CN112741554B

CN112741554B - Cleaning robot

Info

Publication number: CN112741554B
Application number: CN201911042134.9A
Authority: CN
Inventors: 钟红风; 黎巍; 张士松
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2024-07-09
Anticipated expiration: 2039-10-30
Also published as: CN112741554A; WO2021082845A1

Abstract

The invention discloses a cleaning robot, which comprises: a body; a driving device; the control device is electrically connected with the driving device; the fan is electrically connected with the control device; the cleaning device is used for being arranged on the machine body and executing cleaning work on the working surface; the cleaning device includes: the support shaft comprises a first support shaft and a second support shaft; at least the first support shaft is provided with a first rolling brush, and at least the first support shaft can be driven by a driving device; when the driving device drives the first support shaft to rotate in the forward direction, the first rolling brush is connected with the second support shaft in a matched manner; the first rolling brush is positioned at a working position in a working state; when the driving device drives the first support shaft to reversely rotate, the first rolling brush is separated from the second support shaft, and a separation gap is formed between the first rolling brush and the second support shaft; the first roller brush is in a separated position in a cleaned state. The invention can automatically clean the hair on the rolling brush, and has the advantages of simple structure, ingenious design, small size and low cost.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a cleaning robot.

Background

In recent years, with rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually become a hotspot in the field of modern robot research. Among them, one of the most practical forms of intelligent robots is a sweeping robot.

The floor sweeping robot, also called an automatic sweeping machine, a robot dust collector and the like, can automatically finish floor cleaning work in a room by means of certain artificial intelligence. When the sweeping robot works, the sweeping work is completed by the cooperation of the rolling brush and the fan. Specifically, the soft brush on the rolling brush cleans the garbage on the bottom plate to the garbage box opening or the air duct, and then the negative pressure generated by the fan assists in pouring the garbage into the garbage box. During the cleaning process of the robot, the rolling brush is often wound with hair.

In the prior art, the following methods are used for depilating hair on a roller brush:

1. The user uses the tool to cut and shear the hair. This manual breaking of the hair is not only time-consuming and laborious, but also results in an unhygienic operating environment, which may even damage the roller brush in case of improper operation.

2. A cutting device is arranged on the base station to break the hair so as to remove the hair. The mode needs the linkage of the host and the base station and realizes accurate stopping, and the mode has complex mechanism, high cost and poor feasibility.

3. A hook which can be inserted with the brush hair of the rolling brush for a certain length is fixed in the rolling brush cavity and is used for cleaning the hair. However, the continuous friction between the hooks and the bristles can cause the bristles to be damaged.

Furthermore, there may be a possibility that the hair is prevented from being entangled on the roller brush by increasing the diameter of the roller brush. However, the current sweeping robot is developed towards the light and thin direction, so as to conveniently enter the bottom of the furniture for sweeping, and the rolling brush with a large diameter cannot meet the development direction of the light and thin sweeping robot. Furthermore, even if the diameter of the roller brush is increased, it is unavoidable that some hairs of relatively large length become entangled.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the cleaning robot which can automatically clean the wound cleaning objects such as hair on the rolling brush, and has the advantages of simple structure, ingenious design, small size and low cost.

The above object of the present invention can be achieved by the following technical solutions:

A cleaning robot comprising: a body; a driving device; the control device is electrically connected with the driving device; the fan is electrically connected with the control device; the cleaning device is arranged on the machine body and used for executing cleaning work on the working surface; the cleaning device includes: the support shaft comprises a first support shaft and a second support shaft; at least the first support shaft is provided with a first rolling brush, and at least the first support shaft can be driven by the driving device; when the driving device drives the first supporting shaft to rotate in the forward direction, the first rolling brush is matched with the second supporting shaft; the first rolling brush is positioned at a working position in a working state; when the driving device drives the first support shaft to reversely rotate, the first rolling brush is separated from the second support shaft, and a separation gap is formed between the first rolling brush and the second rolling brush; the first rolling brush is in a separated position in a cleaned state.

In a preferred embodiment, the cleaning device further comprises: the unidirectional rotation supporting mechanism is used for limiting the second supporting shaft to only rotate in the forward direction; when the driving device drives the first supporting shaft to rotate positively, the second supporting shaft and the rolling brush rotate positively together; when the driving device drives the first supporting shaft to reversely rotate, the second supporting shaft is relatively static under the action of the unidirectional rotation supporting mechanism, so that the second supporting shaft is separated from the first rolling brush, and the separation gap is formed.

In a preferred embodiment, the unidirectional rotation support mechanism comprises any one of the following: one-way needle roller bearing and ratchet wheel.

In a preferred embodiment, the second support shaft is integrally formed as a solid of revolution, and includes a support body in the longitudinal direction, and the unidirectional rotation support mechanism is provided outside the support body.

In a preferred embodiment, the first roller brush extends in a longitudinal direction and has opposite first and second ends, and the cleaning device further comprises a torque transmitting mechanism for transmitting the torque of the first support shaft to the first roller brush.

In a preferred embodiment, the torque-transmitting mechanism comprises: the driving piece is arranged on the first rolling brush, the cam groove is arranged on the first supporting shaft, one end of the driving piece stretches into the cam groove, and when the first rolling brush is in the working position, one side, close to the second end, of the cam groove is in contact with the driving piece; when the first rolling brush is in the separation position, one side of the cam groove away from the second end is contacted with the driving piece.

In a preferred embodiment, an angle is formed between the overall direction of extension of the cam slot and the longitudinal direction.

In a preferred embodiment, the first roller brush and the second support shaft are detachably connected by a transmission mechanism comprising: the first clamping part is arranged at the second end of the first rolling brush, the second clamping part is arranged on the second supporting shaft and close to the second end, and when the first rolling brush is in a working position, the first clamping part is matched with the second clamping part; when the first rolling brush is positioned at the separation position, the first clamping part and the second clamping part are separated.

In a preferred embodiment, the first rolling brush is in a hollow columnar shape as a whole, and the first engaging part is arranged near the inner side of the first rolling brush; and a conical surface is formed on the periphery of the second clamping part, and the sectional area of the conical surface gradually decreases towards the first rolling brush side.

In a preferred embodiment, the cleaning device further comprises a reset member disposed between the first support shaft and the first roller brush; when the first rolling brush is turned from the working position to the separating position, the reset piece stores elastic potential energy; when the first rolling brush is changed from the separation position to the working position, the reset piece releases elastic potential energy to drive the rolling brush to approach the second supporting shaft.

In a preferred embodiment, a second roller brush is arranged on the second support shaft, and the first roller brush and the second roller brush are opposite in rotation direction.

In a preferred embodiment, when the first supporting shaft rotates in the forward direction, a containing groove is formed between the first rolling brush and the second rolling brush, the cleaning object on the first rolling brush can move towards the direction from the first end to the second end, and the cleaning object on the second rolling brush can move towards the reverse direction and all enter the containing groove.

In a preferred embodiment, the first support shaft is formed with a first stopper near a first end of the first roller brush; a certain interval for forming the separation gap is preset between the first end and the first limiting part; and when the first rolling brush is in a separation position, the first end of the first rolling brush is abutted against the first limiting part.

In a preferred embodiment, the second supporting shaft includes a second limiting portion, a receiving groove is formed between the second end of the first rolling brush and the second limiting portion, and when the driving device drives the first supporting shaft to rotate in the forward direction, the cleaning objects on the first rolling brush can move towards the direction from the first end to the second end, and are accumulated in the receiving groove.

In a preferred embodiment, the cleaning robot further comprises: the detection device is electrically connected with the control device and is used for identifying the winding condition of the cleaning object on the first rolling brush and/or the second rolling brush; the fan can form negative pressure at least in the region covering the first rolling brush and/or the second rolling brush, when the control device determines that the cleaning object is wound based on the detection signal of the detection device, the driving device is controlled to change the running direction of the first supporting shaft, and the cleaning object at the separation gap is sucked away through the negative pressure generated by the fan.

In a preferred embodiment, the driving means comprises a motor and the detecting means comprises one or a combination of the following: the detection component can detect the operation parameters of the motor and the detection module can receive the control instructions of the user.

In a preferred embodiment, the fan is capable of forming a negative pressure at least in the area covering the first and/or the second roller brush, and the control device is capable of controlling the driving device according to predetermined parameters to change the running direction of the first support shaft, and the cleaning object at the separation gap is sucked away by the negative pressure generated by the fan.

In a preferred embodiment, the predetermined parameter comprises any one or a combination of the following: cleaning time and cleaning area.

Advantageous effects

The cleaning robot provided in the embodiment of the application is provided with the cleaning device, which is a detachable rolling brush cleaning device, and when a cleaning object (such as hair) is wound, the rolling brush is separated from the second support shaft (or the second support shaft provided with the second rolling brush) to form a separation gap, so that the hair can be sucked through the separation gap.

Specifically, when the rolling brush rotates positively, the rolling brush is driven by the first supporting shaft and drives the second supporting shaft to rotate together through the transmission mechanism, and the cleaning task is executed. At this time, since the first cleaning portion provided on the roller brush has a single rotation direction, the wound hair moves to one side and is accumulated in the accommodating groove between the roller brush and the second supporting shaft (or the second roller brush). When hair needs to be removed from the roller brush, the roller brush can be reversed.

When the roll brush is reversed, the roll brush tends to stop rotating because the second support shaft may be restrained from rotating by, for example, a unidirectional rotation bearing mechanism, while the first support shaft is still rotated largely by the drive of the motor. Therefore, the rolling brush and the first supporting shaft rotate relatively, the rolling brush is forced to move leftwards under the action of the torque transmission mechanism, the transmission mechanism between the rolling brush and the second supporting shaft is disconnected, and the rolling brush is separated from the second supporting shaft. The hairs are sucked away by the fan along the second support shaft through the separation gap.

On the whole, be provided with this cleaning device's cleaning robot can clear up the hair on the round brush automatically, and simple structure, design benefit, the size is little, with low costs.

Drawings

The invention will be further described with reference to the drawings and embodiments.

Fig. 1 is a schematic view of a structure of a cleaning robot provided in an embodiment of the present application;

fig. 2 is a schematic view showing a structure of a rolling brush of a cleaning robot cleaning device according to an embodiment of the present application in a forward rotation state;

FIG. 3 is a schematic view showing a structure of a rolling brush of the cleaning robot cleaning device provided in FIG. 2 in a reverse rotation state;

Fig. 4 is a schematic view showing a structure of a rolling brush of a cleaning robot cleaning device according to another embodiment of the present application in a forward rotation state;

fig. 5 is a schematic view showing a structure in which a rolling brush of the cleaning robot cleaning device provided in fig. 4 is in a reverse rotation state.

Reference numerals illustrate:

1. A body; 11. a first support shaft; 110. cam grooves; 13. a driving member; 111. a first limit part; 112. a first engagement portion; 2. a rolling brush; 21. a first roller brush; 22. a second rolling brush; 220. a core bar; 12. a second support shaft; 120. a support body; 121. a second engaging portion; 122. a second limit part; 3. a reset member; 4. a unidirectional rotation support mechanism; 5. a receiving groove; 6. a separation gap; 7. a control device; 8. and a motor.

Detailed Description

The technical solution of the present application will be described in detail below with reference to the attached drawings and specific embodiments, it should be understood that these embodiments are only for illustrating the present application and not for limiting the scope of the present application, and various modifications of equivalent forms of the present application will fall within the scope of the appended claims after reading the present application.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Compared with the prior art, the cleaning robot provided by the specification has the advantages that the cleaning device is improved, the cleaning objects such as hairs on the rolling brush can be automatically cleaned, and the cleaning robot is simple in structure, ingenious in design, small in size and low in cost.

Referring to fig. 1, a cleaning robot may generally include: a body 1; a driving device; a control device 7 electrically connected with the driving device; the fan is electrically connected with the control device 7; cleaning means for performing cleaning work on a work surface, mounted on the cleaning robot body 1. Wherein the driving means may comprise: a motor 8 for providing a rotational force, a reduction gearbox for reducing the rotational force (i.e., rotational speed) of the motor 8 to a predetermined speed output, and the like.

The cleaning device in the cleaning robot can be applied to the cleaning robot, and certainly, the cleaning device can not be excluded from being applied to other practical scenes, such as a large garbage sweeper and the like. In the present application, mainly the implementation scenario of the cleaning device applied to the cleaning robot is mainly described, and other implementation scenarios can be analogized to the present application, which is not described herein again.

In the embodiment of the application, the cleaning device of the cleaning robot is improved. Referring to fig. 2 to 3 in combination, a cleaning device for a cleaning robot according to an embodiment of the present application will be described in detail. The cleaning device may include: a support shaft including a first support shaft 11 and a second support shaft 12; at least the first support shaft 11 is provided with a first roll brush 21, and at least the first support shaft 11 can be driven by the driving means; when the driving device drives the first supporting shaft 11 to rotate in the forward direction, the first rolling brush 21 is matched with the second supporting shaft 12; the first rolling brush 21 is in a working position in a working state; when the driving device drives the first supporting shaft 11 to reversely rotate, the first rolling brush 21 is separated from the second supporting shaft 12, and a separation gap is formed between the first rolling brush 21 and the second supporting shaft; the first roller brush 21 is in a separated position in a cleaned state.

In this embodiment, the cleaning device mainly includes: the first support shaft 11 which can be driven to rotate by a motor is sleeved outside the first support shaft 11, the first rolling brush 21 which receives the torque transmitted by the first support shaft 11 through a torque transmission mechanism is arranged on one side of the first rolling brush 21, and the second support shaft 12 is matched with the first rolling brush 21 through a transmission mechanism. Furthermore, it may further include: a unidirectional rotation support mechanism 4 for supporting the second support shaft 12 on the body 1. That is, the detachable connection of the first roller brush and the second support shaft 12 can be achieved by the unidirectional rotation bearing mechanism 4 and the mating relationship of the first roller brush 21 and the second support shaft 12.

When the first supporting shaft 11 rotates forward, the second supporting shaft 12 rotates forward together with the first rolling brush 21; the first roller brush 21 can perform a cleaning task. When the first support shaft 11 rotates reversely, the second support shaft 12 is relatively stationary under the action of the unidirectional rotation support mechanism 4, and the first rolling brush 21 is separated from the second support shaft 12 after relatively rotating with the first support shaft 11 under the action of the second support shaft 12, so as to form a separation gap 6. Under the adsorption action of the fan, the hair wound on the first rolling brush 21 can enter a preset accommodating cavity after being adsorbed by the fan from the separation gap 6.

In this embodiment, the first rolling brush 21 contacts the ground during rolling, so that the ground can be cleaned effectively. The first roller brush 21 may have a hollow columnar shape as a whole. The hollow portion is mainly used for being matched with the first supporting shaft 11 in the axial direction. The first roller brush 21 extends in a longitudinal direction and has opposite first and second ends. During rolling, hair wound around the surface of the first roller brush 21 can move in a direction from the first end to the second end.

In one embodiment, the first roller brush 21 is provided with a first cleaning portion having a single direction of rotation such that hair can move in a direction from the first end to the second end. Specifically, a first cleaning portion may be disposed on the surface of the first rolling brush 21, and the first cleaning portion may specifically be one of a brush and a rubber strip, or a combination of both. Of course, the surface of the first rolling brush 21 may be provided with other materials having a cleaning function, and the present application is not limited thereto. When the surface of the first rolling brush 21 is provided with a cleaning portion of a brush, a rubber strip, or the like, the first cleaning portion may be formed in a single spiral along the longitudinal direction, thereby ensuring that the hair wound around the surface of the first rolling brush 21 can move in a direction from the first end to the second end.

In another embodiment, the first rolling brush 21 is tapered from the first end to the second end, and the taper ranges from 1:100 to 1:400. specifically, when the first rolling brush 21 has a certain small taper from the first end to the second end, that is, when the cross-sectional area of the first rolling brush 21 gradually decreases from the first end to the second end, the hair wound on the surface of the first rolling brush 21 can also move integrally toward the second end.

In the present embodiment, the first support shaft 11 can be driven to rotate by a motor. Specifically, the motor may output torque that satisfies a demand to the first support shaft 11 through a reduction gearbox, so that the first support shaft 11 rotates at a certain rotational speed. A first limiting part 111 is formed at a position of the first supporting shaft 11 near the first end of the first rolling brush 21, when the first supporting shaft 11 rotates forward, the first rolling brush 21 is in a working position, and a certain interval for forming the separation gap 6 is preset between the first end and the first limiting part 111; when the first supporting shaft 11 rotates reversely, the first rolling brush 21 is at the off position, and the first end abuts against the first limiting portion 111.

Specifically, the first limiting portion 111 may be an annular protrusion with an outer diameter greater than the inner diameter of the first rolling brush 21. Of course, the first stopper 111 may be a partial protrusion having a size larger than the inner diameter of the first roller brush 21, and may be the first stopper 111 as long as the stopper can regulate the first roller brush 21 in the longitudinal direction.

A torque transmission mechanism for transmitting the torque of the first support shaft 11 to the first roller brush 21 is provided between the first support shaft 11 and the first roller brush 21.

Specifically, the torque-transmitting mechanism may include: a driving member 13 provided on the first roller brush 21, a cam groove 110 provided on the first support shaft 11, and one end of the driving member 13 protruding into the cam groove 110. When the first rolling brush 21 is in the working position, one side of the cam groove 110 near the second end is contacted with the driving piece 13; when the first roller brush 21 is in the off position, a side of the cam groove 110 away from the second end is in contact with the driving piece 13.

The driving member 13 may be in the form of a driving rod having one end fixed to the first roller brush 21 and the other end being a free end inserted into the cam groove 110.

The overall extending direction of the cam groove 110 forms a certain angle with the axial direction of the first supporting shaft 11 (i.e., the longitudinal direction of the first roller brush 21). That is, when the first rolling brush 21 is in the working position and is converted to the separating position, the driving rod moves along the preset track of the cam groove 110, and the preset track has a certain included angle between the whole extending direction and the longitudinal direction, but not parallel to the whole extending direction, so that when the first rolling brush 21 is converted from the working position to the separating position, the inclined surface of the cam groove 110 generates an axial component force on the driving member, so as to push the first rolling brush away from the second end.

In the present embodiment, the transmission mechanism for transmitting the torque between the first roller brush 21 and the second support shaft 12 may include: a first engaging portion 112 disposed at a second end of the first rolling brush 21, and a second engaging portion 121 disposed on the second supporting shaft 12 and close to the second end, where the first engaging portion 112 and the second engaging portion 121 are engaged when the first rolling brush 21 is in the working position; when the first roller brush 21 is at the off position, the first engaging portion 112 and the second engaging portion 121 are separated.

Specifically, the transmission mechanism may be in the form of a spline, that is, the first engaging portion 112 and the second engaging portion 121 may be in the form of a spline, and of course, the transmission mechanism may also be in other modes capable of realizing torque transmission, so that the first engaging portion 112 and the second engaging portion 121 can be engaged to forward transmit torque only when the motor rotates forward, and can be disengaged in time when the motor rotates backward.

In the present embodiment, the second support shaft 12 is provided at one side of the second end of the first roller brush 21. One side of the second support shaft 12 receives the torque transmitted from the first rolling brush 21 through the transmission mechanism, and the other side of the second support shaft 12 is provided with the unidirectional rotation bearing mechanism 4, so that the second support shaft 12 can only rotate forward but not rotate backward.

Specifically, the second support shaft 12 is a solid of revolution as a whole, and includes, in order along the longitudinal direction: the second engaging portion 121, the second limiting portion 122 and the supporting body 120, wherein the unidirectional rotation supporting mechanism 4 is arranged outside the supporting body 120. The second limiting portion 122 may be an annular protrusion with an outer diameter larger than the inner diameter of the first rolling brush 21. Of course, the second limiting portion 122 may be a partial protrusion having a size larger than the inner diameter of the first rolling brush 21. The second limiting portion 122 is matched with the second end of the first rolling brush 21 to form a containing groove 5 for accumulating hair.

In one embodiment, a tapered surface is formed on the outer periphery of the second engaging portion 121, and the tapered surface gradually decreases in cross-sectional area from the second stopper portion 122 toward the first roller brush 21. After the tapered surface is formed on the periphery of the second engaging portion 121, the second engaging portion 121 serves as a central axis of the accommodating gap, and when the first rolling brush 21 is separated from the second supporting shaft 12, the hair is easily sucked by the negative pressure generated by the fan.

Further, the first engaging portion 112 is disposed near the inner side of the second end. When the second engaging portion 121 having a tapered surface is engaged with the first engaging portion 112 having a built-in portion, accurate and reliable mechanical positioning of both portions can be facilitated.

The support body 120 is provided with the unidirectional rotation support mechanism 4. The unidirectional rotation bearing mechanism 4 is used for limiting the second support shaft 12 to only forward rotation. That is, when the first supporting shaft 11 rotates in the forward direction, the second supporting shaft 12 rotates in the forward direction together with the first rolling brush 21; when the first support shaft 11 rotates reversely, the second support shaft 12 is relatively stationary under the action of the unidirectional rotation support mechanism 4, and the first rolling brush 21 is separated from the second support shaft 12 after relatively rotating with the first support shaft 11 under the action of the second support shaft 12, so as to form a separation gap 6.

Specifically, the unidirectional rotation support mechanism 4 may include any one of the following: one-way needle roller bearing and ratchet wheel. Of course, the unidirectional rotation support mechanism 4 may take other forms, and the present application is not limited in detail herein. When the unidirectional rotation supporting mechanism is a needle bearing, the unidirectional rotation supporting mechanism can serve as a basic function of the bearing to realize transition fit between the second supporting shaft 12 and the machine body 1, and can reduce the volume of the bearing and improve the rigidity of the whole shafting.

In one embodiment, the cleaning device may further comprise a reset element 3. The resetting element 3 is arranged between the first supporting shaft 11 and the first roller brush 21.

In the present embodiment, the reset member 3 is mainly used to provide a reset force for resetting the first roller brush 21 from the off position to the operating position. In particular, the return element 3 may be in the form of a spring. The reset member 3 may be disposed inside the first roller brush 21 between the first support shaft 11 and the first engaging portion 112. When the first rolling brush 21 is turned from the working position to the off position, the reset member 3 accumulates elastic potential energy; when the first rolling brush 21 is turned from the off position to the working position, the reset element 3 releases elastic potential energy to drive the first rolling brush 21 to approach the second supporting shaft 12.

Referring to fig. 4 and fig. 5 in combination, in one embodiment, a core bar 220 is disposed between the second engaging portion 121 and the second limiting portion 122 of the second support shaft 12, a second rolling brush 22 is sleeved outside the core bar 220, a second cleaning portion is disposed on the surface of the second rolling brush 22, and the rotation direction of the second cleaning portion is opposite to that of the first cleaning portion.

In the present embodiment, the second rolling brush 22 may maintain the same movement tendency as the second support shaft 12. In the case of the second cleaning portion on the second rolling brush 22, and the rotation direction of the second cleaning portion is opposite to that of the first cleaning portion, when the first supporting shaft 11 rotates in the forward direction, a receiving groove 5 is formed between the first rolling brush 21 and the second rolling brush 22, the hair on the first rolling brush 21 can move in the direction from the first end to the second end, and the hair on the second rolling brush 22 can move in the reverse direction, and all the hair enters the receiving groove 5.

The cleaning device provided in the embodiment of the application is a detachable first rolling brush 21 hair cleaning device, when the hair is wound, the first rolling brush 21 is separated from the second supporting shaft 12 (or the second supporting shaft 12 provided with the second rolling brush 22), and a separation gap 6 is formed, so that the hair can be sucked through the separation gap 6.

Specifically, when the first rolling brush 21 rotates forward, the first rolling brush 21 is driven by the first supporting shaft 11 and drives the second supporting shaft 12 to rotate together through the transmission mechanism, so as to perform the cleaning task. At this time, since the first cleaning portion provided on the first roller brush 21 has a single rotation direction, the wound hair moves rightward and is accumulated in the accommodating groove 5 between the first roller brush 21 and the second support shaft 12 (or the second roller brush 22).

When hair needs to be removed from the first roller brush 21, the first roller brush 21 may be reversed.

When the first rolling brush 21 is required to be reversed, the first rolling brush 21 tends to stop rotating because the second supporting shaft 12 is restricted from rotating by the unidirectional rotation bearing mechanism 4, and the first supporting shaft 11 is still kept rotating by the motor. Accordingly, the first roller brush 21 rotates relative to the first support shaft 11, the first roller brush 21 is forced to move leftward by the cam groove 110 in the torque transmission mechanism, the first engagement portion 112 of the first roller brush 21 is disengaged from the second engagement portion 121 of the second support shaft 12, and the first roller brush 21 is separated from the second support shaft 12. The hairs shrink along the conical surface of the second support shaft 12 and are sucked away by the fan in the separation gap 6.

In the present description, an embodiment in which the second roller brush 22 is provided only on the second support shaft 12 is not excluded either. For this embodiment, it is different from the first embodiment described above in that: the first rolling brush 21 on the first supporting shaft 11 is omitted, and in particular, the present application will not be described here.

Further, as for the manner in which the first support shaft 11 and the second support shaft 12 are separated, a one-way rotation support mechanism is provided at the second support shaft 12 for restricting the second support shaft 12 from rotating only in the forward direction but not in the reverse direction. A brake motor may also be provided for the second support shaft 12. When it is necessary to separate the second support shaft 12 from the first support shaft 11, the brake motor may be activated such that the rotation directions of the first support shaft 11 and the second support shaft 12 are opposite, thereby enabling the separation of the first support shaft 11 and the second support shaft 12.

Referring to fig. 1, in one embodiment, when the cleaning apparatus is applied in a cleaning robot scenario, the cleaning robot may further include: a control device 7 electrically connected with the motor 8; the fan is electrically connected with the control device 7, the fan can form negative pressure at least in the area covering the rolling brush 2, the control device 7 can change the running direction of the motor 8 according to preset parameters, and the preset parameters comprise any one or combination of the following: cleaning time and cleaning area. The rolling brush 2 may be at least one of a first rolling brush 21 and a second rolling brush 22.

In the present embodiment, the forward/reverse rotation of the first roller brush 21, that is, the forward/reverse rotation control of the motor 8 can be performed by providing a control program in the control device 7, and for example, the first roller brush 21 can be controlled to reverse every predetermined time. That is, control may be performed according to the cleaning time of the first roll brush 21. For example, the motor 8 may be controlled to perform the hair removing process in reverse rotation every time the cleaning time of the first roller brush 21 reaches a predetermined period. Of course, this may be controlled according to the cleaning area of the roll brush 2. Wherein the cleaning area of the rolling brush 2 is the sum of the cleaning areas of all rolling brushes in the cleaning robot. When the cleaning area of the roller brush 2 reaches a predetermined area, the motor 8 can be controlled to reversely rotate to perform hair removal treatment.

In another embodiment, the cleaning robot may further include: a detection unit for identifying the winding condition of the hair of the rolling brush 2; the control device 7 is electrically connected with the detection unit and the motor 8; and the fan is electrically connected with the control device 7, can form negative pressure at least in the area covered by the rolling brush 2, and changes the running direction of the motor 8 when the control device 7 determines that the rolling brush 2 is wound by hair based on the detection signal of the detection unit.

Specifically, the detection unit may include one or more of the following combinations: the detection component can detect the operation parameters of the motor and the detection module can receive the control instructions of the user.

For example, when the detecting unit is a detecting member capable of detecting an operating parameter of the motor 8, when there is a certain amount of hair winding on the roller brush 2, the winding amount is fed back to the operating parameter of the motor 8, for example, the operating current of the motor 8 is changed. When the detecting member detects that the operating current of the motor 8 fluctuates by a certain amount, the control device 7 controls the motor 8 to reverse according to the signal detected by the detecting member.

In addition, when the detection unit is a detection module capable of receiving a user control instruction, the detection module may be a predetermined button on the cleaning robot, or may be a certain instruction on the APP, or the like.

It should be noted that, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and to distinguish between similar objects, and there is no order of preference between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

The foregoing embodiments in the present specification are all described in a progressive manner, and the same and similar parts of the embodiments are mutually referred to, and each embodiment is mainly described in a different manner from other embodiments.

The foregoing description of the embodiments of the present invention is merely illustrative, and the present invention is not limited to the embodiments described above. Any person skilled in the art can make any modification and variation in form and detail of the embodiments without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.

Claims

1. A cleaning robot comprising: a body; a driving device; the control device is electrically connected with the driving device; the fan is electrically connected with the control device; the cleaning device is arranged on the machine body and used for executing cleaning work on the working surface; it is characterized in that the method comprises the steps of,

The cleaning device includes: the support shaft comprises a first support shaft and a second support shaft; at least the first support shaft is provided with a first rolling brush, and at least the first support shaft can be driven by the driving device;

When the driving device drives the first supporting shaft to rotate in the forward direction, the first rolling brush is matched with the second supporting shaft; the first rolling brush is positioned at a working position in a working state; when the driving device drives the first support shaft to reversely rotate, the first rolling brush is separated from the second support shaft, and a separation gap is formed between the first rolling brush and the second rolling brush; the first rolling brush is positioned at a separation position in a cleaned state;

the cleaning device further includes: the unidirectional rotation supporting mechanism is used for limiting the second supporting shaft to only rotate in the forward direction; when the driving device drives the first supporting shaft to rotate positively, the second supporting shaft and the rolling brush rotate positively together; when the driving device drives the first supporting shaft to reversely rotate, the second supporting shaft is relatively static under the action of the unidirectional rotation supporting mechanism, so that the second supporting shaft is separated from the first rolling brush to form the separation gap;

The cleaning device further comprises a torque transmission mechanism for transmitting the torque of the first support shaft to the first rolling brush.

2. The cleaning robot of claim 1, wherein the unidirectional rotation support mechanism comprises: a one-way needle bearing or a ratchet wheel.

3. The cleaning robot according to claim 1, wherein the second support shaft is integrally formed as a revolution body including a support body in a longitudinal direction, and the unidirectional rotation support mechanism is provided outside the support body.

4. The cleaning robot of claim 1, wherein the first roller brush extends in a longitudinal direction and has opposite first and second ends, the torque-transmitting mechanism comprising: a driving member provided on the first roller brush, a cam groove provided on the first support shaft, one end of the driving member extending into the cam groove,

When the first rolling brush is positioned at the working position, one side of the cam groove, which is close to the second end, is contacted with the driving piece;

when the first rolling brush is in the separation position, one side of the cam groove away from the second end is contacted with the driving piece.

5. The cleaning robot of claim 4, wherein an angle is formed between an overall extending direction of the cam groove and the longitudinal direction.

6. The cleaning robot of claim 1, wherein the first roller brush extends in a longitudinal direction and has opposite first and second ends, the first roller brush and the second support shaft being detachably connected by a transmission mechanism, the transmission mechanism comprising: a first clamping part arranged at the second end of the first rolling brush, a second clamping part arranged on the second supporting shaft and close to the second end,

When the first rolling brush is positioned at the working position, the first clamping part is matched with the second clamping part;

When the first rolling brush is positioned at the separation position, the first clamping part and the second clamping part are separated.

7. The cleaning robot of claim 6, wherein the first roller brush has a hollow columnar shape as a whole, and the first engaging portion is provided near an inner side of the first roller brush; and a conical surface is formed on the periphery of the second clamping part, and the sectional area of the conical surface gradually decreases towards the first rolling brush side.

8. The cleaning robot of claim 1, wherein the cleaning device further comprises a reset member disposed between the first support shaft and the first roller brush;

when the first rolling brush is turned from the working position to the separating position, the reset piece stores elastic potential energy;

when the first rolling brush is changed from the separation position to the working position, the reset piece releases elastic potential energy to drive the rolling brush to approach the second supporting shaft.

9. The cleaning robot of claim 1, wherein the first roller brush extends in a longitudinal direction, has opposite first and second ends, and the first support shaft is formed with a first stopper near the first end of the first roller brush; a certain interval for forming the separation gap is preset between the first end and the first limiting part; and when the first rolling brush is in a separation position, the first end of the first rolling brush is abutted against the first limiting part.

10. The cleaning robot of claim 1, wherein the first roller brush extends in a longitudinal direction and has opposite first and second ends, the second support shaft includes a second stopper portion,

And a containing groove is formed between the second end of the first rolling brush and the second limiting part, and when the driving device drives the first supporting shaft to rotate positively, the cleaning objects on the first rolling brush can move towards the direction from the first end to the second end and are piled in the containing groove.

11. The cleaning robot of claim 1, further comprising:

The detection device is electrically connected with the control device and is used for identifying the winding condition of the cleaning object on the first rolling brush;

The fan can form negative pressure at least in the region that covers first round brush, when controlling means is based on detecting device's detection signal confirms that the clearance twines appears, control drive arrangement is in order to change the direction of operation of first back shaft, through the negative pressure that the fan produced will clearance department is absorbed away.

12. The cleaning robot of claim 11, wherein the drive means comprises a motor and the detection means comprises one or more of the following in combination: the detection component can detect the operation parameters of the motor and the detection module can receive the control instructions of the user.

13. The cleaning robot according to claim 1, wherein the blower is capable of forming a negative pressure at least in a region covering the first rolling brush, and the control means is capable of controlling the driving means to change the operation direction of the first supporting shaft according to a predetermined parameter, and sucking the cleaning object at the separation gap by the negative pressure generated by the blower.

14. The cleaning robot of claim 13, wherein the predetermined parameters include a cleaning time and/or a cleaning area.