Side brush apparatus and cleaning robot

Abstract

A side brush apparatus and a cleaning robot. The side brush apparatus comprises a side brush housing (1), a guide member (2), a side brush transmission member (3), and a side brush assembly (4). The side brush housing (1) is internally provided with an accommodating cavity (1001), and the guide member (2) is located in the accommodating cavity (1001) and affixed to the side brush housing (1). The side brush transmission member (3) is vertically mounted in the accommodating cavity (1001). The side brush assembly (4) penetrates through the side brush housing (1) and is connected to the side brush transmission member (3). The side brush assembly (4) abuts against the guide member (2), and the side brush assembly (4) is driven to flip and bend by means of an abutting force.

Description

Edge brush device and cleaning robot

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202411131105.0, filed on August 16, 2024, and entitled "Edge brush device and cleaning robot", the contents of which are hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of robots, and in particular to an edge brush device and a cleaning robot. BACKGROUND

[0004] A cleaning robot, also known as a sweeping robot or an automatic cleaning robot, can automatically complete the cleaning of the ground. The cleaning robot is usually provided with an edge brush on the side of the bottom. The edge brush is mainly used to clean corners, edges of furniture and other difficult-to-clean corners. In addition, the edge brush can also rotate and sweep by rubbing against the ground, pushing the garbage to the suction port of the cleaning robot, thereby improving the cleaning effect.

[0005] However, the edge brush of most current cleaning robots is always in contact with the ground, which causes the edge brush to be easily contaminated when the cleaning robot cleans liquid dirt. And when the cleaning robot passes through the cleaned ground, the contaminated edge brush is also likely to cause secondary pollution to the ground. SUMMARY

[0006] In a first aspect, the present application provides an edge brush device, which comprises an edge brush housing, a guide piece, an edge brush transmission piece and an edge brush assembly. The edge brush housing is provided with a containing cavity. The guide piece is located in the containing cavity and is fixed to the edge brush housing. The edge brush transmission piece is vertically installed in the containing cavity. The edge brush assembly is arranged through the edge brush housing and is connected with the edge brush transmission piece, wherein the edge brush assembly is arranged to abut against the guide piece and is driven to fold by the abutting force.

[0007] In an embodiment, the guide piece is provided with an abutting inclined surface along the axial direction of the edge brush transmission piece, wherein the edge brush assembly comprises an edge brush curved arm, and the edge brush curved arm comprises an edge brush bending part arranged to abut against the abutting inclined surface.

[0008] In an embodiment, the abutting slope comprises a first abutting slope and a second abutting slope connected with the first abutting slope, wherein the first abutting slope is arranged to abut against the bending part of the brush when the brush housing rotates, and drives the curved arm of the brush to rotate. The first abutting slope forms an abutting guide to the bending part of the brush when the brush housing moves relative to the brush transmission, so as to fold the bending part of the brush downward, and lift the height of the brush assembly, wherein the second abutting slope abuts against the bending part of the brush when the brush assembly is lifted to the highest position.

[0009] In an embodiment, the thickness of the bending part of the brush away from the center of the brush transmission is greater than the thickness of the bending part close to the center of the brush transmission in the radial direction of the brush transmission.

[0010] In an embodiment, the bending part of the brush is made of rubber material.

[0011] In an embodiment, the brush assembly comprises a brush sleeving part, the brush sleeving part is sleeved on the brush transmission, and the curved arm of the brush is fixed on the brush sleeving part.

[0012] In an embodiment, the inner circumferential side of the brush sleeving part is provided with a brush limiting part, and the brush transmission is provided with a transmission limiting part, wherein the brush limiting part cooperates with the transmission limiting part to limit the radial movement of the brush sleeving part along the brush transmission.

[0013] In an embodiment, the guide is provided with an abutting slope in the axial direction of the brush transmission, wherein the abutting slope abuts against the curved arm of the brush.

[0014] In an embodiment, the brush assembly further comprises a bundle of brush hairs at the end of the curved arm of the brush away from the brush sleeving part, wherein the curved arm of the brush is folded under the abutting of the guide, so as to lift or lower the height of the bundle of brush hairs.

[0015] In an embodiment, the brush housing comprises a first housing and a second housing below the first housing, and the first housing and the second housing cooperate to form the accommodating cavity.

[0016] In an embodiment, the brush device further comprises an elastic member sleeved on the brush transmission, a first end of the elastic member is fixed with the brush housing, and a second end of the elastic member is fixed with the brush transmission. When the brush housing drives the brush assembly to rotate, the elastic member provides torsional force to keep the guide abutting against the brush assembly. When the brush housing moves relative to the brush assembly, the torsional force of the elastic member increases, and the brush assembly is driven to fold and reset through the torsional recovery of the elastic member.

[0017] In an embodiment, a first clamping groove is formed on the first housing, and the first end of the elastic member is clamped in the first clamping groove along the radial direction of the brush driving member. A second clamping groove is formed on the brush driving member, and the second end of the elastic member is connected to the second clamping groove.

[0018] In an embodiment, a threaded through hole is formed on the brush driving member in the vertical direction, and the brush device further comprises a threaded connecting member and a driving shaft. The threaded connecting member is threadedly connected to the brush driving member through the threaded through hole, and the driving shaft is coaxially arranged with the brush driving member, and the driving shaft is connected to the threaded connecting member to drive the brush driving member to rotate through the driving shaft.

[0019] In an embodiment, the brush device further comprises a second gear and a one-way driving member. The second gear is sleeved on the driving shaft and movably connected to the driving shaft, wherein the second gear is coaxially fixed to the brush housing to drive the brush housing to rotate through the second gear. The one-way driving member is fixed to the driving shaft. When the second gear rotates in the forward direction to drive the brush housing to rotate, the guide member abuts against the brush assembly and drives the brush driving member to rotate. When the second gear rotates in the reverse direction to drive the brush housing to rotate, the guide member is pressed downward to be folded under the abutting force of the guide member and the locking force of the one-way driving member on the brush driving member.

[0020] In an embodiment, the second gear is clamped and fixed to the brush housing.

[0021] In an embodiment, the brush device further comprises a gear box and a rotary motion outputter, and the second gear and the one-way driving member are installed in the gear box, and the rotary motion outputter is drivingly connected to the second gear to drive the brush housing to rotate through the rotary motion outputter.

[0022] The second aspect of the present application also provides a cleaning robot, which comprises the brush device according to any one of the above embodiments.

[0023] The side brush device of the present application comprises a side brush housing, a guide, a side brush transmission member and a side brush assembly. The side brush housing is provided with a receiving cavity, the guide is located in the receiving cavity and is fixed to the side brush housing. The side brush transmission member is vertically installed in the receiving cavity. The side brush assembly is arranged through the side brush housing and is connected with the side brush transmission member, wherein the side brush assembly is arranged to abut against the guide and is driven to fold by the abutting force. The cleaning robot of the present application comprises the side brush device of any one of the embodiments of the present application. Compared with the prior art, the cleaning robot of the present application can make the side brush assembly away from the ground when cleaning liquid dirt or in a single dragging mode, so as to avoid the contact of the side brush assembly with the dirt and improve the cleanliness of the side brush device to avoid secondary pollution in the process of cleaning the ground.

[0024] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the contents of the specification can be implemented, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0025] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered limiting on the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components.

[0026] In the drawings:

[0027] Fig. 1 is a partial structure explosion schematic diagram of a side brush device provided by an embodiment of the present application;

[0028] Fig. 2 is a schematic diagram of a side brush device provided by an embodiment of the present application;

[0029] Fig. 3 is a schematic diagram of a side brush assembly folding and lifting provided by an embodiment of the present application;

[0030] Fig. 4 is a schematic diagram of a side brush assembly provided by an embodiment of the present application;

[0031] Fig. 5 is a schematic diagram of a first housing provided by an embodiment of the present application;

[0032] Fig. 6 is a schematic diagram of a side brush transmission member provided by an embodiment of the present application;

[0033] Fig. 7 is a schematic diagram of a second housing provided by an embodiment of the present application;

[0034] Figure 8 is a cross-sectional view of the structure of a side brush assembly in a cleaning state according to an embodiment of the present invention;

[0035] Figure 9 is a cross-sectional view of a side brush assembly in a raised state according to an embodiment of the present invention.

[0036] Figure 10 is a schematic cross-sectional structure of a side brush device provided in an embodiment of the present invention;

[0037] Figure 11 is a three-dimensional structural schematic diagram of another side brush transmission component provided in an embodiment of the present invention;

[0038] Figure 12 is a three-dimensional structural schematic diagram of another guide member provided in an embodiment of the present invention.

[0039] Reference numerals: 1. Side brush housing; 1001. Receiving cavity; 1002. First snap-fit ​​groove; 101. First housing; 102. Second housing; 1021. Assembly through hole; 2. Guide component; 201. Abutting slope; 2011. First abutting slope; 2012. Second abutting surface; 3. Side brush transmission component; 3001. Threaded through hole; 3002. Second snap-fit ​​groove; 301. Transmission limiting part; 4. Side brush assembly; 401. Side brush sleeve part; 4011. Side brush limiting part; 402. Side brush curved arm; 4021. Side brush bending part; 403. Side brush bristle bundle; 5. Elastic component; 6. Threaded connector; 7. Transmission shaft; 8. Second gear; 9. One-way transmission component; 10. Gearbox body; 11. Rotary motion output device; 12. Gear set. Detailed Implementation

[0040] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0041] Cleaning robots, also known as sweeping robots or automatic cleaning machines, can automatically clean floors. They typically have side brushes on their bottom edges. These side brushes are mainly used to clean hard-to-reach corners, furniture edges, and other hard-to-reach areas. Furthermore, the side brushes can rotate and rub against the floor, pushing debris towards the robot's suction inlet, thus improving cleaning effectiveness.

[0042] However, the side brushes of most current cleaning robots are always in contact with the ground, which easily contaminates the brushes when cleaning liquids such as soy sauce or milk. Furthermore, when the robot passes over the cleaned floor, the contaminated brushes can easily cause secondary contamination.

[0043] To solve the above technical problems, the edge brush device provided by the embodiment of the present application can include an edge brush housing 1, a guide 2, an edge brush transmission member 3, and an edge brush assembly 4. The edge brush housing 1 is provided with a receiving cavity 1001, the guide 2 is located in the receiving cavity 1001 and is fixed to the edge brush housing 1. The edge brush transmission member 3 is vertically installed in the receiving cavity 1001. The edge brush assembly 4 is arranged through the edge brush housing 1 and is connected with the edge brush transmission member 3. The edge brush assembly 4 is arranged to abut against the guide 2 and is folded by the abutting force. Thus, when the cleaning robot cleans liquid dirt or performs single-drag mode, the edge brush assembly 4 is away from the ground by the folding mode of the edge brush assembly 4, so as to avoid the edge brush assembly 4 from contacting the dirt, improve the cleanliness of the edge brush device, and avoid secondary pollution in the process of cleaning the ground.

[0044] Referring to FIGS. 1-8, the edge brush device provided by the embodiment of the present application can include an edge brush housing 1, a guide 2, an edge brush transmission member 3, and an edge brush assembly 4. The edge brush housing 1 is provided with a receiving cavity 1001, the guide 2 is located in the receiving cavity 1001 and is fixed to the edge brush housing 1. The edge brush transmission member 3 is vertically installed in the receiving cavity 1001. The edge brush assembly 4 is arranged through the edge brush housing 1 and is connected with the edge brush transmission member 3. The edge brush assembly 4 is arranged to abut against the guide 2 and is folded by the abutting force.

[0045] In the embodiment of the present application, the edge brush device can include an edge brush housing 1, a guide 2, an edge brush transmission member 3, and an edge brush assembly 4. The edge brush housing 1 is provided with a receiving cavity 1001 for providing installation of the guide 2, the edge brush transmission member 3, and the edge brush assembly 4. For example, the edge brush transmission member 3 is vertically installed in the receiving cavity 1001, and the guide 2 is installed in the receiving cavity 1001 and is fixed to the edge brush housing 1. The edge brush assembly 4 is arranged through the edge brush housing 1, and it can be understood that part of the edge brush assembly 4 is installed in the receiving cavity 1001, and part of the edge brush assembly 4 is installed outside the edge brush housing 1.

[0046] For example, the front end of the edge brush assembly 4 is located in the receiving cavity 1001, and the end of the edge brush assembly 4 is located outside the edge brush housing 1. The edge brush assembly 4 can also be fixed to the edge brush transmission member 3, and the guide 2 fixed to the edge brush housing 1 abuts against the edge brush assembly 4. The abutting force applied by the guide 2 to the edge brush assembly 4 causes the edge brush assembly 4 to be pressed down and folded, so as to change the ground clearance of the edge brush assembly 4.

[0047] Thus, when the cleaning robot sweeps liquid dirt or performs single-drag mode, the side brush assembly 4 can be folded away from the ground to avoid contacting the dirt, improve the cleanliness of the side brush device, and avoid secondary pollution during the cleaning process.

[0048] In an embodiment, referring to FIGS. 5, 8, 9, and 10, the guide 2 is provided with an abutting inclined surface 201 along the axial direction of the side brush transmission member 3. The side brush assembly 4 includes a side brush curved arm 402, and the side brush curved arm 402 includes a side brush folding portion 4021 configured to abut against the abutting inclined surface 201.

[0049] In the embodiment, the abutting inclined surface 201 is used to abut against the side brush curved arm 402. The height of the guide 2 (the distance between the guide 2 and the abutting inclined surface 201 along the axial direction of the side brush transmission member 3 at the connection between the guide 2 and the side brush housing 1) gradually changes along the circumferential direction of the side brush transmission member 3 to form a surface. Thus, during the rotation of the side brush housing 1, the height of the guide 2 changes through the mutual rotation between the side brush housing 1 and the side brush transmission member 3 to gradually increase or decrease the abutting force of the abutting inclined surface 201 against the side brush curved arm 402, so that the side brush curved arm 402 can be folded down or reset to the lowered state.

[0050] The side brush curved arm 402 has a certain bending angle. When the side brush assembly 4 is in the lowered state, the bending direction of the side brush curved arm 402 is downward. When the side brush transmission member 3 and the side brush housing 1 move relative to each other, the guide 2 on the side brush housing 1 abuts against and presses down the side brush transmission member 3. For example, the guide 2 on the side brush housing 1 abuts against the side brush curved arm 402 downward to drive the side brush curved arm 402 to fold downward, and then the bending direction of the side brush curved arm 402 changes. For example, the bending direction of the side brush curved arm 402 changes from downward to horizontal, so that the height of the side brush curved arm 402 can be lifted. When the side brush curved arm 402 is in the lifted state, the side brush assembly 4 can be away from the ground, so that when the cleaning robot sweeps liquid dirt or performs single-drag mode, the side brush assembly 4 can be folded away from the ground to avoid contacting the dirt, improve the cleanliness of the side brush device, and avoid secondary pollution during the cleaning process.

[0051] In an embodiment, referring to FIGS. 8, 9 and 12, the abutting slope 201 comprises a first abutting slope 2011 and a second abutting surface 2012 connected with the first abutting slope 2011, wherein when the brush housing 1 rotates, the first abutting slope 2011 is arranged to abut against the brush bending part 4021, driving the brush curved arm 402 to rotate, so that the brush assembly 4 performs ground cleaning. When the brush housing 1 moves relative to the brush transmission member 3, the first abutting slope 2011 forms an abutting guide to the brush bending part 4021, so that the brush bending part 4021 is folded downward, lifting the height of the brush assembly 4, wherein when the brush assembly 4 is lifted to the highest position, the second abutting surface 2012 abuts against the brush bending part 4021.

[0052] In an embodiment of the present application, the abutting slope 201 comprises a first abutting slope 2011 and a second abutting surface 2012, wherein the second abutting surface 2012 is connected with the first abutting slope 2011, or the second abutting surface 2012 and the first abutting slope 2011 are smoothly connected. Referring to FIG. 8, when the brush housing 1 rotates, the first abutting slope 2011 of the guide 2 abuts against the brush bending part 4021, so that the abutting force applied by the guide 2 to the brush bending part 4021 drives the brush assembly 4 and the brush transmission member 3 to rotate synchronously, so that the brush assembly 4 keeps in contact with the ground and performs ground cleaning. During the cleaning process of the brush assembly 4, when some garbage with large particles or certain thickness is encountered, the brush assembly 4 keeps pressed down due to the abutting force, and will not be lifted up with the garbage, which can further improve the cleaning effect of the brush assembly 4.

[0053] As shown in FIG. 9, when the brush housing 1 moves relative to the brush transmission member 3, the first abutting slope 2011 of the guide 2 forms an abutting guide to the brush bending part 4021. The abutting guide can be understood as that the guide 2 abuts against the brush bending part 4021, and the brush bending part 4021 moves along the first abutting slope 2011 under the action of the abutting force. Thus, the abutting force to the brush bending part 4021 can be gradually increased during the relative movement through the abutting slope 2011, so that the brush bending part 4021 is pressed down and folded downward, thereby changing the bending direction of the brush curved arm 402.

[0054] The bending direction of the edge brush bending arm 402 is bent downward, and the horizontal bending is folded, so that the ground clearance of the edge brush bending arm 402 can be lifted. And in the case that the edge brush assembly 4 is lifted to the highest position, the edge brush bending part 4021 and the second abutting surface 2012 form abutment. Wherein, the second abutting surface 2012 away from the position of the first abutting inclined surface 2011 is also provided with a chamfer, which is used to avoid the edge brush assembly 4.

[0055] In an embodiment, referring to FIG. 12, the second abutting surface 2012 on the guide 2 can also be lengthened along the circumferential length of the edge brush transmission member 3, so as to further increase the relative rotation range between the edge brush housing 1 and the edge brush transmission member 3, facilitating the lifting or lowering control of the edge brush assembly 4.

[0056] In an embodiment, referring to FIG. 4, the thickness of the edge brush bending part 4021 away from the center of the edge brush transmission member 3 in the radial direction of the edge brush transmission member 3 is greater than the thickness close to the center of the edge brush transmission member 3.

[0057] In the embodiment of the application, the thickness of the edge brush bending part 4021 refers to the thickness of the edge brush bending part 4021 in the axial direction of the edge brush transmission member 3. Referring to FIGS. 3 and 4, the central thickness of the edge brush bending part 4021 in the radial direction of the edge brush transmission member 3 is thin. Thus, the guide 2 can apply an abutting force to the edge brush bending part 4021, so that the area with thin thickness of the edge brush bending part 4021 can be bent downward to form a foldable feature on the edge brush bending arm 402. And the edge brush bending arm 402 can change the bending direction of the edge brush bending arm 402 under the folding of the edge brush bending part 4021, so as to realize the height lifting of the edge brush bending arm 402.

[0058] In some embodiments, the thickness of the edge brush bending part 4021 close to the center of the edge brush transmission member 3 in the radial direction of the edge brush transmission member 3 is less than the thickness away from the center of the edge brush transmission member 3, so as to form an arc-shaped groove or a V-shaped groove in the radial direction of the edge brush transmission member 3. The edge brush bending part 4021 and the guide 2 form abutment. Thus, the edge brush bending part 4021 can be more easily pressed down by abutment, and the central area with thin thickness of the edge brush bending part 4021 can be deformed to drive the edge brush bending part 4021 to fold downward, thereby changing the bending direction of the edge brush bending arm 402.

[0059] In an embodiment, the edge brush bending part 4021 is made of rubber material.

[0060] In the embodiment of the present application, the edge brush bending part 4021 can be made of rubber material with good deformation performance, so that the edge brush bending part 4021 has good deformation performance, and can maintain the structural stability of the edge brush bending part 4021 during repeated deformation, thereby improving the service life of the edge brush bending part 4021.

[0061] In an embodiment, referring to FIGS. 1, 3 and 4, the edge brush assembly includes an edge brush sleeving part 401, which is sleeved on the edge brush transmission part 3, and the edge brush curved arm 402 is fixed on the edge brush sleeving part 401.

[0062] In the embodiment of the present application, the edge brush sleeving part 401 can have a ring shape along the radial cross-sectional shape of the edge brush transmission part 3, and is sleeved on the edge brush transmission part 3 to connect the edge brush assembly 4 and the edge brush transmission part 3. The edge brush transmission part 3 limits the position of the edge brush sleeving part 401 along the axial direction of the edge brush transmission part 3. The edge brush sleeving part 401 and the edge brush curved arm 402 can be an integral structure.

[0063] In an embodiment, referring to FIGS. 4 and 6, the inner circumferential side of the edge brush sleeving part 401 is provided with an edge brush limiting part 4011, and the edge brush transmission part 3 is provided with a transmission limiting part 301, wherein the edge brush limiting part 4011 cooperates with the transmission limiting part 301 to limit the edge brush sleeving part 401 along the radial direction of the edge brush transmission part 3.

[0064] In the embodiment of the present application, the inner circumferential side of the edge brush sleeving part 401 is provided with an edge brush limiting part 4011, and the edge brush transmission part 3 is provided with a transmission limiting part 301. In some embodiments, the edge brush limiting part 4011 can be a limiting groove, and the transmission limiting part 301 can be a limiting protrusion matched with the shape of the limiting groove. In other embodiments, the edge brush limiting part 4011 can be a limiting protrusion, and the transmission limiting part 301 can be a limiting groove matched with the shape of the limiting protrusion. Thus, when the edge brush sleeving part 401 is sleeved on the edge brush transmission part 3, the edge brush limiting part 4011 cooperates with the transmission limiting part 301 to limit the edge brush sleeving part 401 along the radial direction of the edge brush transmission part 3.

[0065] The edge brush transmission part 3 can be a plastic part, and the edge brush sleeving part 401 is sleeved on the edge brush transmission part 3, and then the edge brush transmission part 3 is subjected to a second injection molding, so as to limit the edge brush sleeving part 401 along the axial direction of the edge brush transmission part 3.

[0066] In some embodiments, the number of the edge brush curved arms 402 can be at least two, and the at least two edge brush curved arms 402 are equiangularly distributed in the horizontal circumferential direction of the edge brush sleeving part 401 with respect to the central axis of the edge brush sleeving part 401. The number of the edge brush curved arms 402 can be determined by the actual design requirements, and is not limited herein. As a preferred embodiment, the number of the edge brush curved arms 402 can be three.

[0067] In an embodiment, referring to FIGS. 1, 2 and 10, the edge brush assembly 4 further comprises an edge brush bundle 403 located at the end of the edge brush curved arm 402 away from the edge brush sleeving part 401, wherein the edge brush curved arm 402 is folded under the abutment of the guide 2 to lift or lower the height of the edge brush bundle 403.

[0068] In the embodiment of the present application, the edge brush assembly 4 can further comprise an edge brush bundle 403 located at the end of the edge brush curved arm 402 away from the edge brush sleeving part 401 (which can also be understood as being located at the rear end of the curved arm). The edge brush bundle 403 is mainly used for ground cleaning, so that the rotation of the edge brush driving part 3 or the rotation of the edge brush housing 1 can drive the edge brush bundle 403 located on the edge brush curved arm 402 to rotate synchronously, thereby achieving the ground cleaning of the edge brush bundle 403. In some embodiments, the edge brush bundle 403 can also be made of rubber and plastic materials.

[0069] The abutment force of the guide 2 on the edge brush curved arm 402 causes the edge brush curved arm 402 to fold downward, thereby lifting the ground clearance of the edge brush bundle 403. Therefore, when the cleaning robot cleans liquid dirt or performs single-drag mode, the edge brush bundle 403 can be lifted away from the ground by the folding mode of the edge brush assembly 4, so as to avoid the contact of the edge brush bundle 403 with the dirt, improve the cleanliness of the edge brush device, and avoid secondary pollution during the cleaning of the ground.

[0070] In an embodiment, referring to FIGS. 2, 5 and 7, the edge brush housing 1 comprises a first housing 101 and a second housing 102 located below the first housing 101, and the first housing 101 and the second housing 102 cooperatively form the accommodating cavity 1001.

[0071] The side brush shell 1 can further include a first shell 101 and a second shell 102, wherein the second shell 102 is located below the first shell 101, so that the accommodating cavity 1001 is formed by the upper and lower assembly of the first shell 101 and the second shell 102. In some embodiments, the first shell 101 and the second shell 102 can be connected by welding, bonding, clamping and the like. Herein, no more limitation is made. For example, positioning structures and through holes for assembling the side brush curved arm 402 can also be arranged on the end faces of the first shell 101 and the second shell 102 close to each other.

[0072] In an embodiment, the side brush shell 1 can include a first shell 101 and a second shell 102 located on the left side of the first shell 101, and the first shell 101 and the second shell 102 cooperatively form the accommodating cavity 1001.

[0073] In the embodiment of the present application, the side brush shell 1 can further include a first shell 101 and a second shell 102, wherein the second shell 102 is located on the left side of the first shell 101, so that the accommodating cavity 1001 is formed by the left and right assembly of the first shell 101 and the second shell 102. In some embodiments, the first shell 101 and the second shell 102 can be connected by welding, bonding, clamping and the like. Herein, no more limitation is made. For example, positioning structures and through holes for assembling the side brush curved arm 402 can also be arranged on the end faces of the first shell 101 and the second shell 102 close to each other.

[0074] In an embodiment, the side brush device further includes an elastic member 5 sleeved on the side brush transmission member 3, a first end of the elastic member 5 is fixed with the side brush shell 1, and a second end of the elastic member 5 is fixed with the side brush transmission member 3, so as to drive the folding reset of the side brush curved arm 402 through the deformation recovery of the elastic member 5. When the side brush shell 1 drives the rotation of the side brush assembly 4, the elastic member 5 provides a torsional force to make the guide member 2 and the side brush assembly 4 keep abutting. When the side brush shell 1 and the side brush assembly 4 move relatively, the torsional force of the elastic member 5 increases, and the side brush assembly 4 is driven to fold and reset through the torsional recovery of the elastic member 5.

[0075] In the embodiment of the present application, the elastic member 5 is sleeved on the edge brush transmission member 3, and the two ends thereof are fixed with the edge brush transmission member 3 and the edge brush shell respectively. For example, referring to FIG. 1, the elastic member 5 can include a torsion spring, the first end of the elastic member 5 is fixed with the first shell 101, and the second end of the elastic member 5 is fixed with the edge brush transmission member 3. Thus, the elastic connection between the edge brush transmission member 3 and the first shell 101 can be formed along the circumferential direction of the edge brush transmission member 3 through the elastic member 5.

[0076] In some embodiments, referring to FIG. 11, the first end of the elastic member 5 is fixed with the second shell 102, and the second end of the elastic member 5 is fixed with the edge brush transmission member 3, so that the elastic connection between the edge brush transmission member 3 and the second shell 102 can be formed along the circumferential direction of the edge brush transmission member through the elastic member 5.

[0077] When the guide member 2 abuts against the edge brush curved arm 402 to drive the edge brush curved arm 402 to rotate synchronously, and the edge brush assembly 4 is in the lowered state, the abutment between the guide member 2 and the edge brush curved arm 402 is maintained through the deformation torsion force of the elastic member 5, so that the edge brush assembly 4 can be kept in contact with the ground and the ground cleaning can be performed through the rotation of the edge brush assembly 4.

[0078] When the edge brush shell 1 is subjected to external force and relatively rotates with the edge brush transmission member 3, the elastic potential energy (also referred to as deformation torsion force) of the elastic member 5 increases, so that the abutting force of the guide member 2 against the edge brush curved arm 402 increases, and the guide member 2 presses the edge brush curved arm 402 to make the edge brush curved arm 402 fold downward.

[0079] When the edge brush shell 1 drives the edge brush transmission member 3 to rotate synchronously again, the edge brush bending part 4021 moves along the abutment inclined surface 201 under the torsion recovery action of the elastic member 5, and the abutting force of the abutment inclined surface 201 against the edge brush bending part 4021 gradually decreases, so that the deformation of the edge brush bending part 4021 recovers. The bending direction of the edge brush curved arm 402 is reset to the horizontal downward state. The abutment between the guide member 2 and the edge brush curved arm 402 is maintained through the deformation torsion force of the elastic member 5, so that the edge brush assembly 4 can be kept in contact with the ground and the ground cleaning can be performed through the rotation of the edge brush assembly 4.

[0080] In an embodiment, referring to FIG. 1, FIG. 3, FIG. 5 and FIG. 6, a first clamping groove 1002 is formed on the first shell 101, and a first end of the elastic member 5 is clamped in the first clamping groove 1002 along a radial direction of the brush driving member 3. A second clamping groove 3002 is formed on the brush driving member 3, and a second end of the elastic member 5 is clamped in the second clamping groove 3002.

[0081] In the embodiment, the first clamping groove 1002 is formed on the first shell 101, or the first clamping groove 1002 is formed on the second shell 102. The second clamping groove 3002 is formed on the brush driving member 3, and the first clamping groove 1002 and the second clamping groove 3002 are used for clamping and assembling the elastic member 5. For example, the first end of the elastic member 5 is clamped in the first clamping groove 1002 along the radial direction of the brush driving member 3. The second end of the elastic member 5 is clamped in the second clamping groove 3002. Thus, when the elastic member 5 is sleeved on the brush driving member 3, the fixation of the elastic member 5 can be completed through cooperation of the first clamping groove 1002 and the second clamping groove 3002, and the elastic member 5 has a small torsional force when the guide member 2 and the brush assembly 4 do not move relative to each other, so that the guide member 2 and the brush assembly 4 are kept in abutment.

[0082] As shown in FIG. 11, in an embodiment, the elastic member 5 is arranged between the second shell 102 and the brush assembly 4, which can effectively reduce the axial length of the brush driving member 3 and the axial length of the elastic member 5.

[0083] In an embodiment, referring to FIG. 10, a threaded through hole 3001 is formed in the brush driving member 3 in a vertical direction, and the brush device can further include a threaded connecting member 6 and a driving shaft 7. The threaded connecting member 6 is threadedly connected with the brush driving member 3 through the threaded through hole 3001. The driving shaft 7 is coaxially arranged with the brush driving member 3, and the driving shaft 7 is connected with the threaded connecting member 6 to drive the brush driving member 3 to rotate through the driving shaft 7.

[0084] In the embodiment, the driving shaft 7 is coaxially fixed with the brush driving member 3, and is used to drive the brush driving member 3 to rotate. The threaded connecting member 6 is arranged through the central axis of the brush driving member 3, and on one hand, the threaded connecting member 6 serves as a rotation shaft of the brush driving member 3, and on the other hand, the threaded connecting member 6 is used for fixed connection with the driving shaft 7 and also serves as a power input component.

[0085] The threaded through hole 3001 and the threaded connecting hole are coaxially arranged, that is, the central axis of the threaded through hole 3001 coincides with the central axis of the threaded connecting hole, so as to improve the connection stability between the transmission shaft 7 and the edge brush transmission member 3, the threaded connecting member 6 can be used to completely penetrate the edge brush transmission member 3 from the bottom of the edge brush transmission member 3 to the top of the edge brush transmission member 3 and be screwed with the threaded connecting hole, so as to realize the fixed connection between the transmission shaft 7 and the edge brush transmission member 3.

[0086] In the embodiment of the application, in order to facilitate the installation of the threaded connecting member 6, a relevant hole can be formed in the corresponding assembly area of the first shell 101 and / or the second shell 102. For example, an assembly through hole 1021 can be formed on the central axis of the second shell 102, and the like, which is not limited herein. The threaded connecting member 6 can be a screw, a bolt or the like.

[0087] In an embodiment, referring to FIG. 10, the edge brush device can further include a second gear 8 and a one-way transmission member 9. The second gear 8 is sleeved on the transmission shaft 7 and movably connected with the transmission shaft 7. The second gear 8 is coaxially fixed with the first shell 101, so as to drive the edge brush shell 1 to rotate through the second gear 8. The one-way transmission member 9 is fixed with the transmission shaft 7. When the second gear 8 rotates in a forward direction, the edge brush shell 1 is driven to rotate, the guide member 2 abuts against the edge brush curved arm 402 and drives the edge brush transmission member 3 to rotate. When the second gear 8 rotates in a reverse direction, the edge brush shell 1 is driven to rotate, and under the abutting force of the guide member 2 and the locking force of the one-way transmission member 9 on the edge brush transmission member 3, the guide member 2 presses down the edge brush curved arm 402 to form a fold.

[0088] In the embodiment of the application, the second gear 8 is movably connected with the transmission shaft 7, that is, the rotation of the second gear 8 does not directly drive the transmission shaft 7 to rotate. For example, the movable connection can be a clearance fit, a sliding connection or the like. Thus, under the action of an external force, the second gear 8 drives the edge brush shell 1 to rotate. The one-way transmission member 9 is fixedly connected with the transmission shaft 7. For example, the one-way transmission member 9 can be a one-way bearing, which has a one-way locking function and limits the edge brush transmission member 3 to rotate in only one direction. For example, the rotating part of the one-way transmission member 9 is fixed with the transmission shaft 7. When the transmission shaft 7 rotates in a forward direction under a force, the one-way transmission member 9 does not limit the rotation of the transmission shaft 7. When the transmission shaft 7 rotates in a reverse direction under a force, the one-way transmission member 9 locks the current position of the transmission shaft 7 due to the one-way locking function, and the transmission shaft 7 cannot rotate in the reverse direction.

[0089] The second gear 8 and the brush housing 1 are coaxially fixed, which means that the central axis of the second gear 8 coincides with the central axis of the brush housing 1, and the second gear 8 is fixed with the brush housing 1. When the second gear 8 rotates forward, the brush housing 1 fixed coaxially with the second gear 8 rotates forward synchronously with the second gear 8. At this time, the guide 2 on the brush housing 1 is in abutment with the brush bending arm 402, and the abutment force exerted on the brush bending arm 402 by the guide 2 drives the brush transmission member 3 to rotate synchronously. When the transmission shaft 7 rotates forward under the action of force, the one-way transmission member 9 does not limit the rotation of the transmission shaft 7, so that the rotation of the brush assembly 4 can be realized. At this time, the brush assembly 4 is in a lowered state, so that when the second gear 8 rotates forward, the brush assembly 4 can rotate in the lowered state, so that the brush assembly 4 remains in contact with the ground and performs normal ground cleaning.

[0090] When the second gear 8 reverses, the brush housing 1 reverses synchronously. Due to the locking effect of the one-way transmission member 9 on the brush transmission member 3, the brush transmission member 3 cannot rotate synchronously with the brush housing 1. At this time, the brush bending arm 402 fixed on the brush transmission member 3 rotates relative to the brush housing 1, so that during the relative rotation, the abutment force of the abutment inclined surface 201 of the guide 2 on the brush bending portion 4021 is increased, so that the brush bending portion 4021 is folded downward under the action of the abutment force. The height of the brush bundle 403 from the ground is raised. At this time, the deformation torsion of the elastic member 5 is increased.

[0091] When the second gear 8 rotates forward again, the abutment force between the abutment inclined surface 201 and the brush bending arm 402 gradually decreases due to the torsion recovery of the elastic member 5, then the brush bending portion 4021 recovers and folds upward, and the brush bending arm 402 is reset from the raised state to the lowered state. Finally, the guide 2 abuts against the brush bending portion 4021 with a small abutment force. When the second gear 8 rotates forward and the brush housing 1 drives the brush transmission member 3 to rotate synchronously again, the brush assembly 4 repeatedly performs ground cleaning work. When the cleaning robot cleans liquid dirt or performs single-drag mode, the folding mode of the brush assembly 4 can make the brush assembly 4 away from the ground, avoid contact with the dirt, improve the cleanliness of the brush assembly, and avoid secondary pollution during ground cleaning.

[0092] In an embodiment, the second gear 8 is clamped and fixed with the brush housing 1.

[0093] In the case that the threaded connection 6 and the transmission shaft 7 are fixedly connected through threads or other ways, the second gear 8 can be clamped and fixed with the brush housing 1. For example, the first housing 101 is provided with a first clamping part, and the second gear 8 is provided with a second clamping part matched with the first clamping part on the end face of the brush housing 1. The first clamping part is irregularly shaped along the radial section of the brush transmission 3, so that the radial displacement of the brush housing 1 along the brush transmission 3 can be limited when the first clamping part and the second clamping part are matched in shape, so that the brush housing 1 can be driven to rotate synchronously by the second gear 8. And the disassembly and assembly convenience between the second gear 8 and the brush housing 1 is improved.

[0094] In an embodiment, referring to FIG. 10, the brush device further comprises a gear box 10 and a rotary motion outputter 11, the second gear 8 and the one-way transmission 9 are both installed in the gear box 10, and the rotary motion outputter 11 is in transmission connection with the second gear 8 to drive the brush housing 1 to rotate through the rotary motion outputter 11.

[0095] In the embodiment of the application, the gear box 10 is used to provide the assembly space of the one-way transmission 9 and the second gear 8, and the second gear 8 and the one-way transmission 9 are respectively installed in the gear box 10. In another embodiment, the rotary motion outputter 11 can also be installed on the gear box 10. The rotary motion outputter 11 is used to output rotary motion, which is in transmission connection with the second gear 8, so that the second gear 8 can be driven to rotate through the rotary motion outputter 11, and the brush housing 1 can be provided with rotary power. The rotary motion outputter 11 can include a servo motor, a stepping motor and the like.

[0096] In the case that the second gear 8 is fixed coaxially with the first housing 101, and the one-way transmission 9 is fixed with the transmission shaft 7, when the rotary motion output device 11 rotates forward, the second gear 8 connected with the rotary motion output device 11 rotates forward, and drives the brush housing 1 to rotate forward synchronously. At this time, the guide 2 on the brush housing 1 abuts against the brush curved arm 402, and the guide 2 applies an abutting force to the brush curved arm 402, which drives the brush transmission 3 to rotate synchronously. When the transmission shaft 7 rotates forward under force, the one-way transmission 9 does not limit the rotation of the transmission shaft 7. Thus, the rotation of the brush assembly 4 can be realized. At this time, the brush assembly 4 is in a descending state, so that the brush assembly 4 can rotate in the descending state when the second gear 8 rotates forward, so that the brush assembly 4 keeps in contact with the ground and performs normal ground cleaning.

[0097] When the rotary motion output device 11 reverses, the second gear 8 connected with the rotary motion output device 11 reverses, and the brush housing 1 reverses synchronously. Due to the locking effect of the one-way transmission 9 on the brush transmission 3, the brush transmission 3 cannot rotate synchronously with the brush housing 1. At this time, the brush curved arm 402 fixed on the brush transmission 3 rotates relative to the brush housing 1, so that the abutting force of the guide 2 on the brush curved arm 402 is increased during the relative rotation, so that the brush curved arm 402 is folded downward under the abutting force, and the height of the brush bristle bundle 403 from the ground is increased. At this time, the elastic member 5 is deformed and twisted.

[0098] When the brush assembly 4 is lifted to the highest position, the rotary motion output device 11 stops rotating. The relative rotation angle between the brush assembly 4 and the brush transmission 3 is controlled to be within 120° (including 120° itself) by the rotary motion output device 11. Under the action of the elastic member 5, the brush bending part 4021 moves along the abutting slope 201, and the abutting force of the abutting slope 201 on the brush bending part 4021 gradually decreases, so that the brush bending part 4021 recovers. The bending direction of the brush curved arm 402 is reset to a horizontal downward state. The abutting of the guide 2 and the brush curved arm 402 is maintained by the deformation and twisting force of the elastic member 5, so that the brush assembly 4 keeps in contact with the ground and performs ground cleaning through the rotation of the brush assembly 4.

[0099] The rotation motion output device 11 and the second gear 8 can be connected by other transmission structures. For example, the side brush device can further include a gear set 12, which can include at least one power gear, so that the gear set 12 is engaged with the second gear 8, and the output shaft of the rotation motion output device 11 is coaxially fixed with the power gear in the gear set 12 for power input.

[0100] In summary, the side brush device provided by the embodiment of the present application can include a side brush housing 1, a guide 2, a side brush transmission member 3, and a side brush assembly 4. The side brush housing 1 is provided with a receiving cavity 1001, the guide 2 is located in the receiving cavity 1001 and fixed to the side brush housing 1. The side brush transmission member 3 is vertically installed in the receiving cavity 1001. The side brush assembly 4 is arranged through the side brush housing 1 and sleeved on the side brush transmission member 3. The side brush assembly 4 is arranged to abut against the guide 2 and be folded by the abutting force. Therefore, when the cleaning robot cleans liquid dirt or performs single-drag mode, the side brush assembly 4 can be away from the ground by the folding mode of the side brush assembly 4, so as to avoid the side brush assembly 4 from contacting the dirt and improve the cleanliness of the side brush device, thereby avoiding secondary pollution in the process of cleaning the ground.

[0101] The embodiment of the present application further provides a cleaning robot, which can include the side brush device according to any one of the above embodiments.

[0102] The embodiment of the present application further provides a cleaning robot, which can include the side brush device. The side brush device can include a side brush housing 1, a guide 2, a side brush transmission member 3, and a side brush assembly 4. The side brush housing 1 is provided with a receiving cavity 1001, the guide 2 is located in the receiving cavity 1001 and fixed to the side brush housing 1. The side brush transmission member 3 is vertically installed in the receiving cavity 1001. The side brush assembly 4 is arranged through the side brush housing 1 and sleeved on the side brush transmission member 3. The side brush assembly 4 is arranged to abut against the guide 2 and be folded by the abutting force. Therefore, when the cleaning robot cleans liquid dirt or performs single-drag mode, the side brush assembly 4 can be away from the ground by the folding mode of the side brush assembly 4, so as to avoid the side brush assembly 4 from contacting the dirt and improve the cleanliness of the side brush device, thereby avoiding secondary pollution in the process of cleaning the ground.

[0103] In summary, the embodiment of the present application also provides a side brush device and a cleaning robot. In the embodiment of the present application, the side brush device can include a side brush housing 1, a guide 2, a side brush transmission member 3, and a side brush assembly 4. The side brush housing 1 is provided with a receiving cavity 1001, the guide 2 is located in the receiving cavity 1001 and is fixed to the side brush housing 1. The side brush transmission member 3 is vertically installed in the receiving cavity 1001. The side brush assembly 4 is arranged through the side brush housing 1 and is sleeved on the side brush transmission member 3, wherein the side brush assembly 4 is arranged to abut against the guide 2 and is driven to fold by the abutting force. In the embodiment of the present application, the cleaning robot includes the side brush device.

[0104] In the working process of the cleaning robot, if the second gear 8 rotates forward, the side brush housing 1 fixed coaxially with the second gear 8 rotates forward synchronously with the second gear 8. At this time, the guide 2 located on the side brush housing 1 abuts against the side brush curved arm 402, and the abutting force of the guide 2 on the side brush curved arm 402 drives the side brush transmission member 3 to rotate synchronously. When the transmission shaft 7 rotates forward under the force, the one-way transmission member 9 does not limit the rotation of the transmission shaft 7, so that the rotation of the side brush assembly 4 can be realized. At this time, the side brush assembly 4 is in a descending state, so that the side brush assembly 4 can rotate in the descending state when the second gear 8 rotates forward, so that the side brush assembly 4 keeps in contact with the ground and performs normal ground cleaning.

[0105] In the case that the second gear 8 reverses, the side brush housing 1 reverses synchronously. Due to the locking effect of the one-way transmission member 9 on the side brush transmission member 3, the side brush transmission member 3 cannot rotate synchronously with the side brush housing 1. At this time, the side brush curved arm 402 fixed to the side brush transmission member 3 rotates relative to the side brush housing 1, so that the abutting force of the guide 2 on the side brush curved arm 402 is increased by the abutting inclined surface 201 during the relative rotation, so that the side brush curved arm 402 is folded downward under the abutting force, and the height of the side brush bundle 403 from the ground is lifted. At this time, the elastic member 5 is deformed and twisted.

[0106] In the next case of the second gear 8 positive rotation, under the torsion recovery effect of the elastic member 5, the brush bending part 4021 moves along the abutting inclined surface 201, and the abutting force of the abutting inclined surface 201 to the brush bending part 4021 gradually decreases, so that the brush bending part 4021 recovers deformation. The bending direction of the brush arm 402 is reset to a horizontal downward state. And through the deformation torsion force of the elastic member 5, the abutment of the guide 2 and the brush arm 402 is maintained, so that the brush assembly 4 can be in contact with the ground, and the ground is cleaned through the rotation of the brush assembly 4. Thus, when the cleaning robot sweeps liquid dirt, or in single-drag mode, the folding mode of the brush assembly 4 can make the brush assembly 4 away from the ground, avoid the brush assembly 4 contacting the dirt, and improve the cleanliness of the brush device to avoid secondary pollution during cleaning the ground.

[0107] Each embodiment in the present application specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between each embodiment can be referred to each other.

[0108] As a person skilled in the art can think of any combination of the above embodiments, any combination of the above embodiments is an embodiment of the present application, which is not described in detail herein.

[0109] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0110] Similarly, it should be understood that, in order to simplify the present application and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof.

[0111] In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of the present application and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

Claims

1. A side brush device, comprising: a side brush housing (1) provided with a receiving cavity (1001) therein; a guide piece (2) located in the receiving cavity (1001) and fixed to the side brush housing (1); a side brush transmission piece (3) vertically installed in the receiving cavity (1001); a side brush assembly (4) disposed through the side brush housing (1) and connected with the side brush transmission piece (3), wherein the side brush assembly (4) is arranged to abut against the guide piece (2) and is driven to fold by the abutting force.

2. The edge brush device of claim 1, wherein The guide piece (2) is provided with an abutting inclined surface (201) in the axial direction of the side brush transmission piece (3), wherein the side brush assembly (4) comprises a side brush curved arm (402), and the side brush curved arm (402) comprises a side brush bending part (4021) arranged to abut against the abutting inclined surface (201).

3. The edge brush device of claim 2, wherein The abutting inclined surface (201) comprises a first abutting inclined surface (2011) and a second abutting surface (2012) connected with the first abutting inclined surface (2011), wherein when the side brush housing (1) rotates, the first abutting inclined surface (2011) is arranged to abut against the side brush bending part (4021) to drive the side brush curved arm (402) to rotate; When the side brush housing (1) moves relative to the side brush transmission piece (3), the first abutting inclined surface (2011) forms an abutting guide to the side brush bending part (4021) to make the side brush bending part (4021) fold downward and lift the height of the side brush assembly (4), wherein when the side brush assembly (4) is lifted to the highest position, the second abutting surface (2012) abuts against the side brush bending part (4021).

4. The edge brush device of claim 3, wherein The thickness of the side brush bending part (4021) away from the center of the side brush transmission piece (3) in the radial direction of the side brush transmission piece (3) is greater than the thickness close to the center of the side brush transmission piece (3).

5. The edge brush device of claim 3, wherein The side brush bending part (4021) is made of rubber material.

6. The brush device according to any one of claims 2-5, wherein The side brush assembly (4) comprises a side brush sleeving part (401) sleeved on the side brush transmission piece (3), and the side brush curved arm (402) is fixed to the side brush sleeving part (401).

7. The brush device of claim 6, wherein An inner circumferential side of the side brush sleeving part (401) is provided with a side brush limiting part (4011), and the side brush transmission piece (3) is provided with a transmission limiting part (301), wherein the side brush limiting part (4011) cooperates with the transmission limiting part (301) to limit the side brush sleeving part (401) in the radial direction of the side brush transmission piece (3).

8. A side brush device according to claim 6 or 7, characterized in that The side brush assembly (4) further comprises a side brush bristle bundle (403) located at the end of the side brush curved arm (402) away from the side brush sleeving part (401), wherein the side brush curved arm (402) is folded under the abutment of the guide piece (2) to lift or lower the height of the side brush bristle bundle (403).

9. The brush device of claim 4, wherein The edge brush shell (1) includes a first shell (101) and a second shell (102) located below the first shell (101), and the first shell (101) and the second shell (102) cooperate to form the accommodating cavity (1001).

10. The edge brush device according to any one of claims 1-9, further comprising a resilient member (5) sleeved on the edge brush transmission member (3), a first end of the resilient member (5) being fixed to the edge brush shell (1), and a second end of the resilient member (5) being fixed to the edge brush transmission member (3); wherein, When the edge brush shell (1) drives the edge brush assembly (4) to rotate, the resilient member (5) provides a torsional force to keep the guide member (2) in abutment with the edge brush assembly (4); When the edge brush shell (1) moves relative to the edge brush assembly (4), the torsional force of the resilient member (5) increases, and the edge brush assembly (4) is driven to fold and reset through the torsional recovery of the resilient member (5).

11. The brush device of claim 10, wherein The edge brush shell (1) is provided with a first clamping groove (1002), and the first end of the resilient member (5) is clamped in the first clamping groove (1002) along the radial direction of the edge brush transmission member (3). The edge brush transmission member (3) is provided with a second clamping groove (3002), and the second end of the resilient member (5) is clamped in the second clamping groove (3002).

12. The brush device according to any one of claims 1-11, wherein The edge brush transmission member (3) is provided with a threaded through hole (3001) in the vertical direction, and the edge brush device further comprises: a threaded connecting member (6) which is threadedly connected with the edge brush transmission member (3) through the threaded through hole (3001); a transmission shaft (7) which is coaxially arranged with the edge brush transmission member (3), and the transmission shaft (7) is connected with the threaded connecting member (6) to drive the edge brush transmission member (3) to rotate through the transmission shaft (7).

13. The edge brush device according to claim 12, further comprising: a second gear (8) which is sleeved on the transmission shaft (7) and movably connected with the transmission shaft (7), wherein the second gear (8) is coaxially fixed with the edge brush shell (1) to drive the edge brush shell (1) to rotate through the second gear (8); a one-way transmission member (9) which is fixed with the transmission shaft (7); wherein, when the second gear (8) rotates in the forward direction, the edge brush shell (1) is driven to rotate, the guide member (2) abuts against the edge brush assembly (4) and drives the edge brush transmission member (3) to rotate; when the second gear (8) rotates in the reverse direction, the edge brush shell (1) is driven to rotate, and under the abutting force of the guide member (2) and the locking force of the one-way transmission member (9) on the edge brush transmission member (3), the guide member (2) presses down the edge brush assembly (4) to form a fold.

14. The edge brush device according to claim 13, further comprising a gear box (10) and a rotary motion outputter (11), the second gear (8) and the one-way transmission (9) are both mounted in the gear box (10), the rotary motion outputter (11) is in driving connection with the second gear (8) to drive the edge brush housing (1) to rotate through the rotary motion outputter (11).

15. A cleaning robot comprising the edge brush device according to any one of claims 1-14.

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