# US 11,109,727 B2 · Cleaning rollers for cleaning robots > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,109,727 B2 - Document ID: US11109727B2 - Status: Granted - Kind: B2 - Application number: 16/288,699 - Filed: 2019-02-28 - Published: 2020-09-03 - Granted: 2021-09-07 - Earliest claimed: 2019-02-28 - Assignees: iRobot Corporation - Applicants: iRobot Corporation - Inventors: Eric Burbank; Timothy R. Ohm; Erik Amaral - Web page: https://patentgrep.com/patent/US11109727B2 ## CPC - A47L 9/0477: {Rolls} - A47L 9/0411: {driven by electric motor} - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A47L 11/4041: {Roll shaped surface treating tools} - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) ## Abstract A cleaning roller mountable to a cleaning robot is featured. The cleaning roller includes an elongate member extending along a longitudinal axis of the cleaning roller, and a vane extending outward from the elongate member. The vane includes a first vane portion attached to the elongate member, and a second vane portion attached to the first vane portion. The first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller. The first vane portion extends along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction. The second vane portion extends along a second axis angled relative to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis. ## Claims ### Claim 1 A cleaning roller mountable to a cleaning robot, the cleaning roller comprising: an elongate member extending along a longitudinal axis of the cleaning roller; and a vane extending outward from the elongate member and extending longitudinally along an outer surface of the elongate member, the vane comprising a first vane portion attached to the elongate member, wherein the first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller, the first vane portion extending along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction, and a second vane portion attached to the first vane portion, wherein the second vane portion extends along a second axis angled relative to the first axis, a first angle between the first axis and the radial axis being greater than a second angle between the second axis and the radial axis. ### Claim 2 (depends on 1) The cleaning roller of claim 1, wherein the vane comprises a first vane, and the cleaning roller comprises a plurality of vanes extending longitudinally along the elongate member and comprising at least the first vane and a second vane, the second vane extending outward from the elongate member away from the longitudinal axis of the cleaning roller and offset from the first vane in the tangential direction. ### Claim 3 (depends on 2) The cleaning roller of claim 2, wherein the cleaning roller comprises a plurality of vanes extending longitudinally along the elongate member and comprising the first vane and the second vane, each of the plurality of vanes being symmetric about a plane, the plane located at a center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller, and wherein the radial axis is a first radial axis, and the second vane is attached to the elongate member at a location intersecting a second radial axis of the cleaning roller, the first and second radial axes forming an angle between 30 and 90 degrees. ### Claim 4 (depends on 1) The cleaning roller of claim 1, wherein the tangential direction is a second tangential direction, and the second vane portion comprises a first surface facing in a first tangential direction and a second surface facing in the second tangential direction, wherein the first and second surfaces are positioned between a tip of the second vane portion and the first vane portion, and the first surface is curved. ### Claim 5 (depends on 1) The cleaning roller of claim 1, wherein the radial axis is a first radial axis, and the second vane portion extends through a second radial axis of the cleaning roller, wherein the second axis forms an angle no more than 5 degrees with the second radial axis. ### Claim 6 (depends on 1) The cleaning roller of claim 1, wherein a first segment of the vane extends along a first helical path, and a second segment of the vane extends along a second helical path along the elongate member. ### Claim 7 (depends on 6) The cleaning roller of claim 6, wherein: the first helical path extends from a first end of the first helical path to a second end of the first helical path along the elongate member in the tangential direction of the cleaning roller, the first end of the first helical path positioned proximate a first longitudinal end portion of the cleaning roller, and the second end of the first helical path positioned proximate a center of the cleaning roller, and the second helical path extends from a first end of the second helical path to a second end of the second helical path along the elongate member in the tangential direction of the cleaning roller, the first end of the second helical path positioned proximate a second longitudinal end portion of the cleaning roller, and the second end of the second helical path positioned proximate the center of the cleaning roller. ### Claim 8 (depends on 1) The cleaning roller of claim 1, further comprising a nub extending outward from the elongate member away from the longitudinal axis, wherein a height of an outer tip of the vane relative to the elongate member is greater than a height of an outer tip of the nub relative to the elongate member. ### Claim 9 (depends on 8) The cleaning roller of claim 8, wherein the nub has a maximum thickness between 8 and 18 millimeters, wherein the nub tapers from the elongate member to the outer tip of the nub, and wherein a height of the outer tip of the nub relative to the elongate member is between 0.25 and 2.0 centimeters. ### Claim 10 (depends on 8) The cleaning roller of claim 8, wherein the nub is a first nub, and the cleaning roller further comprises a second nub extending outward from the elongate member away from the longitudinal axis, wherein the vane is positioned between the first nub and the second nub. ### Claim 11 (depends on 1) The cleaning roller of claim 1, wherein the vane comprises an opening extending along a central portion of the cleaning roller, the opening extending only partially through the vane away from the elongate member toward an outer tip of the vane. ### Claim 12 (depends on 11) The cleaning roller of claim 11, wherein: the first vane portion comprises a first segment extending from a first longitudinal end portion of the cleaning roller toward the central portion of the cleaning roller and a second segment extending from a second longitudinal end portion of the cleaning roller toward the central portion of the cleaning roller, the first segment of the first vane portion being separated from the second segment of the first vane portion by the opening, and the second vane portion extending continuously along the vane from the first longitudinal end portion of the cleaning roller to the second longitudinal end portion of the cleaning roller. ### Claim 13 (depends on 1) The cleaning roller of claim 1, wherein the vane is a first vane, and the cleaning roller further comprises a second vane extending longitudinally along the elongate member, the first vane comprising a first longitudinal end proximate a first longitudinal end of the cleaning roller and a second longitudinal end proximate a center of the cleaning roller, and the second vane comprising a first longitudinal end proximate a second longitudinal end of the cleaning roller and a second longitudinal end proximate the center of the cleaning roller, wherein the second longitudinal end of the first vane is separated from the second longitudinal end of the second vane. ### Claim 14 (depends on 1) The cleaning roller of claim 1, wherein the first vane portion comprises a first end attached to the elongate member and a second end attached to the second vane portion, wherein a first radial distance between the first end of the first vane portion and the longitudinal axis of the cleaning roller is 50% to 90% of a second radial distance between the second end of the first vane portion and the longitudinal axis of the cleaning roller. ### Claim 15 (depends on 1) The cleaning roller of claim 1, wherein a length from a first end of the second vane portion to a second end of the second vane portion is 25% to 75% of a length from a first end of the first vane portion to a second end of the first vane portion. ### Claim 16 (depends on 1) The cleaning roller of claim 1, wherein a first length from a first end of the first vane portion to a second end of the first vane portion is between 0.5 and 3 centimeters, and a second length from a first end of the second vane portion to a second end of the second vane portion is between 0.2 and 1.5 centimeters. ### Claim 17 (depends on 1) The cleaning roller of claim 1, wherein the vane further comprises a third portion attached to the second vane portion, wherein the third portion of the vane extends along a third axis angled relative to the second axis, a third angle between the third axis and the radial axis being less than the second angle between the second axis and the radial axis. ### Claim 18 (depends on 17) The cleaning roller of claim 17, wherein the third portion of the vane comprises a tip portion of the vane. ### Claim 19 (depends on 1) The cleaning roller of claim 1, wherein the cleaning roller comprises a sheath comprising the vane and the elongate member. ### Claim 20 (depends on 1) The cleaning roller of claim 1, wherein the tangential direction is a second tangential direction, and the vane comprises: one or more longitudinally-extending surfaces connected to one another and positioned between a tip of the second vane portion and the elongate member, the one or more longitudinally-extending surfaces facing in the second tangential direction. ### Claim 21 (depends on 20) The cleaning roller of claim 20, wherein the one or more longitudinally-extending surfaces are one or more first longitudinally-extending surfaces vane further comprises: one or more second longitudinally-extending surfaces connected to one another and positioned between the tip of the second vane portion and the elongate member, the one or more second longitudinally-extending surfaces facing in a first tangential direction. ### Claim 22 (depends on 1) The cleaning roller of claim 1, wherein the first vane portion extends longitudinally along the elongate member, and the second vane portion extends longitudinally along the first vane portion. ### Claim 23 A cleaning robot comprising: a drive system to move the cleaning robot across a floor surface; and a cleaning roller mountable to the cleaning robot, the cleaning roller rotatable about a longitudinal axis of the cleaning roller in a first rotational direction, wherein the cleaning roller comprises an elongate member extending along the longitudinal axis of the cleaning roller; and a vane extending outward from the elongate member away from the longitudinal axis of the cleaning roller and extending longitudinally along an outer surface of the elongate member, the vane comprising a first portion attached to the elongate member, wherein the first portion of the vane is attached to the elongate member at a location intersecting a radial axis of the cleaning roller, the first portion of the vane extending along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction, and a second portion attached to the first portion of the vane, wherein the second portion of the vane extends along a second axis angled relative to the first axis, a first angle between the first axis and the radial axis being greater than a second angle between the second axis and the radial axis. ### Claim 24 (depends on 23) The cleaning robot of claim 23, wherein the vane comprises a first vane, and the cleaning roller comprises a plurality of vanes extending longitudinally along the elongate member and comprising at least the first vane and a second vane, the second vane extending outward from the elongate member away from the longitudinal axis of the cleaning roller and offset from the first vane in the tangential direction. ### Claim 25 (depends on 23) The cleaning robot of claim 23, wherein the vane comprises a first vane, wherein the cleaning roller comprises a plurality of vanes extending longitudinally along the elongate member and comprising the first vane and a second vane, each of the plurality of vanes being symmetric about a plane, the plane located at a center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller, and wherein the radial axis is a first radial axis, and the second vane is attached to the elongate member at a location intersecting a second radial axis of the cleaning roller, the first and second radial axes forming an angle between 30 and 90 degrees. ### Claim 26 (depends on 23) The cleaning robot of claim 23, wherein the tangential direction is a second tangential direction, and the second portion of the vane comprises a first surface facing in a first tangential direction and a second surface facing in the second tangential direction, wherein the first and second surfaces are positioned between a tip of the second portion of the vane and the first portion of the vane, and the first surface is curved. ### Claim 27 (depends on 23) The cleaning robot of claim 23, wherein the radial axis is a first radial axis, and the second portion of the vane extends through a second radial axis of the cleaning roller, wherein the second axis forms an angle no more than 5 degrees with the second radial axis. ### Claim 28 (depends on 23) The cleaning robot of claim 23, wherein a first segment of the vane extends along a first helical path, and a second segment of the vane extends along a second helical path along the elongate member. ### Claim 29 A cleaning head for a vacuum cleaner, the cleaning head comprising: a conduit; and a cleaning roller configured to sweep debris into the conduit, the cleaning roller rotatable about a longitudinal axis of the cleaning roller in a first rotational direction, wherein the cleaning roller comprises an elongate member extending along the longitudinal axis of the cleaning roller; and a vane extending outward from the elongate member away from the longitudinal axis of the cleaning roller and extending longitudinally along an outer surface of the elongate member, the vane comprising a first portion attached to the elongate member, wherein the first portion of the vane is attached to the elongate member at a location intersecting a radial axis of the cleaning roller, the first portion of the vane extending along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction, and a second portion attached to the first portion of the vane, wherein the second portion of the vane extends along a second axis angled relative to the first axis, a first angle between the first axis and the radial axis being greater than a second angle between the second axis and the radial axis. ### Claim 30 (depends on 29) The cleaning head of claim 29, wherein the vane comprises a first vane, and the cleaning roller comprises a plurality of vanes extending longitudinally along the elongate member and comprising at least the first vane and a second vane, the second vane extending outward from the elongate member away from the longitudinal axis of the cleaning roller and offset from the first vane in the tangential direction. ### Claim 31 (depends on 29) The cleaning head of claim 29, wherein the vane comprises a first vane, wherein the cleaning roller comprises a plurality of vanes extending longitudinally along the elongate member and comprising the first vane and a second vane, each of the plurality of vanes being symmetric about a plane, the plane located at a center of the cleaning roller and perpendicular to the longitudinal axis of the cleaning roller, and wherein the radial axis is a first radial axis, and the second vane is attached to the elongate member at a location intersecting a second radial axis of the cleaning roller, the first and second radial axes forming an angle between 30 and 90 degrees. ### Claim 32 (depends on 29) The cleaning head of claim 29, wherein the tangential direction is a second tangential direction, and the second portion of the vane comprises a first surface facing in a first tangential direction and a second surface facing in the second tangential direction, wherein the first and second surfaces are positioned between a tip of the second portion of the vane and the first portion of the vane, and the first surface is curved. ### Claim 33 (depends on 29) The cleaning head of claim 29, wherein the radial axis is a first radial axis, and the second portion of the vane extends through a second radial axis of the cleaning roller, wherein the second axis forms an angle no more than 5 degrees with the second radial axis. ### Claim 34 (depends on 29) The cleaning head of claim 29, wherein a first segment of the vane extends along a first helical path, and a second segment of the vane extends along a second helical path along the elongate member.