WO2023072245A1

WO2023072245A1 - Clearing device, base station, cleaning device system, and method for clearing rolling brush assembly

Info

Publication number: WO2023072245A1
Application number: PCT/CN2022/128234
Authority: WO
Inventors: 门胜强; 刘猛猛; 钟红风; 张士松
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2021-10-28
Filing date: 2022-10-28
Publication date: 2023-05-04
Also published as: US20240292984A1; CN220309081U; CN118302093A

Abstract

A clearing device (100) and a base station. A driving unit (110) is used to drive a feeding unit (120) to move to a picking position, and then from the picking position to a working position, such that a tangled object on a rolling brush (3) is pulled down. When the tangled object is pulled down, a cutting unit (130) cuts the tangled object, so as to effectively clear the rolling brush (3). In this way, a cutting mode of the clearing device (300) is a mode of pulling the tangled object, and then cutting the tangled object, which can ensure that the tangled object attached to the rolling brush in a clumped manner can be separated from the rolling brush in a timely manner after being cut, so as to achieve effective clearing. Since the working position is arranged further away from the rolling brush (3) relative to the picking position, the cutting unit (130) remains at a certain distance from the picking position for the tangled object during cutting, such that the cutting unit (130) is prevented from being excessively close to the rolling brush (3), which easily causes damage to rolling brush. Therefore, it is conducive to the reduction of damage to the rolling brush (3), while efficient cutting is achieved; moreover, a first shearing member (133) and a second shearing member (134) cut the tangled object in a reciprocating manner, such that the cutting effect on the tangled object is better.

Description

Cleaning method for cleaning device, base station, cleaning device system and roller brush assembly

technical field

The present disclosure relates to the technical field of cutting and cleaning, in particular to a cleaning device and a base station.

Background technique

With the development of cleaning technology, cleaning robots have emerged to reduce the labor intensity of traditional manual cleaning. For example: sweeping robot, etc. During the cleaning process, the sweeping robot drives the roller brush to rotate, and the brush moves to absorb or adhere to the garbage on the ground, making the garbage easy to suck and collect.

During the cleaning process, the roller brush is easily entangled with entanglements such as hair and thread ends, resulting in a limited and reduced cleaning ability and affecting the cleaning effect. Therefore, three kinds of cleaning devices are designed on the existing cleaning robot to clean up the entanglements on the roller brush: 1. Use the comb teeth to cooperate with the blade to directly cut the hair wound on the roller brush; 2. Use the inside of the roller brush to The sawtooth moves back and forth to cut off the entangled hair; 3. Use the sawtooth to cut the hair directly with the blade that moves along the axial direction of the roller brush. Yet above-mentioned three kinds of cleaning devices are not only easy to damage the self-structure of the roller brush in the working process, but also stick to the roller brush in groups, even if they are cut off, they will not break away from the roller brush, so effective cleaning cannot be realized.

Contents of the invention

Based on this, it is necessary to provide a cleaning device, a base station, a cleaning device system and a cleaning method for the roller brush assembly, which can effectively clean the entanglements wound on the roller brush and realize effective cleaning under the premise of reducing damage to the roller brush.

A cleaning device, used for cleaning windings on the roller brush of the cleaning device, the cleaning device includes a cleaning control unit, a feeding drive unit, a feeding unit and a cutting unit, the cleaning control unit and the feeding drive The unit is electrically connected, and controls the feed drive unit to drive the feed unit to move at least between the pick-up position and the working position, so as to pull down the winding on the rolling brush, and the working position is in line with the axis of the rolling brush The distance is greater than the distance between the pick-up position and the axis of the roller brush, the cutting unit is closer to the working position relative to the pick-up position, and the cutting unit includes a first shearing member and a second shearing member that cooperate with each other, The first shearing member and the second shearing member are configured to reciprocate relative to each other, so as to shear the windings pulled down by the feeding unit.

The above cleaning device uses the drive unit to drive the feeding unit to the pick-up position during the cleaning of the windings, and then moves from the pick-up position to the working position, so that the windings on the roller brush are pulled to the working position. When the winding is pulled to the working position, it is at least cut under the action of the cutting unit, so as to realize effective cleaning on the roller brush. In this way, the cutting method of the cleaning device is to pull the windings first, and then cut. For the windings adhering to the roller brush, it can ensure that the windings are separated from the roller brush in time after cutting, so as to realize effective cleaning. Since the distance between the working position and the axis of the roller brush is greater than the distance between the pick-up position and the axis of the roller brush, that is, the working position is set farther away from the roller brush than the pick-up position. Therefore, when cutting, the cutting unit will maintain a certain distance from the pick-up position of the winding. The distance between the cutting unit and the rolling brush can be prevented from being too close to the rolling brush structure, so as to achieve effective cutting and reduce the damage to the rolling brush. At the same time, the reciprocating cutting of the first shearing member and the second shearing The cutting effect of the object is better.

In one of the embodiments, the feeding unit includes hooking structures, and there are more than two hooking structures arranged along the length direction of the feeding unit, and the length direction of the feeding unit is the same as The axes of the roller brushes are parallel.

In one of the embodiments, a hook groove with an opening at one end is formed between the hooking structure and the feeding unit to accommodate at least part of the wrappings; The direction of movement from the working position to the pick-up position is adapted so that the hooking structure picks up the winding.

In one embodiment, the hooking structure has an inner arc surface and an outer arc surface oppositely arranged, the hook groove is formed between the inner arc surface and the feeding unit, and at least the outer arc surface The part extends obliquely, and its extension direction is set at an included angle with the horizontal plane, and the top of the outer arc surface is at least partially set horizontally.

In one of the embodiments, the distance between two adjacent hooking structures is L, and the feeding unit has a displacement s in the horizontal direction when moving from the picking position to the working position, so that L< s.

In one of the embodiments, the hooking structure has an inner arc surface and an outer arc surface oppositely arranged, and a hook groove is formed between the inner arc surface and the feeding unit to accommodate at least part of the wrapping; The first shearing part and the second shearing part have overlapping parts in height, the highest point of the overlapping part is defined as a lower point, and when the hooking structure is in the working position, the inner arc surface The top of the is lower than the lower point.

In one embodiment, the top of the inner arc surface is 1-20mm lower than the lower point.

In one embodiment, the top of the inner arc surface is 5-10mm lower than the lower point.

In one of the embodiments, there is a horizontal distance perpendicular to the height direction between the feeding unit and the lower point, and the range of the horizontal distance is between 0-3mm.

In one of the embodiments, the rolling brush is located above the feeding unit and the cutting unit, and the feeding unit and the cutting unit are parallel to the axis of the rolling brush; the hooking structure It has an inner arc surface and an outer arc surface oppositely arranged, and a hook groove is formed between the inner arc surface and the feeding unit to accommodate at least part of the wrapping; the first shearing member and the second shearing member are There are overlapping parts in height, and the highest point of the overlapping part is defined as the lower point; when the feed unit is in the working position, the axis of the roller brush and the vertex of the inner arc surface define the first A plane, the distance between the lower point and the first plane is d1, the lower point is higher than the top of the inner arc surface, and the lower point is orthographically projected relative to the first plane, A projection point is formed on the first plane, the distance between the projection point and the top of the inner arc surface is d2, the maximum outer diameter of the roller brush is r, the axis of the roller brush and the inner arc surface The distance from the top of the arc is d3, let

And 0<d1<r, 0<d2<d3-r.

In one of the embodiments, in the length direction of the feeding unit, at least one hooking structure near the two ends of the feeding unit is higher than the hooking structure in the middle area of the feeding unit. structure.

In one of the embodiments, in the length direction of the feeding unit, at least one of the hooking structures near the two ends of the feeding unit is narrower than the hooking structure in the middle region of the feeding unit. structure.

In one of the embodiments, the first shearing member and the second shearing member are arranged side by side, the second shearing member is fixedly arranged, and the first shearing member is opposite to the The second shearing member reciprocates to generate shearing force, and the length directions of the first shearing member and the second shearing member are parallel to the axis of the roller brush.

In one of the embodiments, each of the first shearing member, the second shearing member and the feeding unit has a center line perpendicular to the axis of the roller brush, and the first shearing member is opposite to the first shearing member. The two shearing parts have two extreme positions when reciprocating, the first shearing part is located in the middle of the two extreme positions, and when the feed unit is in the working position, the first shearing part, the The center line of the second shearing piece and the feed unit are in the same vertical plane perpendicular to the axis of the roller brush; the second shearing piece has a maximum length L1, and the length of the feed unit is L2 , when the feeding unit moves from the picking position to the working position, it has a displacement s in the horizontal direction, wherein L1>L2+s.

In one of the embodiments, the hooking structure includes a base and a hook connected to the base, the hook includes a first hook and a second hook, the first hook and the second hook The two hooks are connected to opposite sides of the base, and the first hook and the second hook respectively hook winding objects during the movement of the feeding unit.

In one of the embodiments, the feed drive unit is connected with the feed unit and drives the feed unit to reciprocate between the picking position and the working position, and the movement of the feed unit is The frequency is less than the relative reciprocation frequency of the first shearing member and the second shearing member.

In one of the embodiments, the cleaning control unit is electrically connected with the feeding unit and the cutting unit, the cleaning control unit controls the cutting unit to start before the feeding unit, and the cleaning control unit The unit controls the feeding unit to stop before the cutting unit.

In one of the embodiments, the feeding unit includes more than two feeding segments, and more than two feeding segments are spliced side by side to form the feeding unit.

In one of the embodiments, the first cut piece includes more than two first cut pieces, and the two or more first cut pieces are spliced into the first cut piece; the second cut piece The piece includes more than two second cut segments, and the two or more second cut segments are spliced to form the second cut piece.

In one of the embodiments, the feed drive unit includes a first motor and a first cam structure, the first cam structure is connected with the feed unit, and the first motor drives the first cam structure to rotate , the first cam structure drives the feed unit to perform a reciprocating circular motion.

In one of the embodiments, the cleaning device further includes a shear driving unit connected to the cutting unit and configured to drive the first shearing member and the second shearing member A reciprocating motion is generated to shear the windings, and the shear drive unit is at least partly of the same structure as the feed drive unit.

A base station, the base station includes a station body and the cleaning device described in any one of the above, the station body is provided with a working chamber for the cleaning device to stop or leave, and the cleaning device is embedded in the working chamber inside the bottom wall.

The above-mentioned base station is used in conjunction with the cleaning robot. When the cleaning robot drives into the working chamber, the drive unit is used to drive the feeding unit to move to the pick-up position; on the working position. If the windings can be separated from the roller brush under the action of the feeding unit, then cleaning can be realized without cutting; if part of the windings cannot be completely separated from the roller brush, the cleaning device needs to be equipped with a cutting unit. When the winding is pulled to the working position, the cutting unit cuts the winding to achieve effective cleaning on the roller brush. Since the distance between the working position and the axis of the roller brush is greater than the distance between the pick-up position and the axis of the roller brush, that is, the working position is set farther away from the roller brush than the pick-up position. Therefore, when cutting, the cutting unit will maintain a certain distance from the pick-up position of the winding. The distance between the cutting unit and the rolling brush can be prevented from being too close to the rolling brush structure, so as to achieve effective cutting and reduce the damage to the rolling brush. At the same time, the reciprocating cutting of the first shearing member and the second shearing The cutting effect of the object is better.

In one of the embodiments, at least part of the structure of the cleaning device is detachably installed on the base station.

In one of the embodiments, the cleaning device further includes a mounting frame, the feeding unit, the cutting unit and at least part of the feeding drive unit are fixedly mounted on the mounting frame, and the mounting frame is detachable Installed on the base station, the mounting frame and the base station are provided with a locking structure that cooperates with each other, and the locking structure is configured to switch between a locked state and a released state, so as to lock the mounting frame Clamp on and release from the base station.

A cleaning device system, the cleaning device system includes a cleaning device and a base station for maintaining the cleaning device, the base station includes any of the above-mentioned cleaning devices and a station body, and the station body is provided with a cleaning device for docking or leaving The cleaning device is embedded in the bottom wall of the working chamber, and when the cleaning device stops in the working chamber, the cleaning device cleans the entanglement on the roller brush of the cleaning device.

In one of the embodiments, the cleaning device includes: a rolling brush assembly, including the rolling brush, configured to clean the garbage on the surface to be worked; a control unit, at least according to the maintenance status of the cleaning device. The roller brush assembly rotates or stops, and the control unit directly or indirectly controls the cleaning device to clean the windings on the roller brush when receiving the signal that the roller brush assembly stops at the first preset phase , the control unit is further configured to control the rotation of the rolling brush assembly to stop at more than one phase different from the first preset phase, and directly or indirectly control the cleaning device to rotate in the rolling brush assembly Clean up the entanglement on the roller brush in the stalled phase.

In one of the embodiments, the cleaning device further includes a detection unit configured to detect the phase of the roller brush assembly, the detection unit is connected to the control unit, and the phase The signal is transmitted to the control unit.

In one of the embodiments, after the cutting unit is activated for a preset time, the control unit judges that the cleaning device completes a single-phase cleaning of the roller brush.

In one of the embodiments, after the cleaning device finishes cleaning the roller brushes at the first preset phase, the control unit is configured to control the roller brush assembly relative to the first preset phase stop at the second preset phase after rotating, and stop at the third preset phase after controlling the roller brush assembly to rotate in the same direction relative to the second preset phase; The set phase and the third preset phase hook the windings on the roller brush, and the cutting unit cuts the windings under the hook.

In one of the embodiments, when the cleaning device stops at the base station, the centerline of the roller brush and the centerline of the second shearing member are in the same vertical plane within the error range e, and the roller The center line of the brush and the center line of the second shearing member are perpendicular to the axis of the rolling brush; the rolling brush assembly includes two joints and a roller shaft, and the two joints are configured to install the rolling brush assembly On the cleaning device, the length of the roller brush between the two joints is defined as L3, the length of the feed unit is L2, and the feed unit has a horizontal direction when moving from the picking position to the working position Displacement s on , among them, L3-e>L2+s.

In one of the embodiments, the cleaning device is equipped with a roller brush assembly, and the roller brush assembly includes a joint and a roller shaft, and the joint is configured to install the roller brush assembly on the cleaning device; the roller shaft Connected to the joint, the roller shaft is connected with a cleaning member extending in the axial direction of the roller shaft, and when the roller shaft rotates, it drives the cleaning member to sweep the surface to be worked, so as to clean the surface to be worked; The roller brush assembly also includes guides, the guides are arranged at both ends of the roller shaft in the length direction, and distributed along the circumference of the roller shaft, each end of the roller shaft is provided with at least two The guide is provided to support the windings wound on the roller brush so that the windings are away from the outer circumference of the roller shaft when wound on the roller brush.

In one of the embodiments, the guide comprises an interconnected guide surface and a support surface, the guide surface is closer to the joint relative to the support surface; the guide surface is configured to guide the winding to the support A support surface configured to support the winding on its surface.

In one of the embodiments, the guide surface is set as an arc surface or a straight surface inclined relative to the axis of the roller shaft, the position of the guide surface relatively close to the joint is higher than the position relatively far away from the joint, and the support The surface is arranged as a plane parallel to the axis of the roller shaft, and the lowest point of the guiding surface is higher than the supporting surface.

In one of the embodiments, the connection between the guiding surface and the supporting surface has a smooth transition.

In one of the embodiments, the guiding element is arranged between two adjacent cleaning elements.

In one of the embodiments, the guide part intersects with the cleaning part in the length direction of the roller brush assembly.

In one of the embodiments, the guide has a preset minimum outer diameter away from the joint and a preset maximum outer diameter close to the joint, and the preset maximum outer diameter of the guide is smaller than that of the sweeper. Maximum outer diameter.

In one of the embodiments, the rolling brush assembly further includes guides, the guides are distributed at both ends of the roller shaft in the lengthwise direction along the circumferential direction of the roller shaft, and each end of the roller shaft is at least More than two guides are included to support the windings wound on the rolling brush so that the windings are wound on the rolling brush away from the outer circumference of the roller shaft, and the first preset phase is located at the same Adjacent between the two guides.

In one of the embodiments, the cleaning device includes a control unit, the control unit controls the rotation or stop of the roller brush assembly at least according to the maintenance state of the cleaning device, and the control unit controls the rotation of the roller brush When rotating, the feed unit is located outside the maximum outer diameter of the roller brush.

In one of the embodiments, the cleaning device further includes a control unit, a fan and a dust box, the control unit is connected to the fan, and after the cleaning device finishes cleaning the roller brush, the control unit controls The blower starts to suck the cut windings into the dust box.

A cleaning method for a rolling brush assembly, using a cleaning device to clean windings on the rolling brush, the cleaning device includes a feed drive unit, a feed unit and a cutting unit, and the cutting unit includes a first shearing member that cooperates with each other and a second shearing member; the maintenance method of the roller brush assembly includes: the control unit controls the feed drive unit to drive the feed unit to at least move between the pick-up position and the working position, and pulls down the roller For windings on the brush, the distance between the working position and the axis of the rolling brush is greater than the distance between the pick-up position and the axis of the rolling brush; The windings pulled down by the infeed unit.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present disclosure, and the schematic embodiments and descriptions thereof are used to explain the present disclosure, and do not constitute undue limitations to the present disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a schematic structural view of a cleaning device described in an embodiment;

Fig. 2 is the exploded schematic diagram of cleaning device structure described in Fig. 1;

Fig. 3 is a schematic diagram of cooperation between the feeding unit and the cutting unit when the feeding unit is in the pick-up position in one embodiment;

Fig. 4 is a schematic diagram of cooperation between the feeding unit and the cutting unit when it is in the working position in one embodiment;

Fig. 5 is a schematic structural view of the feeding unit described in an embodiment;

Fig. 6 is a schematic structural view of the feeding unit described in another embodiment;

Figure 7 is an enlarged schematic diagram of the structure of circle A in Figure 6;

Fig. 8 is a schematic structural diagram of the cutting unit described in an embodiment;

Fig. 9 is a schematic structural diagram of the cutting unit described in another embodiment;

Fig. 10 is a schematic structural view of the cleaning device described in another embodiment;

Fig. 11 is a schematic structural diagram of the spliced feed blade described in one embodiment;

Fig. 12 is a schematic structural view of the cleaning device described in yet another embodiment;

Fig. 13 is a schematic diagram of the cam structure described in one embodiment;

Fig. 14 is a schematic diagram of the movement of the feeding unit described in one embodiment;

Fig. 15 is a schematic structural diagram of a base station described in an embodiment;

Fig. 16 is a schematic diagram of the structure of the cleaning robot driving into the base station in one embodiment;

Figure 17 is a cross-sectional view of the structure of the cleaning robot driving into the base station described in one embodiment

Figure 18 is a front view of the feeding unit in one embodiment of the present disclosure;

Fig. 19 is a partial exploded view of the feeding unit in an embodiment of the present disclosure;

Fig. 20 is a front view of the hooking structure of the feeding unit in an embodiment of the present disclosure;

FIG. 21A is a partially enlarged schematic diagram of FIG. 20;

FIG. 21B is a partially enlarged schematic diagram of FIG. 20;

Fig. 22 is a partial cross-sectional view of the cooperation of the feeding unit and the cutting unit in one embodiment of the present disclosure;

Figure 23 is a top view of a cleaning device in one embodiment of the present disclosure;

Figure 24 is a rear view of the feed unit in one embodiment of the present disclosure;

Figure 25 is a rear view of the feed unit in one embodiment of the present disclosure;

Fig. 26 is a sectional view of the feeding unit in Fig. 25 .

Figure 27 is a top view of the feeding unit in Figure 25;

Figure 28 is a schematic diagram of a roller brush assembly in one embodiment of the present disclosure;

Fig. 29 is a front view of the roller brush assembly in Fig. 28;

Fig. 30 is a sectional view of the roller brush assembly in Fig. 28;

Figure 31 is a cross-sectional view of a roller brush assembly in one embodiment of the present disclosure;

Fig. 32 is a partially enlarged schematic diagram of Fig. 31;

Fig. 33 is a schematic diagram of installing a cleaning device into a base station in an embodiment of the present disclosure;

Fig. 34 is a schematic diagram of a cleaning robot performing maintenance in a base station in an embodiment of the present disclosure;

Fig. 35 is a partially enlarged schematic diagram of Fig. 34;

Fig. 36 is a schematic diagram of the rolling brush in the first preset phase in an embodiment of the present disclosure;

Fig. 37 is a schematic diagram of the windings on the roller brush being cut in the first preset phase, the second preset phase and the third preset phase respectively in an embodiment of the present disclosure;

Fig. 38 is a flowchart of a method for maintaining a roller brush assembly in one embodiment of the present disclosure;

Fig. 39 is a flowchart of a method for maintaining a roller brush assembly in another embodiment of the present disclosure;

Fig. 40 is a schematic diagram of a cleaning device installed in a base station in an embodiment of the present disclosure;

Figure 41 is a sectional view of the base station and the cleaning device in Figure 40;

Fig. 42 is a schematic diagram of the detachable installation of the cleaning device in Fig. 40 on the bottom wall of the base station;

Figures 43a-43b are enlarged schematic views of the section view of the cleaning device;

Figure 44 is a top view of the cleaning device in Figure 40;

Fig. 45 is a schematic diagram of a cleaning device installed in a cleaning device according to an embodiment of the present disclosure;

Figure 46 is a front view of the feeding unit of the cleaning device in Figure 40;

Fig. 47 is a partially enlarged schematic view of the feeding unit in Fig. 46;

Figure 48 is a schematic diagram of the cutting unit of the cleaning device in Figure 40;

Fig. 49 is a front view of the cleaning device in Fig. 48 cooperating with the roller brush;

Figures 50a-50d are schematic diagrams of the positional relationship between the roller brush and the cutting device in an embodiment of the present disclosure;

Fig. 51 is a flowchart of a method for cleaning a roller brush assembly according to an embodiment of the present disclosure.

100. Cleaning device; 101. Mounting frame; 1011. First hook; 110. Drive unit; 111. Motor; 112. Cam; 1121. Rotating part; 1122. Transmission shaft; 120. Feed unit; 122, hook hair part; 1221, outer arc surface; 12211, first arc section; 12212, second arc section; 12213, plane arc section; 12214, inclined arc section; 1222, inner arc surface; 1223, feed section; 1224, blocking part; 123, hook groove; 1231, opening; 124, feeding blade; 1241, knife segment; 1242, fixing member; 1243, first elastic member; 125, driving hole; 130, cutting unit; Blade; 1311, cutting edge; 132, escape hole; 133, first shearing piece; 134, second shearing piece; 135, shearing teeth; 136, cutting piece; 140, connection mechanism; 141, second elastic piece; 142, force nut; 143, gasket; 150, base; 151, installation hole; 200, station body; 210, working chamber; 211, installation groove; 300, cleaning robot; 310, rolling brush; 126, hook Structure; 1263, base; 1261, first hook; 1262, second hook; 1264, first inner arc; 1263, first outer arc; 1266, second inner arc; 1265, second outer arc Surface; 1268, the second hook groove; b, the first included angle; c, the second included angle; a, the third included angle; 1292, gear; 129, drive wheel; 1291, eccentric drive shaft; 127, hook frame; 1271, drive hole; 128, support frame; 1281, through hole; 1293, synchronous belt; 1294, synchronous pulley; 160, the third cam; 161, knife rest; 31, joint; 32, roller; 35, guide; 351, support surface; 352, guide surface; 33, bristle; 34, rubber strip; 36, winding; 211, installation groove; 2111, second hook; 212 , cover plate; 214, buckle; 213, card slot; 215, notch; P1, first preset phase; P2, second preset phase; P3, third preset phase; 10, cleaning robot; 20, base station .

Detailed ways

In order to make the above objects, features and advantages of the present disclosure more comprehensible, specific implementations of the present disclosure will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be implemented in many ways other than those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present disclosure. Therefore, the present disclosure is not limited by the specific embodiments disclosed below.

In one embodiment, please refer to FIG. 1 , FIG. 3 and FIG. 4 , a cleaning device 100 is used for cleaning the entanglement on the roller brush 310 of the cleaning device. The cleaning device 100 includes a driving unit 110 , a feeding unit 120 and a cutting unit 130 . The driving unit 110 drives the feeding unit 120 to move at least between the pick-up position and the working position, so as to pull down the windings on the roller brush 310 . When the feeding unit 120 moves to the working position, the winding is at least cut by the action of the cutting unit 130 . The distance from the working position to the axis of the rolling brush 310 is greater than the distance from the axis of the rolling brush 310 to the pick-up position, and the cutting unit is closer to the working position with respect to the pick-up position.

The above-mentioned cleaning device 100 further includes a cleaning control unit, which is electrically connected to the driving unit 110 and controls the driving unit 110 to drive the feeding unit to at least move between the picking position and the working position. It should be noted that, please refer to Fig. 40 and Fig. 45, the above-mentioned cleaning device 100 can be installed on a cleaning device, such as a self-moving sweeping robot, a hand-held vacuum cleaner, etc., to directly clean the entanglements on the cleaning device, and the cleaning device can also be installed on Clean the base station or maintenance platform of the cleaning device, and then clean the roller brush installed on the cleaning device. When the cleaning device is installed on the cleaning device, the cleaning control unit can be the self-control module of the cleaning device, and the drive unit 110 is installed on the cleaning device, and when the cleaning device is detached from the cleaning device, both the cleaning control unit and the driving unit It is fixedly installed on the cleaning device, and is not disassembled together with the feeding unit 120 and the cutting unit 130; similarly, when the cleaning device 100 is installed on the base station or the maintenance platform, the cleaning control unit can be the control unit of the base station or the maintenance platform itself, and the drive unit 110 is installed on the base station or the maintenance platform, and when the cleaning device 100 is disassembled from the base station or the maintenance platform, the cleaning control unit and the driving unit are fixedly installed on the base station or the maintenance platform, and do not follow the feeding unit 120 and the cutting unit 130 together Disassemble.

The above-mentioned cleaning device 100, in cleaning the windings, please refer to Figure 4, use the drive unit 110 to drive the feed unit 120 to the pick-up position; The windings are pulled to the working position. When the winding is pulled to the working position, the winding is at least cut by the action of the cutting unit 130 to realize effective cleaning on the roller brush 310 . In this way, the cutting method of the cleaning device 100 is to pull the entanglement first, and then cut it. For the entanglement adhering to the roller brush 310 in groups, it can ensure that it can be separated from the roller brush 310 in time after cutting, and realize effective cleaning. clean up. In addition, for the part of the winding that still adheres to the roller brush 310 after cutting, the reciprocating motion of the feeding unit 120 can be used to pull down this part of the winding, so as to ensure that the winding is completely cleaned. Since the distance between the working position and the axis of the roller brush 310 is greater than the distance between the pick-up position and the axis of the roll brush 310, that is, the working position is set farther away from the roll brush 310 than the pick-up position, and the cutting unit is closer to the working position than the pick-up position, and the cutting unit is arranged at Near the working position, close to the working position, therefore, when cutting, the cutting unit 130 will keep a certain distance from the pick-up position of the winding, so as to prevent the cutting unit 130 from being too close to the roller brush 310 and easily damage the structure of the roller brush 310, so as to achieve effective cutting At the same time, it is also beneficial to reduce the damage to the roller brush 310. What needs to be explained here is that the feeding unit pulls the winding to the working position and is cut by the cutting unit. The cutting position of the cutting unit does not refer to the working position. The position where the cutting unit cuts the winding is between the pick-up position and the working position. , for details, refer to FIG. 50a to FIG. 50d.

It should be noted that the axis of the rolling brush 310 should be understood as: the rolling brush 310 will rotate around at least one axis when rotating, and the axis can be defined as the axis of the rolling brush 310 . Of course, for ease of understanding, the roller shaft or the axis of the roller in the rolling brush 310 may also be directly defined as the axis of the rolling brush 310 . In addition, the relationship between the distance between the working position and the axis of the roller brush 310 and the distance between the pick-up position and the axis of the roller brush 310 is not specifically limited in this embodiment, as long as the distance between the working position and the axis of the roller brush 310 is greater than that of the pick-up position. The distance between the position and the axis of the roller brush 310 is sufficient.

It should also be noted that the pick-up position should be understood as: when the feed unit 120 moves to the pick-up position, the feed unit 120 can act on the winding of the roller brush 310 . The "function" here should be understood as that as the feed unit 120 continues to move toward the working position, the feeding unit 120 will give the windings a pulling force toward the working position. Wherein, the entanglement may be but not limited to hair, thread ends, cloth strips and the like. Meanwhile, the cleaning device in this embodiment should at least be understood as a cleaning robot 300, a hand-held cleaner, and the like.

In addition, "the winding is cut at least under the action of the cutting unit 130" should be understood as: when cutting, at least the cutting unit 130 participates, such as: if the cutting unit 130 is a device with an independent cutting function, the feeding unit 120 only It is only necessary to pull the winding object to the working position; if the feeding unit 120 also has a cutting function, the feeding unit 120 cooperates with the cutting unit 130 to cut off the winding object together.

Further, the working position is located between 10 mm extending inward from the outer contour of the roller brush 310 along the radial direction of the

roller brush

310 and 10 mm extending outward from the outer contour of the roller brush 310 along the radial direction of the roller brush 310 . That is, the working position can be set as follows: taking the outer contour of the roller brush 310 as a reference, extending 10 mm toward the axis of the roller brush 310 ; at the same time, extending 10 mm toward the outside of the roller brush 310 , within the space formed. In this way, the damage to the structure of the roller brush 310 by the cutting unit 130 can be further reduced, which is beneficial to prolong the service life of the roller brush 310 .

Of course, the working position can be further set within 3mm extending from the outer contour of the rolling brush 310 toward the direction of the axis of the rolling brush 310, and within 3mm extending away from the outer contour of the rolling brush 310 in the direction of the axis of the rolling brush 310, so that the rolling brush 310 damage can be further reduced.

Specifically, the working position is set on the outer contour of the rolling brush 310, and does not contact the outer contour of the rolling brush 310, that is, the working position is close to the outer contour of the rolling brush 310, but needs to keep a certain distance from the outer contour of the rolling brush 310 . In this way, the bristles on the roller brush 310 can be effectively prevented from being cut off, ensuring no damage to the roller brush 310 . For example, the working position can be set within 3mm extending from the outer contour of the rolling brush 310 in a direction away from the axis of the rolling brush 310 to within 10mm extending from the outer contour of the rolling brush 310 in a direction away from the axis of the rolling brush 310 .

In one embodiment, the drive unit includes a feed drive unit, the feed drive unit is connected to the feed unit 120, and the feed unit 120 is driven to move at least between the pick-up position and the working position, so that the winding on the roller brush The object is pulled from the picking position to the working position. The sharpness of the feeding unit 120 is lower than that of the portion where the cutting unit 130 cuts the winding. It can be understood that, in this embodiment, the feeding unit 120 acts as a pusher, pushing the winding to the cutting unit 130, and the cutting unit 130 has an independent function of cutting off the winding. When the feed unit 120 hooks the windings on the roller brush, it will come into contact with cleaning parts such as bristles and rubber brushes on the roller brush. If the feed unit 120 is too sharp, it may damage the cleaning parts on the roller brush, causing the roller to The cleaning ability of the brush is reduced. 18 and 22, the feeding unit 120 includes a hooking structure 126, the hooking structure 126 includes a base and hooks 1261, 1262 connected to the base, the sharpness of the

hooks

1261, 1262 is lower than the cutting The sharpness at which the unit 130 cuts the wrap. The sharpness of the hook part which is set to be in contact with the winding object is relatively low, which can effectively prevent the hook part from hurting the roller brush.

In one embodiment, please refer to FIG. 3 , FIG. 7 and FIG. 8 , the feeding unit 120 includes a cutting portion 121 . The cutting unit 130 includes a cutting blade 131 . When the feeding unit 120 moves to the working position, the cutting part 121 cooperates with the cutting blade 131 to cut off the winding. In this way, through the vertical cooperation of the cutting part 121 and the cutting blade 131 , the wrappings are cut off, so as to ensure effective cutting of the wrappings.

It should be noted that the cutting part 121 can be designed as a cutting edge structure, at this time, when the winding object is cut, it will be cut by the sharp parts on the upper and lower sides at the same time. Of course, the cutting part 121 can also be designed as a blunt mouth structure, and at this time the cutting part 121 acts as a pusher, pushing the wrapper onto the cutting blade 131 so that it can be cut off on the cutting blade 131 . That is to say, when the winding is cut, one side is pushed and the other side is cut.

In other embodiments, please refer to FIG. 12 , the cutting unit 130 includes a cutting member 136 . When the feeding unit 120 moves to the working position, the cutting member 136 cuts off the winding material, that is, the cutting unit 130 has an independent cutting function. When the feeding unit 120 pulls the windings to the working position, the cutting unit 130 cuts the windings at the working position by itself to complete the cleaning operation. Further, the cutting part 136 includes a first cutting part 133 and a second cutting part 134, and the first cutting part 133 and the second cutting part 134 cooperate to cut the winding. The first shearing member 133 and the second shearing member 134 cooperate and act on the winding object, so that both have the effect of gathering the winding object, and further improve the cutting efficiency of the cutting unit for cutting the winding object.

In one embodiment, please refer to FIG. 12 and FIG. 22 , the cutting member 136 includes a first cutting member 133 and a second cutting member 134 that cooperate with each other. The first shearing member 133 and the second shearing member 134 produce reciprocating motions to cut off the windings pulled down by the feeding unit. It can be understood that the winding is pulled to the working position by the feeding unit, and the first cutting member 133 and the second cutting member 134 are arranged side by side near the working position, and then the winding is cut off. The reciprocating motion of the first shearing member 133 and the second shearing member 134 may be that the first shearing member 133 moves and the second shearing member 134 is stationary, or the first shearing member 133 is stationary and the second shearing member 134 moves, Or both the first shearing member 133 and the second shearing member 134 can move. In this way, the winding is cut through the reciprocating movement between the first shearing member 133 and the second shearing member 134 , and this cutting method can avoid elongating the winding or deforming the winding during cutting, resulting in low cutting efficiency.

In one embodiment, the feeding drive unit is connected with the feeding unit 120, and drives the feeding unit 120 to reciprocate between the picking position and the working position, and the moving frequency of the feeding unit 120 is lower than that of the first shearing member 133 and the second shearing member 133. The frequency of the relative reciprocating motion of the two shearing members 134. In this way, it can be ensured that the entanglement hooked by the feeding unit 120 can be effectively cut by the first shearing member 133 and the second shearing member 134 .

In one embodiment, the first shearing member 133 and the second shearing member 133 relatively reciprocate in the horizontal direction, so that the first shearing member 133 and the second shearing member 134 have an effective cutting range in the horizontal direction. The first shearing element 133 and the second shearing element 134 are capable of shearing the windings within the range. The feed driving unit drives the feed unit 120 to generate displacement in the horizontal direction. The displacement generated by the feeding unit 120 in the horizontal direction is within the effective shearing range. The displacement of the feed unit 120 in the horizontal direction means that the feed unit 120 does not hook in a single vertical direction when it moves to pick up the windings, but also produces a displacement in the horizontal direction. The feed unit 120 moves along this direction. This kind of trajectory movement can effectively improve the efficiency of hooking and picking up winding objects. And the displacement produced by the feed unit 120 in the horizontal direction is within the effective shear range, which means that the movement range of the feed unit 120 in the horizontal direction does not exceed the first shear member 133 and the second shear member 134 in the horizontal direction. Effective cutting range. It can ensure that all the entanglements hooked off by the feeding unit 120 can be cut by the first cutting member 133 and the second cutting member 134 to avoid omission.

In one embodiment, please refer to FIG. 22 , the cutting element has an effective shearing line 1361, and the first shearing element 133 and the second shearing element 134 cooperate to cut the wrapping at the effective shearing line 1361; the feeding unit 120 When moving to the lowest position, the winding objects hooked by the feeding unit 120 are lower than the effective shearing line 1361 . Such setting can ensure that when the feeding unit 120 hooks the winding object down and moves to the lowest position, the winding object can touch the effective shearing line 1361, and then the first shearing member 133 and the second shearing line can be effectively cut. Cut the wrapping off.

When the feeding unit 120 moves to the lowest position, the height difference h2 between the winding object hooked by the feeding unit 120 and the effective shearing line 1361 is greater than 0.5 mm and less than 5 mm. If the height difference is too small, it may affect the cutting effect, and if it is too large, it will increase the movement stroke of the feed unit 120, resulting in the need to occupy more space in the base station when the entire cleaning device is installed into the base station, resulting in waste of space, and further increase The volume of the base station.

When the feed unit 120 moves to the lowest position, there is a lateral distance h3 between the winding under the feed unit 120 hook and the effective shear line 1361, which is smaller than when the feed unit 120 moves to the lowest position. The height difference h2 between the lower wrap and the effective shear line 1361. If the transverse distance h3 is too large, even greater than the height difference h2 between the winding under the feeding unit 120 and the effective shearing line 1361 when the feeding unit 120 moves to the lowest position, then the first shearing member 133 and the second shearing member 133 The second shearing member 134 still cannot cut the windings under the hook of the feed unit 120, which affects the cutting effect.

In one embodiment, the cleaning device 100 includes a cleaning control unit, and the cleaning control unit is connected with the feeding unit 120 and the cutting unit 130. When the cleaning device starts, the cleaning control unit controls the cutting unit 130 to start before the feeding unit 120, and the cleaning device When the cleaning is finished, the cleaning control unit controls the feeding unit 120 to stop running before the cutting unit 130 . Specifically, when the cleaning device 100 cleans the windings on the roller brush, the cleaning control unit controls the cutting unit 130 to start first, and then controls the feeding unit 120 to start after the first preset time. The first preset time is longer than 0.1s, for example, the first preset time can take a value between 0.1s-3s. Since the cutting unit 130 is started before the feeding unit 120 , it can be ensured that the wrappings taken off by the feeding unit 120 can be fully cut by the cutting unit 130 , and the cutting efficiency of the cutting unit 130 can be improved. When the cleaning device 100 finishes cleaning, the cleaning control unit controls the feeding unit 120 to stop working, and controls the cutting unit 130 to stop working after the second preset time passes. For example, the second preset time is longer than 0.1s, for example, the second preset time may take a value between 0.1s-3s. Similarly, the cutting unit 130 stops working after the feeding unit 120 , which can ensure that the wrappings removed by the feeding unit 120 can be fully cut by the cutting unit 130 , improving the cutting efficiency of the cutting unit 130 .

The cutting member 136 is configured as a single blade; alternatively, the cutting member 136 includes more than two blade segments. More than two knife segments are spliced side by side. It can be seen that the cutting piece can be designed as a single blade structure, that is, a continuous and complete blade structure; it can also be designed as a spliced structure, that is, it is formed by splicing more than two blade segments. When the cutting part 136 is designed as a spliced structure, it is broken into parts during the processing process, and the cutting part 136 with a larger processing size is replaced by a smaller blade segment, which reduces the processing accuracy and difficulty of the blade.

The first cutting part 133 and/or the second cutting part 134 is configured as a single blade; or, the first cutting part 133 and/or the second cutting part 134 includes more than two blade segments. It can be seen that the first shearing element 133 and the second shearing element 134 can all be set to a single blade, that is, a continuous and complete blade structure; The fragments are spliced together; either one of the first cutting part 133 and the second cutting part 134 can be set as a single blade, and the other can be set as a spliced structure. In this embodiment, please refer to FIG. 23 , the first shearing piece 133 includes more than two first shearing segments 1331 , and the second shearing element 134 includes more than two second shearing segments 1341 .

In one embodiment, please refer to FIG. 10 , the feeding unit 120 includes more than two feeding segments, and the more than two feeding segments are spliced side by side to form the feeding unit 120, and there is a gap between two adjacent feeding segments, The displacement of the driving unit to drive the feed unit 120 in the horizontal direction is larger than the gap. Avoid when the feed unit 120 moves, because the gap is too large, the windings on the roller brush are partially missed and cannot be hooked.

Specifically, please refer to FIG. 12 , the first shearing member 133 and the second shearing member 134 are each provided with a plurality of shearing teeth 135 . That is, the cutting unit 130 of this embodiment is an automatic cutting device. When the first shearing element 133 moves relative to the second shearing element 134, the shearing teeth 135 on the first shearing element 133 and the second shearing element 134 can be driven to stagger or at least partially overlap each other. At this time, the shearing teeth 135 on both sides are staggered or partially overlapped to form a shearing action of opening and closing, so that the windings pulled to the working position are effectively sheared.

In one embodiment, please refer to FIGS. 5 to 7 , 18 to 20 and 46 , the feeding unit 120 has a hooking structure 126 for pulling the winding to the working position. There are multiple hooking structures 126 arranged at intervals along the length direction l of the feeding unit 120 . Specifically, there are more than two hooking structures 126, and the length direction of the feeding unit 120 is parallel to the axial direction of the roller brush.

Please continue to refer to FIG. 5 to FIG. 7 and FIG. 46 and FIG. 47. A hook groove 123 with an opening at one end is formed between the hooking structure 126 and the feeding unit 120 to accommodate at least part of the wrapping; the opening of the hooking structure 126 faces the same The direction of movement of the feed unit 120 from the working position to the pick-up position is adapted such that the hooking structure 126 picks up the windings. The matching of the opening orientation of the hook slot 123 with the moving direction of the feeding unit 120 means that the opening 1231 of the hook slot 123 is aligned with the moving direction of the feeding unit 120 from the working position to the picking position. Wherein, “consistent in direction” should be understood as: the orientation or direction tends to be consistent, but does not mean that the orientation or inclination direction of the opening 1231 is absolutely consistent and parallel to the moving direction of the feeding unit 120 .

Further, please refer to FIG. 47 , the hooking structure 126 has an inner arc surface 1222 and an outer arc surface 1221 opposite to each other, a hook groove 123 is formed between the inner arc surface 1222 and the feeding unit, and at least part of the outer arc surface 1221 extends obliquely. , the extending direction of which is set at an included angle with the horizontal plane, and the top of the outer arc surface 1221 is at least partially set horizontally. Specifically, the outer arc 1221 includes a planar arc 12213 and an inclined arc 12214. The planar arc 12213 is located at the top of the outer arc 1221 to prevent the top of the hooking structure 126 from being too sharp and hurting the user. The inclined arc 12214 is aligned with the horizontal direction. The angled arrangement can guide the wrap into the hook groove of the adjacent hooking structure 126 . In this embodiment, the hooking structure 126 is set as a one-way hooking structure, that is, the feeding unit 120 can move the feeding unit 120 in a single clockwise direction or in a single counterclockwise direction so that the hooking structure 126 can hook down the roller brush. twine.

It should be noted that the shape of the outer arc surface 1221 can have various designs, but at least a part of the outer arc surface 1221 should be arched. Similarly, there are various designs for the shape of the inner arc surface 1222 , but at least a part of the inner arc surface 1222 must be concave.

Further, please continue to refer to Figure 46, the distance between two adjacent hooking structures 126 is L, and the feed unit 120 has a displacement s in the horizontal direction when moving from the picking position to the working position, so that L<s . The feed unit 120 will produce horizontal and vertical displacements when hooking the hair on the roller brush. In this embodiment, the feed unit is driven by the drive unit to perform circular motion, and the displacement of the feed unit in the horizontal direction is The diameter of its trajectory. Such setting makes the distance between adjacent hooking structures 126 adapt to the movement range of the hooking structures 126 , effectively preventing the entanglement between adjacent hooking structures 126 from being missed when the feeding unit 120 moves. It should be noted that the drive unit referred to in this embodiment includes a feed drive unit, and other drive units are also provided in the present disclosure, such as the shear drive unit presented below, which also belongs to the above drive unit.

In one embodiment, please refer to FIG. 43 a and FIG. 43 b , the first cutout 133 and the second cutout 134 have portions overlapping each other in height, and the highest point of the overlapping portion is defined as the lower point 1332 . The heights of the tops of the first shearing piece 133 and the second shearing piece 134 are the same or different. When the heights of the tops of the first shearing piece 133 and the second shearing piece 134 are the same, the highest point of the overlapped part is the same, and then it is lower Point 1332 is the highest point of the overlapping part; when the height of the top of the first shearing part 133 and the second shearing part 134 is different, the highest point of the overlapping part is different, the first shearing part 133 and the second shearing part The top of 134 is the lower point 1332 compared to the lower one. When the hook structure is in the working position, the top of the inner arc is lower than the lower point 1332 . In this embodiment, the top of the first shearing piece 133 is lower than the top of the second shearing piece 134, the lower point 1332 is the top of the first shearing piece 133, and the inner arc surface is lower than the first shearing piece 133 the top of. It can be understood that the reciprocating movement of the first shearing member 133 and the second shearing member 134 further cuts the windings, and only the windings lower than the top of the first shearing member 133 can be cut. Only pulling the hair to the top cutting effect of the first shearing member 133 may not be ideal. In order to improve the shearing effect, the hooking structure 126 needs to hook the wrapping object lower, so preferably, the top of the inner arc surface is lower than the desired The lower point is 1-20mm. Further preferably, the top of the inner arc surface is 5-10mm lower than the lower point.

Further, there is a horizontal distance h3 perpendicular to the height direction between the feeding unit 120 and the lower point 1332, and the range of the horizontal distance h3 is between 0-3mm. For similar reasons, the cutting unit needs to be close to the feed unit in the horizontal transverse direction in order to effectively cut the entanglement under the hook of the feed unit.

In one embodiment, please refer to Fig. 50a to Fig. 50d, the roller brush 310 is located above the feed unit and the cutting unit, and the axis of the feed unit and the cutting unit are parallel to the axis of the roller brush 310; A hook groove is formed between the arc surface and the outer arc surface, the inner arc surface and the feed unit to accommodate at least part of the wrap; There is a lower point 1332; when the feed unit 120 is in the working position, the axis of the roller brush 310 and the apex of the inner arc surface define a first plane T2, and the distance between the lower point 1332 and the first plane T2 is d1 , the lower point 1332 is higher than the top of the inner arc surface, the lower point 1332 is orthographically projected relative to the first plane T2, forming a projection point on the first plane T2, and the distance between the projection point and the top of the inner arc surface is d2, The maximum outer diameter of the roller brush 310 is r, and the distance between the axis of the roller brush 310 and the top of the inner arc surface is d3, so that

And 0<d1<r, 0<d2<d3-r. It should be noted that the roller brush 310 may be located directly above the feed unit 120 , or may be disposed above the side of the feed unit 120 . If the distance between the lower point 1332 and the first plane T2 exceeds the radius r of the roller brush 310, no matter whether the feed unit is located directly below or beside the roller brush 310, and pulls the windings down to an extremely low position, it is relatively Even the low point 1332 cannot touch the entanglement, and the entanglement cannot be cut off. d3-r refers to the distance between the top of the inner arc surface and the outer circumference of the roller brush 310, the lower point 1332 is higher than the top of the inner arc surface, d2<d3-r means that in the height direction, the lower point 1332 is located Between the lowest point of the outer circumference of the roller brush 310 and the top of the inner arc surface, it is ensured that the cutting unit can cut the winding in the vertical direction, and the cutting unit is not in contact with the roller brush 310 to avoid damage to the roller brush 310. When the positional relationship between the roller brush 310 and the various parts of the cleaning device conforms to the above formula, the first shearing member 133 and the second shearing member 134 can effectively cut the entanglement of the feeding unit from the roller brush 310. The specific principle as follows:

The outer circumference of the roller brush 310 has a cut surface T1, and the cut surface T1 passes through the top of the inner arc surface, and the cut surface T1 forms an angle b with the first plane T2; the heights of the tops of the first shearing member 133 and the second shearing member 134 are different, The tops of the two have a lower point 1332 in comparison, and the lower point 1332 forms a connection surface T3 with the top of the inner arc surface, and the first plane T2 forms an angle a with the connection surface T3. It can be understood that the above cut surface T1 can be regarded as the hair that is hooked off the roller brush 310 by the feeding unit, and the angle b represents the relative positional relationship between the cutting unit 130 and the feeding unit 120. When the angle a is smaller than the angle When b, the lower point 1332 can be in contact with the cut surface T1, that is, the winding, and then cut the winding. When the angle a is greater than the angle b, the lower point cannot contact the winding, and the winding cannot be cut. According to the Pythagorean theorem, the above formula can be

Indicates the angle a, in the above formula

Indicates the included angle b, ∠a<∠b is

In one embodiment, please refer to FIG. 49 , the first shearing member 133 and the second shearing member 134 are arranged side by side, the second shearing member 134 is fixedly arranged, and the first shearing member 133 is opposite to the second shearing member 133 in its length direction. The shearing member 134 reciprocates to generate shearing force, and the length direction of the first shearing member 133 and the second shearing member 134 is parallel to the axis of the roller brush 310 . The first shearing member 133, the second shearing member 134, and the feed unit each have a length direction, and the respective length directions of the first shearing member 133, the second shearing member 134, and the feed unit 120 are aligned with the axis of the roller brush 310. Parallel; the first shearing member 133, the second shearing member 134 and the feed unit 120 each have a centerline perpendicular to the axis of the roller brush, and the first shearing member 133 has two reciprocating motions relative to the second shearing member 134. Limit position, when the first shearing member 133 is in the middle position of the two extreme positions, the centerline of the first shearing member 133 and the centerline of the second shearing member 134 are in the same vertical plane perpendicular to the axis of the roller brush ; When the feed unit is in the working position, the centerline of the feed unit 120 and the centerline of the second shearing member 134 are in the same vertical plane perpendicular to the axis of the roller brush; the second shearing member 134 has a maximum length L1, The length of the feed unit is L2, and the feed unit has a displacement s in the horizontal direction when it moves from the pick-up position to the working position, wherein L1>L2+s. In this way, when the feed unit 120 moves between the pick-up position and the working position, the two ends of the feed unit 120 in the length direction do not exceed the two ends of the second shearing member 134 in the length direction, so as to ensure that the feed unit hooks The underlying windings can be sheared by the cutting unit. Further, the roller brush 310 is arranged above the cutting unit and the feeding unit, and when the feeding unit moves between the pick-up position and the working position, the two ends of the feeding unit in the length direction do not exceed the two ends of the roller brush 310 in the length direction. end, so as to ensure that the movement of the feed unit will not interfere with the end of the roller brush 310 . When the cleaning device stops at the base station, the centerline of the roller brush 310 and the centerline of the second shearing member 134 are in the same vertical plane within the error range e, and the centerline of the roller brush and the centerline of the second shearing member are in the same vertical plane as The axis of the roller brush is vertical. Errors usually occur during the docking process of the cleaning device. The centerline of the roller brush 310 cannot be accurately aligned with the centerline of the second shearing member 134 on the same vertical plane. The roller brush 310 may be offset, and the resulting error range e may be The feeding unit interferes with the end of the roller brush 310, when the length of the roller brush 310 is L3, and L3-e>L2+s. The error range e is 0-3mm. In this way, it is avoided that the feeding unit interferes with the two ends of the roller brush 310 in the length direction during the movement. It should also be noted that, please continue to refer to FIG. 49 , the length L3 of the rolling brush in this embodiment refers to the length of the rolling brush between the two joints. Preferably, the maximum length of the first shearing element 133 is smaller than the maximum length L1 of the second shearing element 134 .

Preferably, there is a shearing gap between two of the plurality of first shearing segments of the first shearing member 133 , and the displacement of the first shearing member 133 relative to the movement of the second shearing member 134 is smaller than the shearing gap. In this way, the first shearing part 133 will not interfere with the second shearing part 134 during the movement, and the first shearing segment of the first shearing part is prevented from colliding with the second shearing part.

In another embodiment, the hooking structure is configured as a bidirectional hooking structure. The hooking structure 126 includes a base portion 1263 and a first hook portion 1261 and a second hook portion 1262 connected to opposite sides of the base portion 1263 . The first hook part 1261 and the second hook part 1262 hook the windings during the movement of the feeding unit 120 . The sharpness of the first hook portion 1261 and/or the second hook portion 1262 is lower than the sharpness of the portion where the cutting unit 130 cuts the winding object. Avoid the first hook part 1261 and or the second hook part 1262 being too sharp to damage the roller brush.

Further, the cleaning device further includes a feed drive unit, which is connected to the feed unit 120 and drives the feed unit 120 to perform a reciprocating circular motion in a clockwise direction and/or a counterclockwise direction. When the feed unit 120 performs reciprocating circular motion in the clockwise direction, the first hook 1261 hooks the windings on the rolling brush; when the feed unit 120 performs reciprocating circular motion in the counterclockwise direction, the second hook 1262 hooks the Wraps on roller brush. The feed drive unit can drive the feed unit 120 to move in a clockwise or counterclockwise direction, so that the opposite first hook 1261 and second hook 1262 can pick up the winding from two directions, effectively avoiding one-way When hooking winding objects, it is easy to miss the situation, which improves the efficiency of hooking the winding objects.

Preferably, please refer to FIG. 20 and FIG. 21A , the trajectories of two adjacent hooking structures 126 in the same direction overlap at least partially. The at least partial overlapping of the movement trajectories of two adjacent hooking structures 126 in the same direction means that the movement trajectories of two adjacent hooking structures 126 in the clockwise direction or the movement trajectories in the counterclockwise direction partially overlap. The distance between two adjacent first hooks 1261 is L, the diameter of the motion track when the hooking structure 126 performs circular motion is s, and the distance between two adjacent first hooks 1261 is smaller than that of the hooking structure 126 when the circle moves. The diameter of its trajectory during motion, that is, L<s. Such setting makes the distance between adjacent hooking structures 126 adapt to the movement range of the hooking structures 126 , effectively preventing the entanglement between adjacent hooking structures 126 from being missed when the feeding unit 120 moves.

Furthermore, please refer to FIG. 21A , the first hook portion 1261 has a first inner arc surface 1264 and a first outer arc surface 1263 oppositely disposed. A first hook groove 1267 is formed between the first inner arc surface 1264 and the base portion 1263 . The first outer arc surface 1263 is at least used to guide the windings onto the first inner arc surface 1264 . When the feeding unit 120 moves to the pick-up position, the first outer arc surface 1263 guides the contacted wrappings into the first inner arc surface 1264 , so that part of the wrappings is accommodated in the first hook groove 1267 . Likewise, the second hook portion 1262 has a second inner arc surface 1266 and a second outer arc surface 1265 oppositely disposed. A second hook groove 1268 is formed between the second inner arc surface 1266 and the base portion 1263 . The second outer arc surface 1265 is at least used to guide the windings onto the second inner arc surface 1266 . When the feeding unit 120 moves to the picking position, the second outer arc surface 1265 guides the contacted wrappings into the second inner arc surface 1266 , so that part of the wrappings is accommodated in the second hook groove 1268 .

Please continue to refer to FIG. 21A, the first outer arc surface 1263 of the first hook portion 1261 on the same hooking structure 126 and the second outer arc surface 1265 of the second hook portion 1262 form a first included angle b, and the first included angle b Greater than 80° and less than or equal to 180°. The first inner arc surface 1264 forms a second included angle c with respect to the vertical direction, the second inner arc surface 1266 forms a third included angle a with respect to the vertical direction, and the second included angle c and/or the third included angle a is greater than 30° is less than or equal to 90°. The first included angle b, the second included angle c, and the third included angle a need to be set within a reasonable range in order to hook the lower winding more efficiently. If the first included angle b is too small, it may not be possible to guide the winding to the second On the two inner arc surfaces 1266, if the first included angle b is too large, the entanglement will generate greater resistance when the first hook portion 1261 and the second hook portion 1262 move, affecting the first hook portion 1261 and the second hook portion 1262 Efficiency of hooking windings. If the second included angle c and the third included angle a are too large, the winding may fall off from the two hooks and cannot be accommodated in the two hook grooves; if the second included angle c and the third included angle a are too small, it may cause Affect the ability of the two hooks to hook the entanglement. Preferably, the second included angle c is equal to the third included angle a. The first hook portion 1261 and the second hook portion 1262 are symmetrical with respect to the base portion 1263 .

In one embodiment, please refer to FIG. 20 and FIG. 21B , in the length direction l of the feed unit 120, at least one hooking structure 126 at each end edge of the feeding unit 120 is higher than other hooking structures 126 in the middle region. . It can be understood that the feeding unit 120 has two ends in its length direction l, and one or more hooking structures 126 at the edge of each end are higher than other hooking structures 126 . The hooking structure 126 at the edge of the two ends of the feed unit 120 is higher than the other hooking structures 126. Since the bristles arranged on the rolling brush have a certain distance from the two ends of the rolling brush, the two ends of the rolling brush are entangled. Objects will be closer to the roller shaft of the roller brush, and the hooking structure needs to have a higher height to effectively hook the hair. Therefore, the two hooking structures 126 at the edges of the feed unit 120 are set higher, It can hook the winding objects more effectively. Further preferably, the height difference h1 between the two hooking structures 126 at the two ends of the feeding unit 120 and other hooking structures 126 is greater than 0.5 mm and less than 3 mm.

Further, in the length direction l of the feeding unit 120, at least one hooking structure 126 at each end edge of the feeding unit 120 is narrower than other hooking structures 126 in the middle area. One or more hooking structures 126 at the outermost edge of each end of the feed unit 120 are narrower than the other hooking structures 126 . The roller brush is installed on the bottom of the cleaning robot. The bottom surface of the cleaning robot is provided with a roller brush cover plate to avoid the exposure of the roller brush. The feed unit 120 makes a circular motion during work. The two hooking structures 126 at the edges of the feed unit 120 are narrow. Compared with other hooking structures 126, the hooking structure 126 can be made closer to the edge of the roller brush without interfering with the roller brush cover of the cleaning robot.

Preferably, the hooking structure 126 is made of elastic material. For example, rubber, the hooking structure 126 has elasticity, and can reduce damage to the roller brush when it contacts the bristles or rubber strips on the roller brush.

In one embodiment, the first hook portion 1261 and/or the second hook portion 1262 is configured as a blunt mouth structure. At this moment, the first hook portion 1261 and the second hook portion 1262 play a role of pushing, pushing the winding material onto the cutting member 136 of the cutting unit 130 to be cut off on the cutting member 136 . That is to say, when the winding is cut, one side is pushed and the other side is cut.

In one embodiment, please refer to FIG. 22 , the cutting element 136 has an effective shearing line 1361 , and the first shearing element 133 and the second shearing element 134 cooperate at the effective shearing line 1361 to cut the winding material. When the feeding unit 120 moves to the lowest position, the first inner arc surface 1264 and the second inner arc surface 1266 are lower than the effective shearing line 1361 . There is a height difference h2 between the first inner arc surface 1264 and the second inner arc surface 1266 and the effective shearing line 1361 . Preferably, the height difference h2 between the first inner arc surface 1264 and the second inner arc surface 1266 and the effective shear line 1361 is greater than 0.5 mm and less than 5 mm. There is a transverse distance h3 between the hooking structure 126 and the effective shear line 1361, which is smaller than the height difference h2 between the first inner arc surface 1264 and the second inner arc surface 1266 and the effective shear line 1361, namely h3 <h2. Such an arrangement can ensure that when the hooking structure 126 hooks down the winding object and moves to the lowest position, the cutting member 136 can effectively cut off the winding object.

Please refer to FIG. 23 , the first cutout 133 includes more than two first cutouts 1331 , and the second cutout 134 includes more than two second cutouts 1341 . Both the first shearing part 133 and the second shearing part 134 are configured as spliced structures, which are formed by splicing more than two shearing segments. The first cut piece 133 and the second cut piece formed by splicing more than two first cut segments 1331 and second cut segments 1341 have a maximum length L1. It can be understood that the maximum length L1 refers to the combined total length of the first shearing element and the second shearing element. The total length of the feeding unit 120 is L2, and the diameter of the movement track of the hooking structure 126 of the feeding unit 120 is s when it moves in a circle. The cleaning device satisfies L1>L2+s in order to effectively cut the hair on the roller brush. Further, the frequency of movement of the feeding unit 120 is less than the frequency of cutting hair by the cutting member 136 . In this way, it can be ensured that the windings hooked by the feeding unit 120 can be effectively cut by the cutting member 136 .

In one embodiment, please refer to FIG. 19, FIG. 24, and FIG. 25, the feed drive unit includes a first motor and a first cam structure, the first cam structure is connected to the feed unit 120, and the first motor drives the first cam structure When rotating, the first cam structure drives the feeding unit 120 to perform a reciprocating circular motion.

As a specific embodiment, please refer to Fig. 19 and Fig. 24, the first cam structure includes a gear 1292 and at least one transmission wheel 129, the transmission wheel 129 includes an eccentric transmission shaft 1291, and the axis of the transmission wheel 129 and the eccentric transmission shaft 1291 are arranged at intervals . The transmission wheel 129 is coaxially arranged with the gear 1292 . The first motor (not shown) cooperates with at least one transmission wheel 129 for driving the gear 1292 and the transmission wheel 129 to rotate around its own axis. The feeding unit 120 is provided with a driving hole 1271 . The eccentric transmission shaft 1291 passes through the driving hole 1271 . A bearing is installed in the driving hole 1271 for supporting the eccentric transmission shaft 1291 . It can be seen that, in the cutting process, start the first motor to drive the gear 1292 to rotate around its own axis; after the gear 1292 rotates, it drives the eccentric transmission shaft 1291 on at least one transmission wheel 129 to rotate centrifugally. At this time, the eccentric transmission shaft 1291 cooperates with the driving hole 1271 to drive the feeding unit 120 to move relative to the cutting unit 130 at least between the picking position and the working position, so as to complete the pulling action of the winding object. Further, the driving unit further includes a supporting frame 128 for supporting the first cam structure and the feeding unit 120 . The supporting frame 128 includes a through hole 1281 through which the transmission wheel 129 is connected to the feeding unit 120 . Specifically, the eccentric drive shaft 1291 of the transmission wheel 129 is connected to the feed unit 120. It can be understood that the connection of the eccentric drive shaft 1291 with the feed unit 120 means that the eccentric drive shaft 1291 is movably connected with the feed unit 120 and can drive the The unit 120 is given a reciprocating circular motion.

It should be noted that the number of transmission wheels 129 may be one or multiple. When the number of transmission wheels 129 is multiple, the first motor can cooperate with multiple transmission wheels 129 at the same time, such as: using a transmission chain or multiple sets of transmission gears 1292 to transmit the output of the first motor to multiple transmission wheels 129; of course , the first motor can also only cooperate with one transmission wheel 129 to drive one of the transmission wheels 129 to rotate, and the other transmission wheels 129 are equivalent to the limit function, limiting the movement track of the feed unit 120, ensuring that the feed unit 120 has Multiple stress points make the movement of the feeding unit 120 more stable. At the same time, multiple transmission wheels 129 work together on the feed unit 120 to ensure that the feed unit 120 always maintains a state of parallel up and down movement (similar to the movement of a parallelogram mechanism) when moving. In addition, the transmission wheel 129 is driven by the first motor to rotate, and its rotation direction should be consistent with the extension direction of the first hook portion 1261 or the second hook portion 1262 . For example, when the drive wheel 129 rotates clockwise under the drive of the first motor, it drives the hooking structure 126 to make a circular motion clockwise. When driven to rotate counterclockwise, the hooking structure 126 is driven to make a circular movement counterclockwise, and at this time the second hook part 1262 can hook the winding object.

Specifically, please continue to refer to FIG. 24 , the number of transmission wheels 129 is three. Three transmission wheels 129 are arranged at intervals along the length direction l of the feeding unit 120 . The first motor is in driving cooperation with one of the three transmission wheels 129 . Of course, when the first motor drives and cooperates with the transmission wheel 129 located in the middle, the force on the feeding unit 120 tends to be more balanced, and its movement is more stable. At the same time, when the feeding unit 120 is moving, its bottom surface is always kept parallel to the bottom surface of the cutting unit 130 .

As another specific embodiment, please refer to Fig. 25 and Fig. 26, the first cam structure includes a gear 1292, at least two transmission wheels 129, and also includes a synchronous belt 1293 supported by the above-mentioned at least two transmission wheels 129 and connected with the two The synchronous belt pulley 1294 that cooperates with above-mentioned drive wheel 129 coaxially. The specific structure of the transmission wheel 129 is the same as that in the above-mentioned embodiment, and will not be repeated here. The first motor cooperates with the first cam structure to drive the gear 1292 to rotate around its own axis. The timing belt 1293 meshes with the gear 1292 and the timing pulley 1294 respectively, the gear 1292 drives the timing belt 1293 to rotate, the timing belt 1293 further drives the timing pulley 1294 to rotate, and the timing belt pulley 1294 drives the transmission wheel 129 to rotate coaxially. Similarly, the eccentric transmission shaft 1291 of the transmission wheel 129 passes through the driving hole 1271 of the feeding unit 120 . It can be seen that, in the cutting process, start the first motor to drive the gear 1292 to rotate around its own axis; after the gear 1292 rotates, it drives the synchronous belt 1293 to rotate, and the synchronous belt 1293 further drives the synchronous belt pulley 1294 to rotate, and the synchronous belt wheel 1294 drives the transmission wheel 129 rotates, and then drives the eccentric transmission shaft 1291 on the transmission wheel 129 to do centrifugal rotation. At this time, the eccentric transmission shaft 1291 cooperates with the driving hole 1271 to drive the feeding unit 120 to move relative to the cutting unit 130 at least between the picking position and the working position, so as to complete the pulling action of the winding object. And the synchronous belt 1293 can be set as a single-sided synchronous belt, also can be set as a double-sided synchronous belt. When the synchronous belt 1293 is set as a single-sided synchronous belt, the synchronous pulley 1294 and the gear 1292 are all meshed on the inner surface of the single-sided synchronous belt, and when the synchronous belt 1293 is a double-sided synchronous belt, the synchronous pulley 1294 needs to be meshed on the double-sided synchronous belt. The inner surface of the double-sided synchronous belt, the gear 1292 can be meshed with the inner surface of the double-sided synchronous belt or the outer surface of the double-sided synchronous belt. Of course, in order to avoid interference, the gear 1292 is meshed with the outer surface of the double-sided synchronous belt better.

It should be noted that the number of transmission wheels 129 can be set to be more than two, and more than two transmission wheels 129 are arranged at intervals along the length direction l of the feeding unit 120 . Preferably, the distances from the two transmission wheels 129 supported at both ends of the synchronous belt 1293 to the two ends of the feed unit 120 in the length direction l are l1 and l2, wherein, please refer to FIG. 27, l1=l2.

In one embodiment, the feeding unit 120 includes a hook frame 127, the hooking structure 126 is mounted on the hook frame 127, and the driving hole 1271 is disposed on the hook frame.

In one embodiment, the cleaning device further includes a shearing drive unit (not shown), the shearing drive unit is connected to the cutting member 136, and drives the first shearing member 133 and the second shearing member 134 to reciprocate to cut twine. It can be understood that the cutting member 136 and the feeding unit 120 are respectively driven by different driving units without interference with each other.

In another embodiment, the shear drive unit is at least partially identical to the feed drive unit. The cutting unit 130 and the feeding unit 120 are driven by the same drive unit, that is, the cutting unit 130 and the feeding unit 120 are driven by the same motor 111, and the motor is connected with the cutting unit 130 and the feeding unit 120 through different transmission structures, and through different The transmission structure 162 drives the cutting unit 130 and the feeding unit 120 to move respectively. Specifically, please refer to Fig. 44, Fig. 48 and Fig. 49. The first shearing member is installed on the knife rest 161, and the knife rest 161 is provided with a U-shaped groove 1611. The motor 111 is connected with a second cam through a transmission structure (the transmission structure and The second cams are not shown in the figure), and drive the second cam to rotate in the U-shaped groove 1611 of the knife holder, and then push the knife holder 161 and the first shear member installed on the knife holder 161 to produce linear reciprocation. The motor 111 is connected to the transmission structure 162, and drives the third cam 160 to rotate through the transmission structure 162. The feed unit is installed on the hook frame 127, and the hook frame 127 is provided with a driving hole, and the third cam 160 is penetrated in the driving hole. Further, the hook frame 127 and the feed unit are driven to perform circular motion. Utilizing the same drive unit to drive the feed unit and the cutting unit can reduce the number of drives, reduce costs, and effectively reduce the volume occupied by the cleaning device. When the cleaning device is installed on the cleaning device or the base station, the cleaning device or the base station can More miniaturization.

In one embodiment, when the cleaning device is started, the cutting unit 130 starts running earlier than the feeding unit 120 . When the cleaning device stops working, the cutting unit 130 stops running later than the feeding unit 120 . It is ensured that the entanglement under the hook of the feeding unit 120 can be effectively cut. Specifically, when the cleaning device is started, the cutting unit 130 starts running 0.1s earlier than the feeding unit. The cutting unit 130 stops running 0.1s later than the feeding unit.

On the basis of any of the above embodiments, please refer to FIG. 5 and FIG. 6 , the feeding unit 120 is provided with a hook portion 122 . The hook hair portion 122 is used to pull the winding object to the working position, so the design of the hook hair portion 122 makes it easier to pull the winding object from the picking position to the working position, so as to improve cutting efficiency.

It should be noted that, in order to improve the pulling effect of the entanglement, the hook hair portion 122 can be arranged in an oblique and curved structure, that is, the hook hair portion 122 is inclined in one direction on the feeding unit 120 and extends curvedly.

It should also be noted that, with regard to the cutting method of the winding object, the present application provides at least two kinds of cleaning devices 100. First, the feeding unit 120 cooperates with the cutting unit 130 to cut the winding object, such as: the feeding unit 120 is provided with a cutting part 121 1. The cutting unit 130 includes a cutting blade 131 ; 2. The cutting unit 130 has an independent cutting function, for example: the cutting unit 130 includes a cutting piece 136 . As for the above two cleaning devices 100 , the features of the hook bristles 122 in this embodiment can be applied to the feeding units 120 of the above two cleaning devices 100 .

In one embodiment, please refer to FIG. 7 , there are multiple hook hair portions 122 . A plurality of hooks 122 are arranged at intervals on the feeding unit 120 . In this way, it is beneficial to improve the hooking ability of the feeding unit 120, thereby improving the cutting efficiency.

Further, referring to FIG. 5 and FIG. 6 , a hook groove 123 with an opening 1231 at one end is formed between the hook hair portion 122 and the feeding unit 120 . When the feeding unit 120 moves to the pick-up position, at least part of the winding objects are accommodated in the hook groove 123 . It can be known from this that when the feeding unit 120 moves to the pick-up position, the windings on the roller brush 310 will enter the hook groove 123 from the opening 1231 . At this time, the entangled object entering the hook groove 123 is in a hooked state relative to the hook hair portion 122 . It is convenient for the cutting member 136 to cut the wrap. Similarly, when the feeding unit 120 moves toward the working position, the hook hair portion 122 presses down to hook the winding and pulls it to the working position, so that the cutting blade 131 can cut the winding.

Further, when the hook hair portion 122 extends obliquely, please refer to FIG. 7 , the inclination direction of the hook hair portion 122 and the opening 1231 of the hook groove 123 are set at an angle with the horizontal plane, for example, at a certain angle α, wherein, Angle α can satisfy: 30°<α<70°. In addition, the inclination direction of the hook hair part 122 and the opening 1231 orientation of the hook groove 123 are adapted to the moving direction of the feeding unit 120 from the working position to the pick-up position, so that the hook hair part can pick up the entanglement. The inclined direction of the hook hair portion 122 and the orientation of the opening 1231 of the hook groove 123 are consistent with the moving direction of the feeding unit 120 from the working position to the picking position. Wherein, "consistent in direction" should be understood as: the orientation or direction tends to be consistent, but does not mean that the orientation or inclination direction of the opening 1231 is absolutely consistent and parallel to the movement direction of the feeding unit 120.

Further, please refer to FIG. 7 , the hook hair portion 122 has an inner arc surface 1222 and an outer arc surface 1221 opposite to each other. A hook groove 123 is formed between the inner arc surface 1222 and the feeding unit 120 . Among the two adjacent hook hair portions 122 , the outer arc surface 1221 of one hook hair portion 122 is at least used to guide the winding material to the inner arc surface 1222 of the other hook hair portion 122 . When the feeding unit 120 moves to the pick-up position, the outer arc surface 1221 on one hook hair portion 122 guides the contacted windings into the inner arc surface 1222 on the adjacent hook hair portion 122, so that part of the winding objects is accommodated in the hook. Inside the groove 123.

In order to improve the cutting effect, the inner arc surface 1222 can be arranged close to the cutting edge 1311 on the cutting blade 131 . In addition, the outer arc surface 1221 is at least used to guide the wrappings. It should be understood that the outer arc surface 1221 also has the function of pushing away the structure on the outer contour of the roller brush 310 in addition to the function of guiding the wrappings. For example: when the hook bristle portion 122 moves toward the pick-up position, the outer arc surface 1221 can also guide the entangled objects and also move the bristles or rubber on the roller brush 310 .

Further, please refer to FIG. 7 , the outer arc surface 1221 includes a first arc segment 12211 and a second arc segment 12212 . The first arc segment 12211 is opposite to the inner arc surface 1222 . The second arc segment 12212 is connected between the first arc segment 12211 and the inner arc surface 1222 . In the same hook hair portion 122, the second arc segment 12212 is used to guide the winding to the inner arc surface 1222; in two adjacent hook hair portions 122, the first arc segment 12211 of one hook hair portion 122 is at least On the inner arc surface 1222 of another hook hair part 122 for guiding the winding. It can be seen from this that the outer arc surface 1221 has a two-stage structure. When the hook hair portion 122 moves from the working position to the pick-up position, the first arc segment 12211 of the outer arc surface 122 guides the winding to the inner arc surface 1222 of the adjacent hook hair portion 122; when the hook hair portion 122 has a pick-up position When moving to the working position, the second arc section 12212 of the outer arc surface 122 can guide part of the windings to the inner arc surface 1222 of the same hook hair part 122, which can greatly ensure that most of the winding objects on the roller brush 310 are hooked. On the hook hair portion 122, the cutting efficiency and cutting effect are further improved.

Further, please refer to FIG. 3 and FIG. 4 , whether the feeding unit 120 is in the working position or in the picking position, the side of the hook hair portion 122 facing away from the hook groove 123 is higher than the cutting edge 1311 or the cutting blade 131 . The upper cutting edge of the cutting part 136, that is, the hook hair part 122 protrudes from the cutting edge 1311 of the cutting blade 131 or the upper cutting edge of the cutting part 136 all the time, and the cutting edge 1311 of the cutting blade 131 or the upper cutting edge of the cutting part 136 is protected. It is prevented from being exposed to the outside, and even when the human hand touches the device, the hand will not be scratched, which plays a safety role.

In one embodiment, the cutting portion 121 is disposed on a side of the hook hair portion 122 facing the hook groove 123 . Since the cutting part 121 is arranged on the side of the hook hair part 122 facing the hook groove 123 (that is, the inner side of the hook hair part 122), when the winding object is pulled to the working position, it will be quickly received by the cutting part 121 and the cutting blade 131. Excellent cutting effect, so that it can be cut off effectively and quickly.

Further, the cutting portion 121 is disposed on the inner arc surface 1222 . When the feed unit 120 moves to the working position, that is, when the feed unit 120 moves downward, the inner arc surface 1222 pulls the windings to the cutting edge 1311 of the cutting blade 131 and cuts them off.

Further, please refer to FIG. 7 , the cutting part 121 includes more than two feeding sections 1223 arranged at intervals along the length direction of the inner arc surface 1222 itself. When the feeding unit 120 moves on the working position, at least two feeding segments 1223 move to the working position successively, and cooperate with the cutting blades 131 in sequence. It can be seen that, when the feed unit 120 moved to the working position, more than two feeding sections 1223 of the inner arc surface 1222 entered into the working position successively, so that the feeding section 1223 closest to the cutting blade 131 first contacted the cutting blade 131 cooperates to cut the winding; the feed section 1223 farther away from the cutting blade 131 cooperates with the cutting blade 131 and cuts the winding. In this way, the winding objects hooked on the inner arc surface 1222 can be cut off in batches, avoiding simultaneous cutting of the winding objects, thereby reducing the load on the cutting blade 131 and improving the cutting efficiency.

Optionally, more than two feed sections 1223 enter the working position one after another, and the way to realize it can be: design the two or more feed sections 1223 with a height difference on the inner arc surface 1222; or, place more than two feed sections 1223 Segments 1223 are sequentially spliced and designed according to a certain slope.

Specifically, referring to FIG. 7 , the direction from the end connected to the second arc segment 12212 on the first arc segment 12211 to the end connected to the second arc segment 12212 on the inner arc surface 1222 is defined as a reference direction. At least two feed segments 1223 have a position difference in the reference direction. It can be seen that there is a height difference between the feeding section 1223 and the feeding section 1223 in this embodiment, so that the feeding section 1223 enters the working position in batches and cooperates with the cutting pieces in sequence. Wherein, in order to facilitate understanding of the reference direction, taking FIG. 7 as an example, the reference direction is the direction indicated by S in FIG. 7 .

It should be noted that there is a position drop between at least two feed sections 1223 in the reference direction, which should be understood as: it is only necessary to ensure that the two feed sections 1223 have different heights, and the other feed sections 1223 can maintain the same height, Different heights are also possible. In addition, when each feeding section 1223 is at a different height position from each other, that is, when there is a position gap between each feeding section 1223, the height position between the feeding sections 1223 can be along the length direction of the inner arc surface 1222 Decrease or increase in turn; or, the height position between the feed sections 1223 is staggered along the length direction of the inner arc surface 1222, for example: in the length direction of the inner arc surface 1222, the height position of one feed section 1223 is higher It is at the height position of the previous feeding section 1223, and is lower than the height position of the next feeding section 1223, etc.

Specifically, please refer to FIG. 7 , there is a position drop between each feed section 1223 in the reference direction, and along the length direction of the inner arc surface 1222, the height position between the feed sections 1223 decreases or increases sequentially, that is The position drop between the feed sections 1223 changes sequentially.

In one embodiment, referring to FIG. 7 , an end of the feeding section 1223 facing the opening 1231 is provided with a blocking portion 1224 . The blocking part 1224 is arranged along the protrusion toward the hook groove 123, which has a blocking effect on the wrappings guided into the inner arc surface 1222, and can effectively prevent the wrappings from slipping toward the opening 1231 during cutting, ensuring that the wrappings It is cut stably, further improving the cutting efficiency.

It should be noted that the blocking portion 1224 can have multiple options in the shape design, for example: the blocking portion 1224 is designed to be cylindrical, square, conical, etc., which is not specifically limited in this embodiment, as long as it can block It is sufficient for the winding to slide out of the feed section 1223 .

Specifically, please refer to FIG. 7 , the end of the blocking part 1224 facing the hook groove 123 is a pointed end, which can not only effectively prevent the wrapping from slipping out, but also reduce the space occupied by one end of the blocking part 1224, so that the wrappings can enter the feeding section 1223 Leave more room in the middle.

In one embodiment, please refer to FIG. 17 , the length direction of the cutting blade 131 is substantially parallel to the axis of the roller brush 310, that is, the cleaning device 100 is arranged transversely with respect to the roller brush 310, so that the roller brush 310 is arranged in a widthwise direction. The entanglements in all directions can be cut off to improve the cleaning effect. Wherein, "approximately parallel" should be understood as: absolutely parallel and relatively parallel. Relatively parallel means that due to processing or assembly errors, there is a certain angle between the length direction of the cutting blade 131 and the axis of the roller brush 310. The size of this angle needs to be determined according to the processing and assembly accuracy. 20° etc.

Of course, in another embodiment, please refer to FIG. 17 , the cutting edge 1311 on the cutting blade 131 can be designed to be approximately parallel to the axis of the roller brush 310 to ensure the positional relationship between the cleaning device 100 and the roller brush 310 .

In one embodiment, please refer to FIG. 9 , at least a section of the cutting edge 1311 on the cutting blade 131 is inclined. It can be seen that at least one section of the cutting edge 1311 on the cutting blade 131 has a certain angle, one end of which is lower and the other end is higher. When the feeding unit 120 pulled the windings to the cutting blade 131, the higher end of the cutting edge 1311 first contacted the windings and cut them off; The lower direction is cut off sequentially, which can effectively avoid the phenomenon that the feed unit 120 is overloaded at an instant and the windings cut off too much at the same time are stuck.

It should be noted that the cutting edge 1311 on the cutting blade 131 can be designed as a complete inclined section, or can be designed as a plurality of inclined sections designed at intervals. Of course, the inclination directions of the multiple inclination sections can be consistent or opposite. For example, the cutting edge 1311 of the cutting blade 131 is designed to be inclined at both ends and low at the middle, or at both ends and high at the middle.

In another embodiment, at least two sections of the cutting edge 1311 on the cutting blade 131 have a height difference between the height of the cutting blade 131 . When the feeding unit 120 pulls the windings onto the cutting blade 131, the higher cutting edge 1311 first contacts the windings and cuts them off; then, as the feeding unit 120 continues to move, the windings pass by Cutting edge 1311 of different heights, and complete the cutting operation.

In one embodiment, please refer to FIG. 10 and FIG. 11 , the feeding unit 120 includes a feeding blade 124 . The feed blade 124 and/or the cutting blade 131 is configured as a single blade; alternatively, the feed blade 124 and/or the cutting blade 131 includes more than two blade segments 1241 . More than two knife segments 1241 are spliced side by side. It can be seen that the feed blade 124 and/or the cutting blade 131 can be designed as a single blade structure, that is, a continuous and complete blade structure; it can also be designed as a spliced structure, that is, two blade segments 1241 are spliced together. When the feed blade 124 and/or the cutting blade 131 are designed as a spliced structure, during the processing, they are broken into parts, and the larger feed blade 124 or the cutting blade 131 of the processing size is replaced by the smaller knife segment 1241 of the processing size. , to reduce the processing accuracy and difficulty of the blade, so that the feeding unit 120 and the cutting unit 130 can better cooperate, thereby improving the cutting effect of the winding.

It should be noted that the splicing and fixing method of the knife segment 1241 can be directly fixed, for example: the knife segment 1241 and the knife segment 1241 are connected by a clamping structure; or the knife segment 1241 and the knife segment 1241 are connected by bolts ; Or, the knife segment 1241 and the knife segment 1241 are connected by means of pin connection, etc. Of course, the splicing and fixing of the knife segments 1241 can also be indirectly fixed. For example: the knife segment 1241 and the knife segment 1241 are respectively fixed on the intermediate structure, so as to complete splicing and fixing between the knife segments 1241 .

Further, please refer to FIG. 11 , the feed blade 124 is a spliced structure, and the feed blade 124 further includes a fixing part 1242 and a first elastic part 1243 . Two or more knife segments 1241 are arranged side by side on the fixing member 1242 to complete the splicing of the feed blades 124 . Since the feed blade 124 is designed so that more than two blade segments 1241 are spliced side by side, each blade segment 1241 can be better attached to the cutting blade 131 during assembly, so that the cutting effect is better. In addition, the first elastic member 1243 interferes between the knife segment 1241 and the fixing member 1242. Therefore, when splicing and fixing, the knife segment 1241 and the fixing member 1242 are elastically in conflict. The purpose is: 1. To avoid the rigidity of the two The contact easily leads to surface pressure loss; 2. The first elastic member 1243 makes the knife segment 1241 and the fixing member 1242 always have a frictional force, so as to avoid loosening between the knife segment 1241 and the fixing member 1242 due to wear and tear during use.

Optionally, the fixing between the fixing member 1242 and the feeding section 1223 can be fixed by means of bolts, pins, clips and the like. Meanwhile, the first elastic member 1243 may be, but not limited to, a spring, an elastic metal sheet, elastic rubber, and the like.

It should be noted that the number of the first elastic member 1243 may be one, two or more. When the number of the first elastic member 1243 is one, all the knife segments 1241 abut against the fixing member 1242 through the first elastic member 1243 . When the number of the first elastic member 1243 is more than two, there are various configuration relationships between the first elastic member 1243 and the knife segment 1241. That is, a knife segment 1241 abuts against the fixing member 1242 through a first elastic member 1243; or, the configuration between the first elastic member 1243 and the knife segment 1241 is a one-to-many configuration, that is, a plurality of knife segments 1241 share a first elastic The piece 1243 abuts against the fixing piece 1242 and the like.

Further, please refer to FIG. 11 , the distribution of the first elastic member 1243 between the blade segment 1241 and the fixing member 1242 is as follows: the middle part of the first elastic member 1243 is arched, and the opposite ends of the first elastic member 1243 are in contact with each other. On the knife segment 1241 , the arched portion of the first elastic member 1243 is in contact with the fixing member 1242 .

Based on any of the above embodiments, please refer to FIG. 1 , FIG. 10 and FIG. 12 , the cleaning device 100 further includes a connection mechanism 140 . The connecting mechanism 140 is used for connecting the feeding unit 120 and the cutting unit 130 , and allows the feeding unit 120 to move relative to the cutting unit 130 . It can be seen that, under the action of the connecting mechanism 140, the feeding unit 120 is not only connected to the cutting unit 130, but also can move relative to the cutting unit 130, so that when the feeding unit 120 pulls the winding to the working position, the cutting unit 130 It can better cut off the winding, which is beneficial to improve the cutting effect of the winding.

Further, please refer to FIG. 1 and FIG. 10, when the feeding unit 120 is provided with a cutting portion 121, and the cutting unit 130 includes a cutting blade 131, the connecting mechanism 140 is used to drive the cutting portion 121 of the feeding unit 120 to be close to the cutting The cutting edge 1311 of the blade 131 . In this way, the cutting effect of the winding is better.

It should be noted that, in order to realize the pressing and relative movement between the feeding unit 120 and the cutting unit 130, the connecting mechanism 140 can be designed as a combination structure of a bolt or a screw and a spring, for example: the bolt or screw goes through the feeding unit 120 and the The cutting unit 130 is sleeved on the bolt or the screw rod by the spring and is in contact with the feeding unit 120 or the cutting unit 130; or, the connecting mechanism 140 can also be designed as a pair of magnets with opposite magnetic poles, and the mutual attraction of the magnets will be used to move the The feeding unit 120 and the cutting unit 130 are pressed against each other. At this time, lubrication is required between the feeding unit 120 and the cutting unit 130 or balls are added to ensure stable relative movement between the two. Certainly, the connecting mechanism 140 can also be designed as other structures, as long as the feeding unit 120 and the cutting unit 130 have functions of pressing and relative movement.

Further, please refer to FIG. 2 and FIG. 13 , the driving unit 110 includes a motor 111 and a cam 112 . The cam 112 includes a rotating portion 1121 and a transmission shaft 1122 disposed on the rotating portion 1121 . The transmission shaft 1122 is spaced apart from the axis of the rotating part 1121 . The motor 111 cooperates with at least one cam 112 for driving the rotating part 1121 to rotate around its own axis. The cutting unit 130 is provided with an escape hole 132 . The feeding unit 120 is provided with a driving hole 125. The transmission shaft 1122 passes through the escape hole 132 and the driving hole 125 in sequence. The connecting mechanism 140 includes a second elastic member 141 . The second elastic member 141 is connected to a portion of the transmission shaft 1122 protruding from the driving hole 125 , and abuts against the feeding unit 120 .

It can be seen that during the cutting process, the starter motor 111 drives the rotating part 1121 on at least one boss to rotate around its own axis; after the rotating part 1121 rotates, it drives the transmission shaft 1122 to rotate centrifugally. At this time, the transmission shaft 1122 cooperates with the driving hole 125 to drive the feeding unit 120 to move relative to the cutting unit 130 at least between the picking position and the working position, so as to complete the actions of pulling and cutting the winding objects. Since the second elastic member 141 is connected to the part of the transmission shaft 1122 protruding from the driving hole 125, and abuts against the feed unit 120, therefore, under the action of the second elastic member 141, the feed unit 120 is in close contact with the feed unit 120. On the cutting unit 130, relative movement can be performed on the cutting unit 130 to ensure stable cutting operation. Wherein, the second elastic member 141 may be, but not limited to, a spring, an elastic rubber sleeve, and the like. At the same time, the cooperation between the driving hole 125 and the transmission shaft 1122 can not only ensure that the transmission shaft 1122 drives the feed unit 120 to move by cooperating with the driving hole 125, but also maintain a certain tolerance with the driving hole 125 to avoid feeding Over-positioning of unit 120.

It should be noted that the number of cams 112 may be one or more. When the number of cams 112 is multiple, the motor 111 can cooperate with multiple cams 112 at the same time, such as: using a transmission chain or multiple sets of transmission gears to transmit the output of the motor 111 to multiple cams 112; of course, the motor 111 can also be only Cooperate with a cam 112 to drive one of the cams 112 to rotate, and the other cams 112 are equivalent to the limit function, limiting the movement track of the feed unit 120, ensuring that the feed unit 120 has multiple stress points, so that the feed unit The 120 has a smoother movement. At the same time, multiple cams 112 work together on the feed unit 120 to ensure that the feed unit 120 always maintains a state of parallel up and down movement when moving (similar to the movement of a parallelogram mechanism). In addition, the cam 112 is driven by the motor 111 to rotate, and its rotation direction should be consistent with the extension direction of the hook hair portion 122 .

Specifically, referring to FIG. 2 , the number of cams 112 is three. The three cams 112 are arranged at intervals along the length direction of the feeding unit 120 . The motor 111 is in driving cooperation with one of the three cams 112 . Of course, when the motor 111 and the cam 112 located in the middle are in driving cooperation, the force on the feeding unit 120 tends to be more balanced, and its movement is more stable. At the same time, when the feeding unit 120 is moving, its bottom surface is always kept parallel to the bottom surface of the cutting unit 130 .

It should also be noted that there are many ways to connect the second elastic member 141 on the transmission shaft 1122, for example: fixing one end of the second elastic member 141 with a nut or nut; or fixing it with a pin or rivet; Alternatively, it may be directly fixed by bonding or welding.

Specifically, please refer to FIG. 2 , the connection mechanism 140 further includes a force nut 142 . The second elastic member 141 is a spring. The force nut 142 is screwed on the transmission shaft 1122 . The spring is sheathed on the transmission shaft 1122 , one end of which is in conflict with the force nut 142 , and the other end is in conflict with the feeding unit 120 . Of course, in order to ensure the stable interference of the spring, a washer 143 may be provided between the biasing nut 142 and the spring.

In one embodiment, please refer to FIG. 10 , when the feed blade 124 is a spliced structure (for example: more than two blade segments 1241 are arranged side by side on the fixing member 1242, the first elastic member 1243 is in contact with the blade segment 1241 and the fixing member 1242), the driving hole 125 is provided on the knife segment 1241, and the first elastic member 1243 and the fixing member 1242 are both provided with perforations. At this time, during assembly, the transmission shaft 1122 is sequentially passed through the avoidance hole 132, the driving hole 125, and the through holes on the first elastic member 1243 and the fixing member 1242; then, the second elastic member 141 is connected to the transmission shaft 1122 on, and against the fixing piece 1242. In this way, through the same connection mechanism 140, not only the pressing between the feeding unit 120 and the cutting unit 130 can be realized, but also the assembly and pressing of the spliced feeding blade 124 can be realized, which makes the overall structure of the cleaning device 100 more concise and compact .

In one embodiment, please refer to FIG. 14 , the movement track of the feeding unit 120 driven by the driving unit 110 is a circle or a substantially circle. In Fig. 14(a), the feed unit 120 is at the lowest position, and when it continues to rotate counterclockwise, part of the wrapping is already in the hook groove 123; in Fig. 14(b), the feed unit 120 moves to the rightmost position, When continuing to rotate counterclockwise, a large amount of windings are picked up into the hook groove 123; in FIG. ; In Fig. 14(d), the feeding unit 120 moves to the leftmost position, and the winding is cut off near this position, wherein the working position can be slightly higher or lower than the leftmost position; when continuing to rotate counterclockwise, The feeding unit 120 then returns to the position shown in FIG. 14( a ), so as to realize circular cutting.

In one embodiment, please refer to FIG. 2 , the driving unit 110 further includes a base 150 . The cutting unit 130 is attached on the base 150 . The base 150 defines a mounting hole 151 . The rotating part 1121 of the cam 112 is at least partially passed through the mounting hole 151, and is limitedly fitted with the base 150, so as to form a structural balance with the elastic force of the second elastic member 141, so that the feeding unit 120, the cutting unit 130 and the base 150 Press tightly.

In one embodiment, please refer to FIG. 1 , FIG. 3 and FIG. 4 , a cleaning device 100 is used for cleaning the entanglement on the roller brush 310 of the cleaning device. The cleaning device 100 includes a driving unit 110 and a feeding unit 120 . The driving unit 110 drives the feeding unit 120 to at least move between the pick-up position and the working position, so as to pull the wound objects on the roller brush 310 from the pick-up position to the working position. When the feeding unit 120 moves to the working position, the windings are at least partially separated from the roller brush 310 . The distance between the working position and the axis of the roller brush 310 is greater than the distance between the pick-up position and the axis of the roller brush 310 .

The structure of the cleaning device 100 in this embodiment is similar to that of the cleaning device 100 above, the only difference is that part of the entanglement can be completely separated from the roller brush 310 under the pull of the feeding unit 120 , such as pet hair. In this way, the separated windings can be cleaned without cutting by the cutting unit 130 . Equally, since the distance between the working position and the axis of the rolling brush 310 is greater than the distance between the picking position and the axis of the rolling brush 310, that is, the working position is set farther away from the rolling brush 310 than the picking position, therefore, when cutting, the cutting unit 130 will contact with the winding Keep a certain distance between the pick-up positions, so as to prevent the cutting unit 130 from being too close to the roller brush 310 and easily damage the structure of the roller brush 310, so as to achieve effective cutting and reduce damage to the roller brush 310.

It should be noted that, the features of the cleaning device 100 in any of the above embodiments can be applied to the cleaning device 100 of this embodiment, which will not be described in detail in this embodiment.

In one embodiment, please refer to FIG. 28 to FIG. 32 , a rolling brush assembly 3 includes: a joint 31 for installing the rolling brush assembly 3 on a cleaning device; a rolling brush, the rolling brush includes a roller shaft 32 connected to At the joint 31, the outer periphery of the roller shaft 32 is connected with a cleaning piece. When the roller shaft 32 rotates, it drives the cleaning piece to sweep the surface to be worked, so as to clean the surface to be worked; Both ends of the shaft 32 in the length direction, each end of the roller shaft 32 includes at least two or more guides 35 for supporting the wrappings wound on the roller brush, so that the wrappings are wound away from the outer circumference of the roller shaft 32 when wound on the roller brush . The windings are far away from the outer circumference of the roller shaft 32, which is convenient for users or automatic cleaning devices to clean the windings wound on the roller brush.

In one embodiment, a plurality of guides 35 may be provided. For example, more than three guides 35 are provided at each end of the roller brush assembly in the length direction l3, and more than three guides 35 have a better supporting and guiding effect on the winding. Specifically, referring to FIG. 30 , six guides 35 are provided at each end of the roller brush assembly in the length direction l3, and the six guides 35 are evenly distributed on the outer circumference of the roller shaft 32 in the circumferential direction.

In one embodiment, please refer to FIG. 31 , the guide member 35 includes a guide surface 352 and a support surface 351 connected to each other, and the guide surface 352 is closer to the joint 31 relative to the support surface 351 . The guide surface 352 guides the winding to the support surface 351 which supports the winding on its surface. The guide 35 can guide the wrap away from the joint 31 and support it in a position away from the periphery of the roll shaft 32 . The guide surface 352 can be set as an arc surface or a straight surface inclined relative to the axis of the roller shaft 32 , and the position of the guide surface 352 relatively close to the joint 31 is higher than that relatively far away from the joint 31 . The support surface 351 may be set as a plane parallel to the axis of the roller shaft 32 . Specifically, the guiding surface 352 is set as an arc surface, and the supporting surface 351 is set as a plane, and the arc surface guides the wrapping to the plane, and the plane supports the wrapping on its surface.

Further, the connection between the guiding surface 352 and the supporting surface 351 has a smooth transition. In this way, the winding can be effectively guided from the guiding surface 352 to the supporting surface 351 .

In one embodiment, the guide 35 comprises a support surface 351 arranged as a plane which supports the winding on its surface.

In one embodiment, the guide member 35 includes a guide surface 352, the guide surface 352 is configured as an arc surface, an inclined straight surface, or a combination of an arc surface and an inclined straight surface, and the arc surface or an inclined straight surface guides the winding away from the joint 31 direction guidance. When the guide surface 352 is set as an inclined straight surface, the included angle between the inclined straight surface and the horizontal plane is between 10° and 60°. If the angle between the inclined straight surface and the horizontal plane is too small, the guiding effect on the windings will be poor, and if the angle is too large, the windings will be guided into the cleaning parts of the roller brush, and the windings will be too close to the roller shaft 32, Difficult to clean, the guide 35 arranged within the range of the included angle not only has a good guiding effect, but also does not cause the winding to fall into the cleaning part of the roller brush and is too close to the roller shaft 32, making it difficult for the winding to move from the roller shaft 32 to remove. Preferably, the angle between the inclined straight surface and the horizontal plane is between 14° and 45°

In one embodiment, the cleaning element of the roller brush includes bristles 33 and/or rubber strips 34 . The bristles 33 and/or rubber strips 34 are arranged in more than two rows, and are installed on the roller shaft 32 in the longitudinal direction l3 of the roller brush assembly. The bristles 33 and/or the rubber strips 34 are evenly distributed in the circumferential direction of the roller shaft 32 . Specifically, please refer to FIG. 30 , the roller brush includes three rows of bristles 33 and three rows of rubber strips 34 , and the bristles 33 and the rubber strips 34 are arranged on the roller shaft 32 at intervals. Each row of bristles 33 or rubber strips 34 forms a certain angle, non-linear arrangement. It is more conducive to cleaning the surface to be worked. It is so arranged that when the winding is wrapped around the outer circumference of the roller brush, it is supported by the bristles 33 and/or the rubber strips 34 at multiple points, forming a polygonal shape, which is approximately circular, and the depth of the windings embedded in the bristles 33 will be reduced, which is convenient for manual or automatic Cleaning device for cleaning. Further, the guide 35 is disposed between the bristles 33 and the rubber strip 34 . Specifically, there are six guide members 35, and the supporting effect is better. Of course, the roller brush can also only include the bristles 33, or only the rubber strips 34. When the roller brushes only included the brush hairs 33 or only the rubber strips 34, the guide 35 was arranged between the two bristles 33, or the guide 35 was arranged on the Between the two rubber strips 34. Further, the guide 35 intersects the bristles 33 and/or the rubber strip 34 in the length direction l3 of the roller brush assembly. Prevent the entanglement from slipping off from the guide 35 and get stuck between the guide 35 and the bristles 33 or the guide surface 352 and the rubber strip 34, making it difficult to clean. Furthermore, the intersection range of the cleaning element with the bristles 33 and/or the rubber strip 34 in the length direction l3 of the roller brush assembly is set between 1mm-5mm.

Preferably, the guide 35 has a preset minimum outer diameter away from the joint 31 and a preset maximum outer diameter near the joint 31, and the preset maximum outer diameter of the guide 35 is smaller than the maximum outer diameter of the bristles 33 and/or the rubber strip 34. path. It can be understood that the preset maximum outer diameter of the guide 35 is smaller than the maximum outer diameter of the bristles 33 or the rubber strip 34 means that the height of the guide 35 is lower than the length of the bristles 33 or the glue brush. Avoid interference between the guide 35 and the surface to be worked when the roller brush assembly 3 is working. The preset maximum outer diameter of the guide 35 is larger than the preset minimum outer diameter. Such arranging of the guide piece 35 ensures that the guide piece 35 can not only play the role of guiding the winding, but also play the role of supporting the winding.

Preferably, the height of the bristles 33 close to the joint 31 is lower than the height of the bristles 33 far away from the joint 31 . The height of the glue strip 34 close to the joint 31 is lower than the height of the glue strip 34 far away from the joint 31 . The height of the bristles 33 near the joint 31 is smaller than the preset maximum outer diameter of the guide 35 . The height of the rubber strip 34 near the joint 31 is smaller than the preset maximum outer diameter of the guide 35 . The height of the bristles 33 near the joint 31 and the height of the rubber strip 34 are less than the preset maximum outer diameter of the guide 35, so as to prevent the bristles 33 or the rubber strip 34 from supporting the entanglement and making the guide 35 ineffective. Such setting can make the guide Part 35 better plays a guiding role and a supporting role.

In one embodiment, the rolling brush assembly 3 further includes a rolling brush housing 30 and a rolling brush cover 37 , and the rolling brushes are accommodated and installed in the rolling brush housing 30 . Please refer to FIG. 32 , the roller brush housing 30 and the roller brush cover 37 near the joint 31 cooperate with the joint 31 to form a labyrinth structure. The labyrinth structure has multiple sections of barrier walls that prevent hairs from passing through. If the entanglement wants to cross the barrier wall and penetrate between the roller brush housing 30 and the joint 31, it needs to cross the multi-section barrier wall, so the multi-section barrier wall can effectively prevent the entanglement from crossing the joint 31 and wrapping around the roller brush housing 30 and the joint 31 The location of the connection, resulting in difficult to clean consequences.

In one embodiment, a cleaning combination includes the cleaning device and the roller brush assembly 3 in any of the above embodiments. The cleaning device cleans the entangled objects on the roller brush, reducing manual maintenance.

Further, the guide 35 has a preset minimum outer diameter away from the joint 31 and a preset maximum outer diameter close to the joint 31 , and the preset maximum outer diameter of the guide 35 is greater than the preset minimum outer diameter. The infeed unit has a maximum pick-up position when it is moved to the pick-up position. When the cleaning device cleans the windings on the roller brush, the preset minimum outer diameter of the guide 35 is lower than the maximum pick-up position of the feeding unit by a preset distance. It is ensured that the feeding unit can effectively hook the winding supported on the guide 35 . Furthermore, the preset distance is set between 1mm-5mm.

In one embodiment, please refer to FIG. 15 and FIG. 16 , a base station, the base station includes a station body 200 and the cleaning device 100 in any one of the above embodiments. The station body 200 is provided with a working chamber 210 for the cleaning robot 300 to drive in or out. The cleaning device 100 is embedded in the bottom wall of the working chamber 210 .

In one embodiment, please refer to FIG. 33 and FIG. 42 , the cleaning device 100 is detachably connected to the base station. It is convenient to take the cleaning device 100 out of the base station for maintenance. It should be noted that the cleaning device 100 is detachably connected to the base station. It can be that the whole cleaning device is detachable relative to the base station, or part of the structure of the cleaning device is detachable relative to the base station, such as only the cutting unit 130 or the feeding unit. 120 can be detachable relative to the base station, and the cleaning control unit and the drive unit are fixedly installed on the base station, after the cutting unit 130 and the feeding unit 120 are taken out from the base station, they are cleaned. Specifically, the bottom wall of the working chamber 210 is provided with an installation groove 211 communicating with the working chamber 210 , and the cleaning device 100 is disposed in the installation groove 211 . Further, the cleaning device also includes a mounting frame 101, the feeding unit 120, the cutting unit 130 and at least part of the feeding drive unit are fixedly installed on the mounting frame 101, and the mounting frame 101 is detachably installed in the working chamber 210 of the base station. The mounting frame 101 A locking structure cooperating with the base station is provided, and the locking structure is configured to switch between a locked state and a released state, so as to lock and release the installation frame 101 on and from the base station. The locking structure includes a first hook 1011 arranged on the installation frame 101, and a second hook 2111 arranged on the installation groove 211 opposite to the hooking direction of the first hook 1011, during the process of installing the cleaning device 100 into the installation groove 211 The first hook 1011 and the second hook 2111 interfere with each other, so that at least one of them can move. The motion generated by the interference moves in the opposite direction, and then the first hook 1011 and the second hook 2111 are hooked to each other, and the cleaning device is locked on the base station. In this embodiment, the first hook 1011 is fixedly connected to the installation frame 101, and the second hook 2111 is relatively movable installed in the installation groove 211, and is connected with a return spring. A hook 1011 pushes the second hook 2111 to generate horizontal displacement. When the interference between the first hook 1011 and the second hook 2111 disappears, the return spring pushes the second hook 2111 to reset, and then hooks with the first hook 1011, The installation frame 101 is locked in the installation groove 211 . The locking structure also includes a mechanical switch or an electronic switch arranged on the base station. When the mechanical switch or the electronic switch is triggered, the second hook 2111 is pushed to generate a horizontal displacement, and it is disengaged from the first hook 1011, thereby completing the unlocking and release. The rack 101 can be taken out from the mounting slot. Furthermore, an elastic structure is also provided in the installation groove 211, and the elastic structure is compressed during the process of installing the cleaning device 100 into the installation groove 211. When the second hook 2111 is disengaged from the first hook 1011, the installation frame 101 is unlocked. Released, the elastic structure pushes out the mounting frame 101 for recovery of deformation, further facilitating the user to take out the mounting frame 101 .

Preferably, a positioning post (not shown) for positioning the cleaning device 100 is also provided in the installation groove 211, and the cleaning device 100 has a positioning slot (not shown) that cooperates with the positioning post, or the positioning post can be arranged on the cleaning device. 100, and the positioning groove is set in the installation groove 211. The base station also includes a cover plate 212 covering the top of the cleaning device 100 for opening or closing the installation slot 211 . The cover 212 is provided with buckles 214 , and the installation slot 211 is provided with a slot 213 matching with the buckles 214 . The cover plate 212 includes a notch 215 through which the feeding unit at least partially protrudes or retracts into the bottom wall.

The above-mentioned base station is used in conjunction with the cleaning robot 300. When the cleaning robot 300 drives into the working chamber 210, the drive unit 110 is used to drive the feeding unit 120 to the pick-up position; Pull the winding on it to the working position. If the windings can be separated from the rolling brush 310 under the action of the feeding unit 120, cleaning can be realized without cutting; . When the winding is pulled to the working position, the cutting unit 130 cuts the winding so as to realize effective cleaning on the roller brush 310 . In this way, the cutting method of the cleaning device 100 is to pull the entanglement first, and then cut it. For the entanglement adhering to the roller brush 310 in groups, it can ensure that it can be separated from the roller brush 310 in time after cutting, and realize effective cleaning. clean up. Since the distance between the working position and the axis of the rolling brush 310 is greater than the distance between the picking position and the axis of the rolling brush 310, that is, the working position is set farther away from the rolling brush 310 than the picking position, therefore, when cutting, the cutting unit 130 will be in contact with the picking up of the windings. The positions are kept at a certain distance to prevent the cutting unit 130 from being too close to the roller brush 310 and easily damage the structure of the roller brush 310 , so as to realize effective cutting and reduce damage to the roller brush 310 .

Further, referring to FIG. 15 , the bottom wall of the working chamber 210 is provided with an installation groove 211 communicating with the working chamber 210 . The cleaning device 100 is installed in the installation groove 211 , and the feeding unit 120 can pass through the notch of the installation groove 211 to pull the winding on the roller brush 310 to the working position. In this way, the cleaning device 100 is installed in the installation groove 211, so that the structure in the working chamber 210 remains simple and beautiful; at the same time, it is also convenient for the cleaning robot 300 to move to the top of the cleaning device 100 for cutting and cleaning.

Further, please refer to FIG. 17 , the arrangement of the cleaning device 100 in the installation groove 211 should be: the cutting end of the cutting unit 130 (such as the cutting edge 1311 or the scissor teeth 135) should be close to the outer contour of the roller brush 310 (such as the roller brush One end of the bristle on the 310), but can not be set higher than the outer contour of the roller brush 310, in order to avoid damage to the outer contour of the roller brush 310 during cutting.

In one embodiment, please refer to FIG. 17 , when the cleaning device 100 is in the non-working state, the feeding unit 120 is in the working position, so as to lower the height of the feeding unit 120 to prevent the cleaning robot 300 from entering the working chamber 210 and causing structural damage. put one's oar in. In addition, the feeding unit 120 is always set higher than the cutting unit 130. For example, the hook hair portion 122 of the feeding unit 120 is set higher than the cutting edge 1311 of the cutting blade 131, so as to prevent the user from accidentally touching the cutting edge 1311 and realize the safety protection function. .

In one embodiment, after the entanglement (such as hair) of the rolling brush 310 is cut off, the rolling brush 310 can rotate at a certain angle, and the cleaning device 100 can continue to cut the entanglement at this angle. Such a manner can be repeated many times, so as to completely remove the entanglements wound on the roller brush 310 .

In one embodiment, please refer to FIG. 28 , when the cleaning device cleans the roller brush assembly, the roller brush stops at the first preset phase P1. The feeding unit hooks up the winding object with respect to the first preset phase P1 where the roller brush is located. When the roller brush is in the first preset phase P1, the contact between the feeding unit and the bristles 33 or the rubber strip 34 is the least. Avoid damaging the roller brush when the feed unit picks up windings. Further, when the roller brush is in the first preset phase P1, the position where the feed unit hooks the winding is between the two guides 35 .

In one embodiment, please refer to FIG. 34 to FIG. 37 , a cleaning device system includes a cleaning device and a base station 20 for maintaining the cleaning device. The cleaning device and base station may be the cleaning device and base station described in any of the foregoing embodiments. Specifically, the cleaning device includes: a rolling brush assembly 3, the rolling brush assembly 3 includes a rolling brush for cleaning the garbage on the surface to be worked; a control unit (not shown), at least according to the working state or maintenance state of the cleaning device Control the roller brush assembly 3 to rotate or stop;

The base station 20 includes: a cleaning device 100 for cleaning the windings 36 on the roller brush, the control unit controls the roller brush to stop at the first preset phase P1, and upon receiving the notification that the roller brush assembly stops at the first preset phase signal, directly or indirectly control the cleaning device to clean the windings on the roller brush, the control unit controls the roller brush to rotate and stop at more than one phase different from the first preset phase P1, and directly or indirectly controls the cleaning The device 100 cleans up the entanglement 36 on the roller brush at the phases when the roller brush is stopped. The working state of the cleaning device refers to the state of the cleaning device when cleaning the surface to be worked. The maintenance state of the cleaning device refers to a state in which the cleaning device is docked at the base station for maintenance. Hair entanglement on the roller brush usually entangles the whole circle. When the cleaning device 100 cleans a single phase on the roller brush, the roller brush still has a large adhesion to the entanglement, so it may not be able to effectively remove the entanglement from the roller. Brush on to clean it down. When the roller brushes are in different phases, the cleaning device 100 cleans the windings on the roller brushes multiple times, and the cleaning effect is better. It should be noted that the cleaning device may be a self-moving cleaning robot or a handheld vacuum cleaner. In the present disclosure, the cleaning device is used as a cleaning robot for description. It should also be noted that the cleaning device and the base station can communicate, and the communication method can be WIFI (English: Wireless-Fidelity; Chinese: Wireless Local Area Network), Bluetooth (Bluetooth), UWB (English: Ultra Wideband; Chinese: Carrier-free communication technology), mobile cellular networks and other electromagnetic wave communication methods, as well as sonar and laser and other communication methods. The indirect control of the cleaning device by the control unit may be that the cleaning device communicates with the base station to indirectly control the start or stop of the cleaning device. The control unit directly controls the cleaning device may be electrically connected to the base station when the cleaning device docks at the base station, and then directly controls the start or stop of the cleaning device through the control unit.

Further, the cleaning device further includes a detection unit configured to detect the phase of the roller brush assembly, the detection unit is connected to the control unit, and transmits a signal of the phase to the control unit. For example, the cleaning robot 10 includes a sensor, an encoder or a mechanical switch connected to the control unit for detecting the phase of the roller brush. The sensor can be a magnetic flux sensor, a position sensor, etc., or a code wheel, etc.

Furthermore, after the cutting unit is activated for a preset time, the control unit judges that the cleaning device completes a single-phase cleaning of the roller brush. The preset time is 15-20s, and the setting of the preset time can ensure that the cutting unit can effectively cut off the winding material, and will not disturb the user by making the cutting unit run for too long.

Preferably, please refer to FIG. 37 , after the cleaning device finishes cleaning the roller brush at the first preset phase P1, the control unit is configured to control the roller brush assembly to rotate relative to the first preset phase and stop at the second preset phase, And control the roller brush assembly to rotate in the same direction relative to the second preset phase and then stop at the third preset phase; the feed unit hooks the windings on the roller brush at the second preset phase and the third preset phase respectively, and The cutting unit cuts the winding under the hook. The roller brush can rotate both clockwise and counterclockwise. The second preset phase P2 is the phase in which the roller brush rotates 120° relative to the first phase and then stops, and the third preset phase P3 is the phase in which the roller brush stops after rotating 120° in the same direction relative to the second preset phase P2. The feeding unit 120 cooperates with the cutting unit 130 to hook and cut the windings 36 wound on the roller brush three times, and evenly cut the windings 36 wrapped around the entire circumference, so as to prevent the windings 36 from being cut too much. If it falls inside the cleaning device 100 , it is difficult to clean; or after being cut, the entanglement 36 still has a long fragment and sticks to the roller brush, which further improves the cleaning effect of the cleaning device 100 on the roller brush.

The cleaning device 100 in the cleaning device system may be the cleaning device 100 in any one of the above embodiments.

The roller brush assembly in the cleaning device system may be the roller brush assembly in any one of the above embodiments.

In one embodiment, please refer to Fig. 36 and Fig. 37, the roller brush includes a joint 31 and a roller shaft 32, the joint 31 is used to install the roller brush assembly 3 on the cleaning device; the roller shaft 32 is connected to the joint 31, and the roller shaft 32 The outer periphery of the roller is connected with a cleaning part, and when the roller shaft 32 rotates, it drives the cleaning part to sweep the surface to be worked, so as to clean the surface to be worked. The cleaning member includes bristles 33 and/or rubber strips 34; the bristles 33 and/or rubber strips 34 are arranged in more than two rows, and are installed on the roller shaft 32 in the length direction l3 of the roller brush assembly. Specifically, the roller brush includes three rows of bristles 33 and three rows of rubber strips 34 , and the bristles 33 and the rubber strips 34 are arranged on the roller shaft 32 at intervals. Each row of bristles 33 or rubber strips 34 forms a certain angle and is arranged in a V-shaped non-linear configuration. It is more conducive to cleaning the surface to be worked.

Preferably, when the rolling brush stops at a preset phase, the feeding unit 120 hooks the windings 36 on the rolling brush, and in the length direction of the rolling brush, the total length of the feeding unit 120 interlaced with the cleaning parts is less than the first predetermined length. Set the length. For example, the preset phase may be the first preset phase P1, and the first preset length may take a value from 0CM to 5CM. Further preferably, the rolling brush stops at a preset phase, and when the feeding unit 120 moves to the picking position, the two ends of the feeding unit are close to the two ends of the V shape of the cleaning element. So set, when the feed unit 120 moves to pick up the entanglement 36 on the roller brush, it can avoid the bristles 33 on the roller brush as far as possible, so as to prevent the feed unit 120 from hurting the brush hairs 33, and also prevent the feed unit 120 from entanglement. Thing 36 tops to bristle 33 deep places, more difficult to clean up. When the roller brush is stopped at the first preset phase P1, the feed unit 120 hooks the windings 36 on the roller brush, and the total length of the feed unit 120 interlaced with the rubber strip 34 is less than the second preset length. The same arrangement, when the feed unit 120 moves to hook the entanglement 36 on the roller brush, it can avoid the rubber strip 34 on the roller brush as much as possible, so as to prevent the feed unit 120 from hurting the rubber strip 34 and avoid feeding The unit 120 pushes the wrap 36 deeper next to the roller shaft 32, making it more difficult to clean. Specifically, the first preset length may be smaller than the second preset length. When the feed unit 120 hooks the windings 36 on the roller brush, the total length of the feed unit 120 interlaced with the bristles 33 may be smaller than the total length of the feed unit 120 interlaced with the rubber strip 34 . The reason is that compared with the rubber strip 34, the windings 36 wrapped around the bristles 33 are more likely to penetrate into the gaps of the bristles 33, and are also more difficult to clean. Therefore, it is preferable that the feed unit 120 is less interlaced with the bristles 33 and has less contact.

In one embodiment, the rolling brush also includes guides 35, which are distributed at both ends of the length direction of the roller shaft 32 along the circumferential direction of the roller shaft 32, and each end of the roller shaft 32 includes at least two guides 35 for The wrap wrapped around the brush is supported so that the wrap is kept away from the outer periphery of the roller shaft 32 as it is wrapped around the brush. The windings are far away from the outer circumference of the roller shaft 32, so that the feeding device can hook the windings wound on the roller brush. Further, there are more than two rows of cleaning elements, and the guide element is arranged between two adjacent cleaning elements. Specifically, the guide 35 is arranged between adjacent bristles 33 and rubber strips 34 , or between two adjacent bristles 33 , or between two adjacent rubber strips 34 . The first preset phase P1 is located between the two guides 35 . When the roller brush is provided with bristles 33 and rubber strips 34 at the same time, the guide 35 is arranged between adjacent bristles 33 and rubber strips 34 . When only bristles 33 are provided on the roller brush, the guide 35 is arranged between two adjacent bristles 33 . When only the rubber strips 34 are provided on the roller brush, the guide 35 is arranged between two adjacent rubber strips 34 . Such setting makes the guide 35 cooperate with the bristles 33 or the rubber strip 34, and has a better supporting effect on the winding.

In one embodiment, the cleaning device system further includes a cleaning control unit, which is connected to the feeding unit 120 and the cutting unit 130. When the cleaning device 100 cleans up the entanglements on the roller brush, the cleaning control unit controls the cutting unit 130 to start first. . The cleaning control unit controls the cutting unit 130 to start after a first preset time has elapsed and then controls the feeding unit 120 to start. The first preset time is longer than 0.1s, for example, the first preset time can take a value between 0.1s-3s. Since the cutting unit 130 is started before the feeding unit 120 , it can be ensured that the wrappings taken off by the feeding unit 120 can be fully cut by the cutting unit 130 , and the cutting efficiency of the cutting unit 130 can be improved. Further, when the cleaning device 100 finishes cleaning, the cleaning control unit controls the feeding unit 120 to stop working before the cutting unit 130 . The cleaning control unit controls the cutting unit 130 to stop working after a second preset time passes after the cutting unit 130 stops working. For example, the second preset time is longer than 0.1s, for example, the second preset time may take a value between 0.1s-3s. Similarly, the cutting unit 130 stops working after the feeding unit 120 , which can ensure that the wrappings removed by the feeding unit 120 can be fully cut by the cutting unit 130 , improving the cutting efficiency of the cutting unit 130 .

In one embodiment, when the control unit controls the rolling brush assembly 3 to rotate, the feeding unit 120 is away from the rolling brush and is located outside the maximum outer diameter of the rolling brush. When the roller brush rotates, the feed unit 120 is prevented from interfering with the roller brush to damage the rubber strip 34 or the bristles 33 . The cutting unit 130 is disposed outside the maximum outer diameter of the roller brush. It can effectively prevent the cutting unit 130 from cutting the bristles 33 and/or the rubber strip 34 when cutting the windings on the roller brush.

In one embodiment, please refer to FIG. 20 and FIG. 20B , the feed unit 120 includes a plurality of hooking structures arranged at intervals along the length direction of the feed unit 120; in the length direction of the feed unit 120, the feed unit 120 At least one hooking formation at each end edge is higher than the other hooking formations in the middle region. The hooking structures at the edges of the two ends of the feed unit 120 are higher than other hooking structures. Since the bristles 33 arranged on the rolling brush have a certain distance from the two ends of the rolling brush, the windings wrapped around the two ends of the rolling brush It will be closer to the roller shaft 32 of the rolling brush, and the hooking structure needs to have a higher height to effectively hook the hair. Therefore, the two hooking structures at the edges of the feed unit 120 are set higher, which can More effective hook under wraps. In the length direction of the feeding unit 120, at least one hooking structure at each end edge of the feeding unit 120 is narrower than the other hooking structures in the middle area. One or more hooking structures at the outermost edge of each end of the feed unit 120 are narrower than the other hooking structures. The roller brush is installed on the bottom of the cleaning robot 10. The bottom surface of the cleaning robot 10 is provided with a roller brush cover plate to avoid the exposure of the roller brush. The feed unit 120 moves in a circle when it is working. Narrower than other hooking structures, the hooking structure can be closer to the edge of the roller brush without interfering with the roller brush cover of the cleaning robot 10 .

In one embodiment, the cleaning device also includes a blower fan (not shown) and a dust box (not shown), the control unit is connected to the blower fan, the cleaning device 100 finishes cleaning, the control unit controls the blower fan to start, and the windings after cutting are sucked out. Vacuum into the dust box. The fan directly sucks the cut windings to the inside of the cleaning robot 10 , which can save the step of manually cleaning the cut windings and reduce manual intervention.

In one embodiment, the base station 20 further includes a reminder device for reminding the user to clean the cleaning device 100 . Prevent falling windings from accumulating and affecting cutting efficiency. The reminding device can send out a reminder after the cleaning device 100 works for a preset time or a preset number of times. The way of reminding may be that the base station 20 directly emits a sound to remind the user, or push cleaning information to the user through the APP.

In one embodiment, please refer to FIG. 38 , a method for maintaining a rolling brush assembly. The rolling brush assembly includes a rolling brush for cleaning garbage on the surface to be worked. The maintenance method for the rolling brush assembly includes: S1, controlling the rolling brush Stop at the preset first phase, hook the windings on the roller brush in the preset first phase, and cut the windings under the hook. S2. Control the rolling brush to rotate and stop at one or more phases different from the first preset phase P1, hook the wrappings on the rolling brush at the stalled phases, and cut the wrappings under the hook. Hair entanglement on the roller brush usually entangles the whole circle. When the cleaning device 100 cleans a single phase on the roller brush, the roller brush still has a large adhesion to the entanglement, so it may not be able to effectively remove the entanglement from the roller. Brush on to clean it down. When the roller brushes are in different phases, the cleaning device 100 cleans the windings on the roller brushes multiple times, and the cleaning effect is better.

Further, the maintenance method of the roller brush assembly also includes: controlling the roller brush to rotate relative to the first preset phase P1 and then stopping at the second preset phase P2; controlling and controlling the roller brush to rotate in the same direction relative to the second preset phase P2 and then stop In the third preset phase P3; hook the windings on the roller brush in the second preset phase P2 and the third preset phase P3 respectively, and cut the windings under the hook. Please refer to Figure 39 for details. The maintenance method of the brush assembly includes: S11. Control the rolling brush to stop at the preset first phase, hook the windings on the rolling brush at the preset first phase, and check the windings under the hook Make a cut. S12. Control the roller brush to rotate relative to the first preset phase P1 and then stop at the second preset phase P2. At the second preset phase P2, hook the winding objects on the roller brush and cut the winding objects under the hook. S13. Control and control the roller brush to rotate in the same direction relative to the second preset phase P2 and then stop at the third preset phase P3. On the third preset phase P3, hook the wrapping on the roller brush and check the wrapping under the hook Make a cut.

In one embodiment, please refer to FIG. 51 , a method for cleaning a roller brush assembly. The cleaning device is used to clean the windings on the roller brush. The cleaning device includes a feeding drive unit, a feeding unit and a cutting unit. The cutting unit includes mutual The matched first shearing piece and the second shearing piece; the maintenance method of the roller brush assembly includes: S01. The control unit controls the feed drive unit to drive the feed unit to move at least between the pick-up position and the working position, and put the roller brush on The windings are pulled down, and the distance between the working position and the axis of the rolling brush is greater than the distance between the pick-up position and the axis of the rolling brush; S02. The first shearing part and the second shearing part reciprocate to cut off the windings pulled down by the feeding unit.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present disclosure, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the disclosed patents. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the scope of protection of the disclosed patent should be based on the appended claims.

In describing the present disclosure, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and thus should not be construed as limitations on the present disclosure.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In this disclosure, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection unless otherwise clearly defined and limited. , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present disclosure according to specific situations.

In the present disclosure, unless otherwise clearly stated and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. 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. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

Claims

A cleaning device, which is used to clean the entanglement on the roller brush of the cleaning device, is characterized in that the cleaning device includes a cleaning control unit, a feeding drive unit, a feeding unit and a cutting unit, and the cleaning control unit is connected with the The feed drive unit is electrically connected, and the feed drive unit is controlled to drive the feed unit to move at least between the pick-up position and the working position, so as to pull down the winding on the roller brush, and the working position The distance from the axis of the roller brush is greater than the distance between the pick-up position and the axis of the roller brush, the cutting unit is closer to the working position relative to the pick-up position, and the cutting unit includes a first shearing piece and a second shearing piece that cooperate with each other A shearing element, the first shearing element and the second shearing element are configured to reciprocate relative to each other, so as to shear the windings pulled down by the feeding unit.
The cleaning device according to claim 1, wherein the feeding unit includes hooking structures, and there are more than two hooking structures arranged along the length direction of the feeding unit, the The length direction of the feed unit is parallel to the axis of the roller brush.
The cleaning device according to claim 2, wherein a hook groove with an opening at one end is formed between the hooking structure and the feeding unit to accommodate at least part of the entanglements; the opening of the hooking structure faces Adapted to the moving direction of the feeding unit from the working position to the picking position, so that the hooking structure captures the winding.
The cleaning device according to claim 3, wherein the hooking structure has an inner arc surface and an outer arc surface oppositely arranged, and the hook groove is formed between the inner arc surface and the feeding unit, At least part of the outer arc surface extends obliquely, and its extension direction is set at an included angle with the horizontal plane, and the top of the outer arc surface is at least partially set horizontally.
The cleaning device according to claim 2, wherein the distance between two adjacent hooking structures is L, and the feeding unit moves from the picking position to the working position with a horizontal direction The displacement s, let L<s.
The cleaning device according to claim 2, wherein the hooking structure has an inner arc surface and an outer arc surface opposite to each other, and a hook groove is formed between the inner arc surface and the feeding unit to at least accommodating partial windings; said first and second shearing elements have mutually overlapping portions in height, defining the highest point of said overlapping portions as a lower point, said hooking structure being located in said working position , the top of the inner arc surface is lower than the lower point.
The cleaning device according to claim 6, wherein the top of the inner arc surface is 1-20mm lower than the lower point.
The cleaning device according to claim 6, characterized in that, the top of the inner arc surface is 5-10mm lower than the lower point.
The cleaning device according to claim 6, characterized in that there is a horizontal distance perpendicular to the height direction between the feeding unit and the lower point, and the range of the horizontal distance is between 0-3mm .
The cleaning device according to claim 2, wherein the roller brush is located above the feeding unit and the cutting unit, and the axes of the feeding unit, the cutting unit and the roller brush Parallel; the hooking structure has an inner arc surface and an outer arc surface oppositely arranged, and a hook groove is formed between the inner arc surface and the feeding unit to at least accommodate part of the winding; the first shearing member and the second shearing part have overlapping parts in height, and the highest point of the overlapping part is defined as the lower point; when the feed unit is in the working position, the axis of the roller brush and the inner The vertex of the arc surface defines a first plane, the distance between the lower point and the first plane is d1, the lower point is higher than the top of the inner arc surface, and the lower point is relatively The orthographic projection of the first plane, forming a projection point on the first plane, the distance between the projection point and the top of the inner arc surface is d2, the maximum outer diameter of the roller brush is r, the The distance between the roller brush axis and the top of the inner arc surface is d3, so that
And 0<d1<r, 0<d2<d3-r.
The cleaning device according to claim 2, characterized in that, in the length direction of the feeding unit, at least one of the hooking structures near the two ends of the feeding unit is higher than the feeding unit The hooking structure of the middle area.
The cleaning device according to claim 2, characterized in that, in the length direction of the feeding unit, at least one of the hooking structures near the two ends of the feeding unit is narrower than the feeding unit The hooking structure of the middle area.
The cleaning device according to claim 2, wherein the first shearing element and the second shearing element are arranged side by side, the second shearing element is fixedly arranged, and the first shearing element The longitudinal direction of the first shearing member reciprocates relative to the second shearing member to generate shearing force, and the longitudinal direction of the first shearing member and the second shearing member are parallel to the axis of the roller brush.
The cleaning device according to claim 13, wherein the first shearing member, the second shearing member and the feeding unit each have a centerline perpendicular to the axis of the roller brush, and the first The shearing member has two limit positions when reciprocating relative to the second shearing member, the first shearing member is located in the middle of the two limit positions, and when the feeding unit is in the working position, the first shearing member The center lines of a shearing element, the second shearing element, and the feed unit are in the same vertical plane perpendicular to the axis of the rolling brush; the second shearing element has a maximum length L1, and the The length of the feed unit is L2, and the feed unit has a displacement s in the horizontal direction when moving from the picking position to the working position, wherein L1>L2+s.
The cleaning device according to claim 2, wherein the hooking structure comprises a base and a hook connected to the base, the hook comprises a first hook and a second hook, and the first A hook portion and the second hook portion are connected to opposite sides of the base portion, and the first hook portion and the second hook portion respectively hook winding objects during the movement of the feeding unit.
The cleaning device according to claim 1, wherein the feeding drive unit is connected to the feeding unit and drives the feeding unit to reciprocate between the picking position and the working position, The frequency of the movement of the feeding unit is lower than the relative reciprocation frequency of the first shearing member and the second shearing member.
The cleaning device according to claim 1, wherein the cleaning control unit is electrically connected to the feeding unit and the cutting unit, and the cleaning control unit controls the cutting unit to be ahead of the feeding unit starts, and the cleaning control unit controls the feeding unit to stop before the cutting unit.
The cleaning device according to claim 1, wherein the feeding unit comprises more than two feeding segments, and more than two feeding segments are spliced side by side to form the feeding unit.
The cleaning device according to claim 1, wherein the first shearing element comprises more than two first shearing segments, and more than two first shearing segments are spliced into the first shearing element ; The second cut piece includes more than two second cut pieces, and the two or more second cut pieces are spliced to form the second cut piece.
The cleaning device according to claim 1, wherein the feed drive unit includes a first motor and a first cam structure, the first cam structure is connected to the feed unit, and the first motor drives When the first cam structure rotates, the first cam structure drives the feed unit to perform a reciprocating circular motion.
The cleaning device according to claim 1, further comprising a shearing drive unit connected to the cutting unit and configured to drive the first shearing member and the cutting unit. The second shearing member generates a reciprocating motion to shear the windings, and the shearing drive unit and the feed drive unit are at least partly of the same structure.
A base station, characterized in that the base station includes a station body and the cleaning device according to any one of claims 1-21, the station body is provided with a working chamber for the cleaning device to dock or leave, and the cleaning device The device is embedded in the bottom wall of the working chamber.
The base station according to claim 22, wherein at least part of the structure of the cleaning device is detachably mounted on the base station.
The base station according to claim 23, wherein the cleaning device further comprises a mounting frame, the feeding unit, the cutting unit and at least part of the feeding drive unit are fixedly mounted on the mounting frame, the The mounting frame is detachably mounted on the base station, and the mounting frame and the base station are provided with a locking structure that cooperates with each other, and the locking structure is configured to switch between a locked state and a released state, so as to locking and releasing the mount to and from the base station.
A cleaning device system, characterized in that the cleaning device system includes a cleaning device and a base station for maintaining the cleaning device, and the base station includes the cleaning device and the station body described in any one of claims 1-21, the The station body is provided with a working chamber for the cleaning device to stop or leave. The cleaning device is embedded in the bottom wall of the working chamber. When the cleaning device stops in the working chamber, the cleaning device cleans the Windings on the roller brush of the cleaning device described above.
The cleaning device system of claim 25, wherein the cleaning device comprises:

The rolling brush assembly, including the rolling brush, is configured to clean the rubbish on the surface to be worked;

The control unit controls the rotation or stop of the roller brush assembly at least according to the maintenance status of the cleaning device, and when the control unit receives the signal that the roller brush assembly stops at the first preset phase, it directly or Indirectly controlling the cleaning device to clean the entanglements on the roller brush, the control unit is further configured to control the roller brush assembly to rotate and stop at more than one phase different from the first preset phase , and directly or indirectly control the cleaning device to clean up the entanglements on the roller brush at the phase when the roller brush assembly is stopped.
The cleaning device system according to claim 26, wherein the cleaning device further comprises a detection unit configured to detect the phase of the roller brush assembly, the detection unit is connected with the control The unit is connected and transmits the signal of the phase to the control unit.
The cleaning device system according to claim 26, wherein the control unit judges that the cleaning device completes a single-phase cleaning of the roller brush after the cutting unit is activated for a preset time.
The cleaning device system according to claim 26, characterized in that, after the cleaning device finishes cleaning the roller brushes in the first preset phase, the control unit is configured to control the roller brush assembly Stopping at a second preset phase after rotating relative to the first preset phase, and controlling the roller brush assembly to rotate in the same direction relative to the second preset phase and then stop at a third preset phase; the feeding The unit hooks the windings on the roller brush at the second preset phase and the third preset phase respectively, and the cutting unit cuts the windings under the hook.
The cleaning device system according to claim 26, wherein when the cleaning device stops at the base station, the centerline of the rolling brush and the centerline of the second shearing member are within the error range e On the same vertical plane, the center line of the rolling brush and the center line of the second shearing member are perpendicular to the axis of the rolling brush; the rolling brush assembly includes two joints and a roller shaft, and the two joints are configured to The roller brush assembly is installed on the cleaning device, the length of the roller brush between the two joints is defined as L3, the length of the feed unit is L2, and the feed unit moves from the pick-up position to the The working position has a displacement s in the horizontal direction, wherein, L3-e>L2+s.
The cleaning device system according to claim 25, wherein the cleaning device is equipped with a roller brush assembly, the roller brush assembly includes a joint and a roller shaft, and the joint is configured to install the roller brush assembly on On the cleaning device; the roller shaft is connected to the joint, and the roller shaft is connected with a cleaning member extending along the axial direction of the roller shaft. When the roller shaft rotates, it drives the cleaning member to sweep the surface to be worked. To clean the surface to be worked; the roller brush assembly also includes guides, the guides are arranged at the two ends of the length direction of the roller shaft, and distributed along the circumference of the roller shaft, the roller shaft At least two guides are provided at each end to support the windings wound on the rolling brush, so that the windings are away from the outer circumference of the roller shaft when winding on the rolling brush.
The cleaning device system of claim 31 , wherein the guide comprises an interconnected guide surface and a support surface, the guide surface being closer to the joint relative to the support surface; the guide surface being configured to The winding is directed to the support surface configured to support the winding on its surface.
The cleaning device system according to claim 32, wherein the guide surface is set as an arc surface or a straight surface inclined relative to the axis of the roller shaft, and the position of the guide surface relatively close to the joint is higher than that relatively far from the joint. The position of the joint, the support surface is set as a plane parallel to the axis of the roller shaft, and the lowest point of the guide surface is higher than the support surface.
The cleaning device system according to claim 33, characterized in that the junction of the guiding surface and the supporting surface has a smooth transition.
The cleaning device system according to claim 31, wherein the cleaning elements are provided in more than two rows, and the guiding element is arranged between two adjacent cleaning elements.
The cleaning device system according to claim 31, wherein the guide part intersects the cleaning part along the length direction of the roller brush assembly.
The cleaning device system of claim 31, wherein said guide has a predetermined minimum outer diameter away from said joint and a predetermined maximum external diameter proximate said joint, said guide's predetermined The maximum outer diameter is set to be smaller than the maximum outer diameter of the cleaning piece.
The cleaning device system according to claim 26, characterized in that, the roller brush assembly further comprises guides, and the guides are distributed at both ends of the roller shaft in the length direction along the circumferential direction of the roller shaft, Each end of the roller shaft includes at least two guides to support the windings wound on the roller brush, so that the windings are away from the outer circumference of the roller shaft when wound on the roller brush, so The first preset phase is located between two adjacent guides.
The cleaning device system according to claim 25, wherein the cleaning device comprises a control unit, and the control unit at least controls the rotation or stop of the roller brush assembly according to the maintenance state of the cleaning device, so When the control unit controls the rotation of the roller brush, the feed unit is located outside the maximum outer diameter of the roller brush.
The cleaning device system according to claim 25, wherein the cleaning device further comprises a control unit, a fan and a dust box, the control unit is connected to the fan, and the cleaning device finishes cleaning the roller brush Afterwards, the control unit controls the fan to start to suck the cut windings into the dust box.
A method for cleaning a roller brush assembly, using a cleaning device to clean the entanglements on the roller brush, characterized in that the cleaning device includes a feed drive unit, a feed unit and a cutting unit, and the cutting unit includes a first a first cutout and a second cutout;

The maintenance method of described rolling brush assembly comprises:

The control unit controls the feed drive unit to drive the feed unit to at least move between a pick-up position and a working position to pull off the windings on the roller brush, and the distance between the working position and the axis of the roller brush is greater than The distance between the pick-up position and the axis of the roller brush;

The first shearing member and the second shearing member reciprocate relative to each other, and cut off the windings pulled down by the feeding unit.