cleaning element 12, the cleaning element 12 is directly connected to the main body 10, the angle formed by the line connecting the projection point of the farthest two cleaning elements 12 in the rotation plane c and the rotation center of the rotation plane c is less than 120°, and the cleaning element 12, such as a brush, can be used to clean the surface to be cleaned. For another example, in another application scenario, the cleaning branch 102 includes a first connecting part 11 and a cleaning element 12, the cleaning element 12 is detachably connected to the main body 10 through the first connecting part 11, and the angle formed by the line connecting the projection point of the farthest two cleaning elements 12 in the rotation plane c and the rotation center of the rotation plane c is less than 120°. For another example, in another application scenario (not shown in the figure), the cleaning branch 102 includes a first connecting part 11, the angle formed by the line connecting the projection point of the farthest two first connecting parts 11 in the rotation plane c and the rotation center of the rotation plane c is less than 120°, and the first connecting part 11 is used to install the cleaning element 12. At this time, the side brush serves as a brush holder, which can be used in a cleaning device after the cleaning element 12 is installed.

[0087] The projection points of the cleaning branches 102 on the rotation plane c are multiple, the two cleaning branches 102 with the largest spacing can be referred to as a cleaning branch and another cleaning branch, the first projection points of the cleaning branch on the rotation plane c are multiple, the second projection points of the other cleaning branch on the rotation plane c are multiple, the line between the first projection point and the rotation center is the first line, the line between the second projection point and the rotation center is the second line, and the included angle formed by any first line and any second line is less than 120°.

[0088] The multiple cleaning branches 102 are connected to the main body 10 at intervals, which can improve the cleaning effect and cleaning range of the brush; the included angle A1 formed by the line between the projection points of the two cleaning branches 102 with the largest spacing on the rotation plane c and the rotation center of the rotation plane c is less than 120°, which can reduce the risk of the cleaning branches 102 being entangled with hair, wires and other elongated objects when the brush drives the cleaning branches 102 to rotate, for example, the risk of hair entanglement between the multiple cleaning branches 102 affecting the cleaning effect, so this arrangement can also improve the convenience of cleaning and maintaining the cleaning branches 102; therefore, this arrangement can reduce the risk of the brush being entangled with hair, wires and other elongated objects, improve the cleaning effect and user experience.

[0089] Further, the arrangement of the multiple cleaning branches 102 can enable the other cleaning branches 102 to recover the larger particle-shaped pollutants that are blown away when the cleaning branches 102 rotate, thereby reducing the risk of the brush driving the cleaning branches 102 to blow away larger particle-shaped pollutants when rotating.

[0090] In some embodiments, the included angle A1 is greater than 0° and less than or equal to 119°.

[0091] For example, the included angle A1 of the sector-shaped region is in the range of 0° to 10°, 0° to 25°, 0° to 33°, 0° to 36, 0° to 39°, 0° to 40°, 0° to 55°, 0° to 60°, 0° to 89°, 0° to 90°, 0° to 105°, 0° to 115°, 0° to 118°, 0° to 119°, 10° to 22°, 15° to 38°, 10° to 58°, 12° to 69°, 32° to 87°, 10° to 105°, 12° to 99°, 20° to 119°, 30° to 119°, 40° to 110°, 60° to 119°, or 66° to 108°, etc.

[0092] For example, the included angle A1 of the sector-shaped region is 5°, 18°, 29°, 36°, 45°, 65°, 80°, 89°, 90°, 102.5°, 100°, 60°, 30°, 110°, or 119°, etc.

[0093] In some embodiments, the included angle A1 of the fan-shaped region is equal to 119°.

[0094] This arrangement not only enables the edge brush to achieve a better cleaning effect, but also reduces the risk of the plurality of cleaning branches becoming entangled with hair and other elongated objects when cleaning the surface to be cleaned, and better reduces the risk of larger particles being blown away during cleaning, improving the user's experience.

[0095] In some embodiments, the projections of the plurality of cleaning branches 102 in the rotation plane c are uniformly distributed within the fan-shaped region with an included angle A1 less than 120°, i.e., in the embodiment shown in FIG. 19, the angle of included angle A2 is equal to the angle of included angle A3, so that the projections of the plurality of cleaning branches 102 in the rotation plane c are uniformly distributed within the fan-shaped region with an included angle A1 less than 120°. Uniform distribution facilitates more uniform cleaning and simple structure, facilitating production.

[0096] In some embodiments, the projections of the plurality of cleaning branches 102 in the rotation plane c can also be arranged to be non-uniformly distributed within the fan-shaped region with an included angle A1 less than 120°, i.e., in the embodiment shown in FIG. 19, the angle of included angle A2 is not equal to the angle of included angle A3, so that the projections of the plurality of cleaning branches 102 in the rotation plane c are non-uniformly distributed within the fan-shaped region with an included angle A1 less than 120°, which is not limited in particular.

[0097] In some embodiments, the plurality of cleaning branches 102 are arranged in sequence along the rotation direction a of the main body 10, and the distance from the end of the plurality of cleaning branches 102 away from the main body 10 to the rotation axis b of the main body 10 decreases in sequence along the rotation direction a.

[0098] As shown in FIG. 20, for a certain main body 10, the distance from the second end of the corresponding cleaning branch 102 to the rotation axis b of the main body 10 decreases in sequence along the rotation direction a of the main body 10, i.e., M3>M2>M1, so that the anti-blowing ability for larger granular contaminants can be improved, and the cleaning effect can be improved.

[0099] The rotation direction a of the main body 10 is not limited. In an application scenario, the cleaning device includes two edge brushes arranged on the left and right sides, respectively, and the cleaning branches 102 of the edge brushes extend toward the side of the main body 10 close to the surface to be cleaned. When looking at the surface to be cleaned, the main body 10 of the left edge brush drives the corresponding cleaning branch 102 to rotate clockwise, and the main body 10 of the right edge brush drives the corresponding cleaning branch 102 to rotate counterclockwise.

[0100] The above arrangement has the beneficial effect that the cleaning branches 102 are arranged in sequence along the rotation direction a of the main body 10, facilitating the improvement of the cleaning effect of the cleaning device on the surface to be cleaned when the main body 10 drives the cleaning branches 102 to rotate; the spacing between the end of each cleaning branch 102 away from the main body 10 and the rotation axis b of the main body 10 decreases in sequence along the rotation direction a, which can improve the anti-kicking ability of larger granular pollutants and improve the cleaning effect.

[0101] In some embodiments, the spacing between the end of each cleaning branch 102 away from the main body 10 and the rotation axis b of the main body 10 can be equal, i.e., M3=M2=M1 in the embodiment shown in FIG. 20.

[0102] In some embodiments, as shown in FIGS. 19-21, the projection of the cleaning branch 102 in the rotation plane c extends along the vertical direction of the rotation axis b of the main body 10.

[0103] This arrangement is simple and facilitates production; further, when the cleaning branch 102 includes at least the first connecting portion 11, the projection of the first connecting portion 11 in the rotation plane c extends along the vertical direction of the rotation axis b of the main body 10, which facilitates the arrangement of the cleaning member 12. For example, in an application scenario, an installation hole parallel to the extension direction of the first connecting portion 11 can be arranged at the connecting end 13 (for connecting the cleaning member 12) of the first connecting portion 11 for installing the cleaning member 12, and when the cleaning member 12 includes a linear cleaning member, this arrangement facilitates the projection of the cleaning member 12 in the rotation plane c to extend along the vertical direction of the rotation axis b, so that the adjustment of the first connecting portion 11 can be used to achieve the projection of the cleaning member 12 in the rotation plane c to be located in a sector with an included angle A1 less than 120°, i.e., the included angle between the connecting line between the projection points of the two cleaning members 12 with the largest spacing in the rotation plane c and the rotation center of the rotation plane c is less than 120°, so that the risk of the cleaning member 12 being entangled with hair, wires or other elongated objects can be reduced, and the cleaning effect and user experience can be improved.

[0104] In some embodiments, the cleaning branch 102 includes a first connecting portion 11 connected to the main body 10, and the first connecting portion 11 is used to install the cleaning member 12.

[0105] Specifically, the cleaning branch 102 includes at least the first connecting portion 11. In some application scenarios, the cleaning branch 102 also includes the cleaning member 12; in other application scenarios (not shown in the drawings), the cleaning branch 102 does not include the cleaning member 12, and the cleaning branch 102 includes the first connecting portion 11, which can be used as a brush holder to install the cleaning member 12.

[0106] Such an arrangement facilitates the detachable installation of the cleaning piece 12, for example through a conventional detachable connection mode such as clamping. The detachable connection facilitates the user to repair or replace the cleaning piece 12 as needed during product use, for example, a certain or several cleaning pieces 12 that appear to be worn out can be replaced to improve the cleaning effect of the brush, which can reduce the user's use cost and improve the user's use experience. Further, the brush includes at least two cleaning branches 102, so the brush includes at least two first connecting portions 11. Such an arrangement facilitates adjusting the distribution of the cleaning piece 12 by adjusting the distribution of the first connecting portion 11 in the fan-shaped area, thereby improving the flexibility of the structural design of the brush.

[0107] In other embodiments, the first connecting portion is detachably arranged with the main body portion, thereby facilitating improved multi-scene applicability of the brush.

[0108] In other embodiments, the cleaning piece can be fixedly connected to the connecting end, without limitation.

[0109] In some application scenarios, the cleaning branch 102 includes at least the first connecting portion 11, and the distance from the end of the first connecting portion 11 away from the main body portion 10 to the rotation axis b of the main body portion 10 can be sequentially reduced along the rotation direction a by arranging first connecting portions 11 of different lengths, thereby reducing the production complexity of the brush.

[0110] In some embodiments, the cleaning branch 102 includes at least the first connecting portion 11, and the first connecting portion 11 can be arranged sequentially along the rotation direction a of the main body portion 10, the distance from the end of the first connecting portion 11 away from the main body portion 10 to the rotation axis b of the main body portion 10 can be sequentially reduced along the rotation direction a, and the end of the first connecting portion 11 away from the main body portion 10 serves as the connecting end 13 for mounting the cleaning piece 12.

[0111] For example, as shown in FIG. 20, the side of the first connecting portion 11 away from the main body portion 10 extends in a direction away from the main body portion 10 to form multiple end portions of different extension lengths, and the connecting end 13 for connecting the cleaning piece 12 is arranged at each of the multiple end portions, i.e., L3>L2>L1, thereby enabling the distance from the multiple connecting ends 13 to the rotation axis b of the main body portion 10 to be sequentially reduced along the rotation direction a by adjusting the extension lengths.

[0112] Such an arrangement facilitates the use of multiple cleaning pieces 12 of the same shape and size, thereby facilitating the batch production of the cleaning piece 12, reducing the production cost of the cleaning piece 12, and improving assembly convenience.

[0113] In some embodiments, the multiple first connecting portions 11 are integrally arranged to form a second connecting portion 101 connected to the main body portion 10, the second connecting portion 101 is provided with multiple connecting ends 13, and the connecting end 13 is used to mount the cleaning piece 12.

[0114] The above arrangement is simple and facilitates the arrangement of the cleaning member 12.

[0115] In some embodiments, as shown in FIG. 22 and FIG. 23, the second connecting portion 101 comprises a fan-shaped connecting portion, and the plurality of connecting ends 13 are arranged on the fan-shaped connecting portion at intervals along the rotation direction a of the main body portion 10.

[0116] Specifically, the second connecting portion 101 extends along the circumferential direction of the main body portion 10 to form a fan-shaped connecting portion, and the side of the second connecting portion 101 away from the main body portion 10 is provided with a plurality of connecting ends 13 arranged at intervals along the circumferential direction of the main body portion 10. This arrangement facilitates adjusting the coverage of the projection of the plurality of connecting ends 13 in the rotation plane c of the main body portion 10 by adjusting the included angle of the fan-shaped connecting portion, and further facilitates achieving that the projection of the plurality of connecting ends 13 in the rotation plane c is located in a fan-shaped region with an included angle A1 less than 120°, and further facilitates achieving that the projection of the cleaning member 12 in the rotation plane c is located in the fan-shaped region, i.e., the included angle between the connecting line between the projection points of the two cleaning members 12 with the largest distance apart on the rotation plane c and the rotation center of the rotation plane c is less than 120°, so as to facilitate reducing the risk of the cleaning member 12 winding around long slender objects such as hair and electric wires, and improving the cleaning effect and user experience.

[0117] In some embodiments, the plurality of connecting ends 13 arranged at intervals along the circumferential direction can be uniformly distributed in the fan-shaped region to improve production convenience; of course, in the embodiment shown in FIG. 23, the plurality of connecting ends 13 arranged at intervals along the circumferential direction can also be non-uniformly distributed in the fan-shaped region.

[0118] In some embodiments, as shown in FIG. 25, the second connecting portion 101 comprises a first connecting rod 103, one end of the first connecting rod 103 is connected with the main body portion 10, and the other end forms a plurality of connecting branches 104, the projection of the first connecting rod 103 in the rotation plane c of the main body portion 10 extends along the vertical direction of the rotation axis b of the main body portion 10, at least part of the connecting branches 104 forms an acute angle with the first connecting rod 103, and the plurality of connecting ends 13 are arranged on the plurality of connecting branches 104.

[0119] The connecting end 13 is used for connecting the cleaning member 12; the projection of the first connecting rod 103 in the rotation plane c of the main body 10 extends in the vertical direction of the rotation axis b of the main body 10, and the structure is simple; the at least partial connecting branch 104 is arranged at an acute angle with the first connecting rod 103, which facilitates the arrangement of multiple connecting branches 104 on the first connecting rod 103, and further facilitates the arrangement of multiple cleaning members 12, and facilitates the adjustment of the extension direction of the projection of the cleaning member 12 in the rotation plane c of the main body 10 by adjusting the extension direction of the connecting branch 104, and further facilitates the interval distribution of the projections of the multiple cleaning members 12 in the rotation plane c of the main body 10 along the rotation direction a of the main body, thereby reducing the interference between the multiple cleaning members 12.

[0120] In some embodiments, as shown in FIG. 25, the projection of the at least partial connecting branch 104 in the rotation plane c is arranged at an acute angle B with the projection of the first connecting rod 103 in the rotation plane c.

[0121] The above arrangement facilitates the interval arrangement of the multiple connecting ends 13 along the rotation direction c of the main body 10, and thus facilitates the interval arrangement of the multiple cleaning members 12 along the rotation direction c of the main body 10, which can reduce the interference between the multiple cleaning members 12, and can make the multiple cleaning members 12 cover the fan-shaped area corresponding to the included angle A1 as much as possible, thereby improving the cleaning effect.

[0122] Optionally, the specific value of the acute angle B is not limited, which can be 10°, 13°, 25°, 39°, 60°, 88° or 89°, etc.

[0123] In some embodiments, as shown in FIG. 26, the second connecting part 101 includes a second connecting rod 105, the projection of the second connecting rod 105 in the rotation plane c of the main body 10 extends in the vertical direction of the rotation axis b of the main body 10, and the end and side of the second connecting rod 105 away from the main body 10 are provided with the connecting end 13.

[0124] The connecting end 13 is used for connecting the cleaning member 12; the projection of the second connecting rod 105 in the rotation plane c of the main body 10 extends in the vertical direction of the rotation axis b of the main body 10, and the structure is simple; the end and side of the second connecting rod 105 away from the main body 10 are provided with the connecting end 13, which is simple in structure and convenient to realize, and facilitates the arrangement of multiple connecting ends 13 on the second connecting rod 105; when the mounting hole is arranged on the connecting end 13 for mounting the cleaning member 12, the extension direction of the projection of the cleaning member 12 in the rotation plane c of the main body 10 can be adjusted by adjusting the axial direction of the mounting hole, thereby reducing the interference between the multiple cleaning members 12.

[0125] In some embodiments, the projection of the at least part of the cleaning member 12 in the rotation plane c is arranged to form an acute angle B with the projection of the second connecting rod 105 in the rotation plane c of the main body 10. The acute angle B is not limited to a specific value, and can be, for example, 10°, 13°, 25°, 39°, 60°, 88°, or 89°, etc.

[0126] In some embodiments, a plurality of connecting ends 13 are arranged on the side of the second connecting rod 105, and at least part of the connecting ends 13 are arranged along the extension direction of the second connecting rod 105. This arrangement facilitates the arrangement of a plurality of connecting ends 13 on the second connecting rod 105, and further facilitates the arrangement of a plurality of cleaning members 12. It should be noted that the projections of the plurality of cleaning members 12 in the rotation plane c of the main body 10 are all located in the sector region corresponding to the included angle A1.

[0127] In other embodiments, the extension direction of the cleaning member in the projection of the rotation plane of the main body can also be arranged to form an acute angle with the vertical direction of the rotation axis of the main body by adjusting the shape and size of the cleaning member.

[0128] In some embodiments, as shown in FIG. 24, a part of the plurality of first connecting portions 11 are integrally arranged to form a third connecting portion 1011 connected to the main body 10, and a part of the plurality of first connecting portions 11 are integrally arranged to form a fourth connecting portion 1012 connected to the main body 10. The third connecting portion 1011 and the fourth connecting portion 1012 both extend along the circumferential direction of the main body 10, and are arranged along the circumferential direction with a spacing. The side of the third connecting portion 1011 and the fourth connecting portion 1012 away from the main body 10 is provided with a plurality of connecting ends 13 arranged along the circumferential direction. The projections of all the connecting ends 13 in the rotation plane c of the main body 10 are located in the sector region with an included angle A1 less than 120°.

[0129] In some embodiments, the distribution of the cleaning member 12 can also be adjusted by adjusting the structure of the third connecting portion 1011 and the fourth connecting portion 1012. For example, in the embodiment shown in FIG. 24, the included angle A4 can be arranged to be different from the included angle A5, i.e., the extension ranges of the third connecting portion 1011 and the fourth connecting portion 1012 along the circumferential direction of the main body 10 are different. For another example (not shown), the number of connecting ends included on the side of the third connecting portion and the fourth connecting portion away from the main body can also be different.

[0130] In other embodiments, the plurality of first connecting portions can be further divided into three or more groups, and the plurality of first connecting portions in each group are integrally arranged. The projections of all the connecting ends in the rotation plane of the main body are located in the sector region with an included angle less than 120°.

[0131] In some embodiments, the cleaning branch 102 further comprises a cleaning member 12.

[0132] It should be noted that the shape and size of each cleaning piece 12 can be the same or different, and the connection mode between the first connecting part 11 and the cleaning piece 12 is not limited, for example, adhesion or detachable clamping.

[0133] In some embodiments, when the cleaning branch 102 at least includes the first connecting part 11, the angle formed between the connecting line between the projection point of the two cleaning pieces 12 farthest apart in the rotating plane c and the rotation center of the rotating plane c can be less than 120° by setting the structure of the first connecting part 11, for example, by setting the specific structure of the connecting end 13 of the first connecting part 11; the angle formed between the connecting line between the projection point of the two cleaning pieces 12 farthest apart in the rotating plane c and the rotation center of the rotating plane c can also be less than 120° by setting the shape and size of the cleaning piece; or the angle formed between the connecting line between the projection point of the two cleaning pieces 12 farthest apart in the rotating plane c and the rotation center of the rotating plane c can also be less than 120° by adjusting and setting the shape and size of the multiple connecting ends 13 and the multiple cleaning pieces 12 at the same time.

[0134] In other embodiments, the cleaning branch includes cleaning pieces, and the cleaning pieces are directly or indirectly connected to the main body part.

[0135] Specifically, the cleaning branch does not include the first connecting part, the side brush includes the main body part and the cleaning pieces, and the cleaning pieces are connected to the main body part. For example, in an application scenario, multiple connecting ends can be provided on the main body part for connecting the cleaning pieces. This structure is simple and facilitates production and assembly.

[0136] In other embodiments, similar improvements can be made to the side brush, which will not be described here.

[0137] In some embodiments, the cleaning piece 12 includes a straight-line cleaning piece 12.

[0138] The straight-line cleaning piece 12 is convenient to install and facilitates the limitation and adjustment of the distribution range of the cleaning piece 12 by setting the connecting structure such as the first connecting part 11, and this structure is simple and facilitates mass production.

[0139] In other embodiments, the cleaning piece can also include a curved cleaning piece to cooperate with the specific structure of the connecting structure such as the first connecting part to realize that the projection of the cleaning piece in the rotating plane is located in the above-mentioned fan-shaped area.

[0140] In some embodiments, the shapes and sizes of the multiple straight-line cleaning pieces are the same.

[0141] This setting facilitates the maintenance and replacement of the cleaning piece by the user, is convenient to install, facilitates mass production, and can reduce production costs.

[0142] In some embodiments, the first connecting part 11 comprises a deformable connecting claw, which can elastically deform to a certain extent when the cleaning member 12 approaches the surface to be cleaned during cleaning, thereby reducing the risk of damage due to collision.

[0143] The present application further provides a side brush as shown in FIGS. 16-26. The side brush comprises a main body part 10, and at least two cleaning branch parts 102 which are directly or indirectly connected to the main body part 10 at intervals; wherein the included angle between the two cleaning branch parts 102 farthest apart is less than 120°.

[0144] The included angle between the two cleaning branch parts 102 farthest apart being less than 120° can reduce the risk of entangling hair, wires and other elongated objects during cleaning, thereby improving cleaning effect and user experience.

[0145] The specific embodiments and working principles of the main body part 10 and the cleaning branch parts 102 can refer to the above embodiments, which will not be repeated here.

[0146] It should be noted that in the embodiments shown in FIGS. 1-15, when the main body part 10 rotates in the first direction x1, i.e., the side brush is in the first working mode in the embodiments shown in FIGS. 1-15, the above-mentioned similar improvements in the embodiments shown in FIGS. 16-26 can be made for the side brush of the cleaning robot; when the main body part 10 rotates in the second direction x2, i.e., the side brush is in the second working mode in the embodiments shown in FIGS. 1-15, the above-mentioned similar improvements in the embodiments shown in FIGS. 16-26 can also be made for the side brush of the cleaning robot.

[0147] The present application further provides a side brush (not shown in the figure), which comprises a main body part and more than three cleaning branch parts; the main body part comprises a fan-shaped connecting part, one cleaning branch part is fixedly connected to the fan-shaped connecting part, and the other cleaning branch parts are movably connected to the fan-shaped connecting part; the main body part is configured to rotate around a first axis inclined to the surface to be cleaned in the working state of the cleaning robot; when the main body part rotates in the first direction, the side brush is in an unfolded state, the included angle between the two cleaning branch parts farthest apart is a fixed included angle, and the fixed included angle is less than or equal to 180°; when the rotation direction of the main body part changes, the cleaning branch parts movably connected to the main body part move closer to or farther away from the cleaning branch part fixedly connected to the main body part under the action of inertia or external force, so that the side brush switches between the unfolded state and the folded state; when the main body part rotates in the second direction, the side brush is in a folded state, the included angle between the two cleaning branch parts farthest apart decreases to another fixed included angle, and the other fixed included angle is 0-15°.

[0148] The application further provides a cleaning robot, as shown in FIGS. 1-30, which comprises a body 40, an edge brush, a main brush, a driving wheel, a controller, the edge brush is arranged at the bottom edge of the body 40; the main brush is arranged at the bottom of the body 40, the cleaning range of the edge brush at least partially overlaps the cleaning range of the main brush; the driving wheel is used to drive the body 40 to move, and at least partially locates in the cleaning range of the edge brush; the controller is configured to control the movement of the edge brush, the main brush and the driving wheel.

[0149] In the embodiments shown in FIGS. 27 and 28, the first axis of the main body part 10 coincides with the central axis of the cylindrical body, and the second axis corresponding to the second cleaning branch 22 is parallel to the first axis and does not coincide with the first axis. In the embodiment shown in FIG. 27, the edge brush is in the folded state, i.e., the second working mode described above; in the embodiment shown in FIG. 28, the edge brush is in the unfolded state, i.e., the first working mode described above; and in the embodiments shown in FIGS. 27 and 28, the limiting mode of the movable connection between the second cleaning branch 22 and the main body part 10 can be similarly improved according to the embodiments shown in FIGS. 8-11.

[0150] In the embodiments shown in FIGS. 29 and 30, the first axis of the main body part 10 coincides with the central axis of the cylindrical body, and the second axis corresponding to the second cleaning branch 22 is parallel to the first axis and does not coincide with the first axis. In the embodiment shown in FIG. 27, the edge brush is in the folded state, i.e., the second working mode described above; in the embodiment shown in FIG. 28, the edge brush is in the unfolded state, i.e., the first working mode described above; and in the embodiments shown in FIGS. 29 and 30, the limiting mode of the movable connection between the second cleaning branch 22 and the main body part 10 can be improved according to the embodiments shown in FIGS. 12 and 13.

[0151] The specific implementation and working principle of the edge brush can be referred to the above embodiments, which will not be described here again.

[0152] The cleaning robot of the application comprises a sweeping machine, a sweeping and mopping integrated machine, etc.

[0153] The edge brush is arranged at the bottom edge of the body 40, and the main brush is arranged at the bottom of the body 40, which facilitates to improve the cleaning effect of the bottom edge and the bottom of the body 40; the cleaning range of the edge brush at least partially overlaps the cleaning range of the main brush, which facilitates to strengthen the cleaning effect of the overlapping area, so that the hair wound on the edge brush is more easily sucked into the dust box inside the cleaning robot through the interference with the main brush, thereby achieving the effect of removing the wound hair; the driving wheel at least partially locates in the cleaning range of the edge brush, which can make the edge brush clean the moving traces left by the driving wheel driving the body 40 to move, thereby improving the user experience.

[0154] In some embodiments, the edge brush is arranged at the right front edge of the body 40, and the first axis s1 is inclined upward relative to the surface to be cleaned and inclined to the right front of the body 40.

[0155] Specifically, when viewed from above, the right front edge of the main body 40 is provided with a side brush, and the first axis s1 is inclined upward relative to the surface to be cleaned and inclined toward the right front of the main body 40, so that the side brush on the right front is inclined toward the right front of the main body 40 to achieve an inner buckle, thereby improving the cleaning strength at the right front edge of the main body 40.

[0156] In some embodiments, the upper end of the first axis s1 is inclined away from the main body 40 relative to the vertical direction. For example, in an application scenario, when viewed from above, side brushes can be arranged on the left front edge and the right front edge of the main body 40, respectively, and the upper end of the first axis s1 of each side brush is inclined away from the main body 40 relative to the vertical direction, i.e., the side brush on the left front is inclined toward the left front of the main body 40 to achieve an inner buckle, and the side brush on the right front is inclined toward the right front of the main body 40 to achieve an inner buckle, thereby improving the cleaning strength at the left front edge and the right front edge of the main body 40. The above arrangement can increase the cleaning strength of the first cleaning branch 21 and the second cleaning branch 22 on the edge area of the bottom of the main body 40 when the main body 10 drives the first cleaning branch 21 and the second cleaning branch 22 to rotate, thereby improving the cleaning strength of the side brushes on the edge area of the bottom of the main body 40 and improving the cleaning effect of the cleaning robot.

[0157] In some embodiments, the cleaning robot further comprises a side brush motion sensor configured to detect the motion direction and position of the side brush, or to detect the motion direction of the side brush alone, or to detect the position of the side brush alone.

[0158] Specifically, the side brush motion sensor can be used to detect the motion direction or position of the main body 10, or only the motion direction or position of the first cleaning branch 21 and the second cleaning branch 22, or to detect the motion direction or position of the main body 10, the first cleaning branch 21 and the second cleaning branch 22 simultaneously. Such an arrangement can facilitate the controller of the cleaning robot to control the side brush based on the motion direction or position of the side brush.

[0159] In some embodiments, the cleaning robot further comprises a side brush motion sensor configured to detect the rotation direction of the main body 10.

[0160] For example, when the rotation direction of the main body 10 is detected to switch from the first direction x1 to the second direction x2, the side brush can be controlled to stop moving, or when the rotation direction of the main body 10 is detected to switch from the first direction x1 to the second direction x2 and continue to rotate in the second direction x2 for a certain preset setting, the side brush can be controlled to stop moving.

[0161] That is, the movement of the side brush can be stopped when the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 approaches or equals the second included angle, so that the rotation direction of the main body 10 can be switched from the first direction x1 to the second direction x2 when it is necessary to stop the side brush from working, so that the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is reduced to the second included angle, and the folding effect of the side brush is facilitated, and the occupied space of the side brush is reduced.

[0162] In some embodiments, the side brush movement sensor can also be configured to detect the movement position of the second cleaning branch 22. For example, when it is detected that the second cleaning branch 22 moves to the second included angle between the first cleaning branch 21 and the second cleaning branch 22, the movement of the side brush is stopped.

[0163] In some embodiments, the side brush movement sensor can also be configured to detect the rotation direction of the main body 10 and the movement position of the second cleaning branch 22. For example, the side brush movement sensor detects that the main body 10 rotates in the second direction x2 and / or the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is the second included angle, and when the first cleaning branch 21 and / or the second cleaning branch 22 is located in or passes through the main brush cleaning range, the controller controls the side brush to stop moving.

[0164] In some application scenarios, the side brush movement sensor detects that the main body 10 rotates in the second direction x2 and the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is the second included angle, and the controller controls the side brush to stop moving.

[0165] In some embodiments, the side brush movement sensor detects that the main body 10 rotates in the second direction x2 and the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is the second included angle, and the controller controls the side brush to stop moving, and controls the main body 10 of the side brush to lift the second cleaning branch 22 and the first cleaning branch 21 away from the surface to be cleaned. This setting facilitates the movement of the cleaning robot.

[0166] In some embodiments, the side brush movement sensor controls the side brush to stop rotating in response to detecting that the side brush is in a folded state and the first cleaning branch 21 or the second cleaning branch 22 is located in the cleaning range of the main brush. This setting facilitates the long and thin objects such as hair wound on the first cleaning branch 21 or the second cleaning branch 22 to be sucked into the dust box through the main brush opening under the action of negative pressure.

[0167] In some embodiments, the side brush motion sensor controls the side brush to stop rotating in response to detecting that the side brush is in the folded state and the first cleaning branch 21 or the second cleaning branch 22 passes through the sweeping range of the main brush. This arrangement facilitates the long slender objects such as hair wrapped on the first cleaning branch 21 or the second cleaning branch 22 to be sucked into the dust box through the main brush opening of the main brush under the action of negative pressure.

[0168] In some embodiments, the step of the side brush motion sensor detecting that the side brush is in the folded state specifically comprises that the side brush motion sensor detects that the rotation direction of the main body 10 is switched from the first direction x1 to the second direction x2, and then confirms that the side brush is in the folded state. In other embodiments, the step of the side brush motion sensor detecting that the side brush is in the folded state specifically comprises that the side brush motion sensor detects that the main body 10 rotates in the second direction x2 and the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is the second included angle, and then confirms that the side brush is in the folded state. In other embodiments, the step of the side brush motion sensor detecting that the side brush is in the folded state specifically comprises that the side brush motion sensor detects that the main body 10 rotates in the second direction x2 and the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is 0 degrees, and then confirms that the side brush is in the folded state. At this time, it can better prevent the long slender objects such as hair from being wrapped on the first cleaning branch 21 and the second cleaning branch 22, and improve the effect of the long slender objects such as hair being sucked into the dust box through the main brush opening of the main brush under the action of negative pressure.

[0169] Compared with the prior art, the present application can control the included angle between the first cleaning branch and the second cleaning branch by controlling the rotation direction of the main body in the working state. For example, the first cleaning branch and the second cleaning branch can be kept at a first included angle and rotate around the first axis in the first direction following the main body, so that the side brush works in a first working mode, and the first cleaning branch and the second cleaning branch are spaced apart from each other to improve the cleaning effect. The first cleaning branch and the second cleaning branch can also be kept at a second included angle and rotate around the first axis in the second direction following the main body, so that the side brush switches to a second working mode. The side brush can also alternately work in the above two working modes in the working state to clean the surface to be cleaned. That is, the included angle between the first cleaning branch and the second cleaning branch can change within a certain range in the working state, which can reduce the risk of the side brush being entangled with hair, wires and other long slender objects, and improve the cleaning effect and user experience.

[0170] It should be noted that the drawings herein only show the structural relationship and connection relationship of the product of the present application, and do not limit the specific structure size of the product of the present application.

[0171] The above merely describes the embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which is made according to the content of the present application specification and drawings, is also included in the patent protection scope of the present application.

Claims

1. A side brush suitable for use in a cleaning robot, wherein, The edge brush comprises: a main body part configured to rotate around a first axis oblique to a surface to be cleaned in a working state of the cleaning robot; a first cleaning branch and a second cleaning branch directly or indirectly connected to the main body part; the first cleaning branch is fixedly connected to the main body part, and the second cleaning branch is movably connected to the main body part; when the main body part rotates in a first direction, an included angle between the first cleaning branch and the second cleaning branch is a first included angle, and the first included angle is less than or equal to 180 degrees; when the rotation direction of the main body part changes, the second cleaning branch moves close to or away from the first cleaning branch under the action of inertia or external force, so that when the main body part rotates in a second direction, the included angle between the first cleaning branch and the second cleaning branch decreases to a second included angle, and the second included angle is 0 to 15 degrees.

2. The edge brush of claim 1, wherein, The second cleaning branch is pivotally connected to the main body part with a second axis as a pivot axis.

3. The edge brush of claim 2, wherein, The first axis is parallel to and does not coincide with the second axis.

4. The edge brush according to claim 2 or 3, wherein The main body part is provided with a limiting groove configured to limit the movement of the second cleaning branch relative to the main body part, so that the included angle between the first cleaning branch and the second cleaning branch changes between the first included angle and the second included angle.

5. The edge brush according to any one of claims 2 to 4, wherein, The main body part is a quasi-cylindrical body, and the distance between the first axis and the central axis of the quasi-cylindrical body is less than the distance between the second axis and the central axis.

6. The edge brush according to any one of claims 1 to 5, wherein, In the working state of the cleaning robot, the included angle between the first axis and the vertical direction is 5 to 10 degrees.

7. The edge brush according to any one of claims 1 to 6, wherein, The edge brush further comprises: a third cleaning branch directly or indirectly connected to the main body part and located between the first cleaning branch and the second cleaning branch.

8. The edge brush of claim 7, wherein the third cleaning branch is movably connected to the main body part.

9. The edge brush according to claim 7 or 8, wherein The third cleaning branch is pivotally connected to the main body part with a third axis as a pivot axis, the second cleaning branch is pivotally connected to the main body part with a second axis as a pivot axis, and the third axis is parallel to and does not coincide with the first axis and the second axis, when the main body part rotates in a first direction, the included angle between the first cleaning branch and the third cleaning branch is a third included angle, the third included angle is greater than 0 degrees, and the included angle between the second cleaning branch and the third cleaning branch is greater than 0 degrees; when the rotation direction of the main body part changes, the third cleaning branch moves close to or away from the first cleaning branch under the action of inertia or external force, so that when the main body part rotates in a second direction, the included angle between the first cleaning branch and the third cleaning branch is adjusted to a fourth included angle, and the fourth included angle is less than or equal to the second included angle.

10. The edge brush of claim 1, wherein, The first cleaning branch and / or the second cleaning branch comprises an arc-shaped connecting part and a cleaning piece, and the cleaning piece is integrally or detachably connected to the arc-shaped connecting part.

11. A cleaning robot, wherein, comprises: a body; the edge brush of any one of claims 1 to 10 is arranged at a bottom edge of the body; a main brush disposed at a bottom of the body, a cleaning range of the side brush at least partially overlaps a cleaning range of the main brush; a driving wheel for driving the body to move, and at least partially located in the cleaning range of the side brush; and a controller configured to control the motion of the side brush, the main brush and the driving wheel. 12.The cleaning robot according to claim 11, wherein, The side brush is disposed at a right front edge of the body, and the first axis is inclined upward relative to the surface to be cleaned and inclined to the right front of the body. 13.The cleaning robot according to claim 11 or 12, wherein Further comprising a side brush motion sensor configured to detect the motion direction and / or position of the side brush. 14.The cleaning robot according to claim 13, wherein, The side brush motion sensor detects that the main body part rotates in the second direction and / or the included angle between the second cleaning branch and the first cleaning branch is a second included angle, and when the first cleaning branch and / or the second cleaning branch is located in or passes through the main brush cleaning range, the controller controls the side brush to stop moving.

15. A side brush wherein, The side brush comprises: a main body part; at least two cleaning branches directly or indirectly connected to the main body part at intervals; wherein the main body part rotates to form a rotation plane, and the projection points of the two cleaning branches with the largest interval on the rotation plane and the rotation center of the rotation plane form an included angle less than 120°.

16. The edge brush of claim 15, wherein, The included angle between the two cleaning branches with the largest interval is less than 120°.

17. The edge brush of claim 15 or 16, wherein, The included angle is greater than 0° and less than or equal to 119°.

18. The edge brush of claim 15 or 16, wherein, A plurality of cleaning branches are arranged in sequence along the rotation direction of the main body part, and the distance from the end of the cleaning branch away from the main body part to the rotation axis of the main body part decreases in sequence along the rotation direction.

19. The edge brush of claim 15 or 16, wherein, The projection of the cleaning branch in the rotation plane extends in the vertical direction of the rotation axis of the main body part.

20. The edge brush of claim 15 or 16, wherein, The cleaning branch comprises a first connecting part connected to the main body part, and the first connecting part is used to mount a cleaning member.

21. The edge brush of claim 20, wherein, The cleaning branch further comprises the cleaning member.

22. The edge brush of claim 20, wherein, A plurality of first connecting parts are integrally provided to form a second connecting part connected to the main body part, and the second connecting part is provided with a plurality of connecting ends used to mount the cleaning member.

23. The edge brush of claim 22, wherein, The second connecting part comprises a fan-shaped connecting part, and the plurality of connecting ends are arranged at intervals on the fan-shaped connecting part along the rotation direction of the main body part.

24. The edge brush of claim 22, wherein, The second connecting part comprises a first connecting rod, one end of the first connecting rod is connected to the main body part, and the other end forms a plurality of connecting branches, the projection of the first connecting rod in the rotation plane of the main body part extends in the vertical direction of the rotation axis of the main body part, at least part of the connecting branches form an acute angle with the first connecting rod, and the plurality of connecting ends are arranged on the plurality of connecting branches.

25. The edge brush of claim 22, wherein, The second connecting part comprises a second connecting rod, the projection of the second connecting rod in the rotation plane of the main body part extends in the vertical direction of the rotation axis of the main body part, and the end part and the side part away from the main body part of the second connecting rod are provided with the connecting ends.

26. The edge brush of claim 15 or 16, wherein, The cleaning branch comprises a cleaning member directly or indirectly connected to the main body part.

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