Cleaning robot

Abstract

The utility model relates to a cleaning robot. The cleaning robot comprises a first functional assembly, a second functional assembly and a lifting mechanism. The lifting mechanism comprises a first rotating part and a second rotating part. One end of the first inhaul cable is wound on the first rotating part, and the other end of the first inhaul cable is connected with the first functional assembly; a second rotating member; one end of the second inhaul cable is wound on the second rotating piece, and the other end of the second inhaul cable is connected with the second functional assembly; the driving assembly is used for driving the first rotating part to rotate so as to drive the first functional assembly to ascend and descend through the first inhaul cable, and is used for driving the second rotating part to rotate so as to drive the second functional assembly to ascend and descend through the second inhaul cable. In this way, the first function assembly and the second function assembly share one lifting structure, the structure of the cleaning robot is simplified, and the manufacturing cost is reduced.

Description

Technical Field

[0001] This application relates to the technical field of cleaning robots, and particularly to a cleaning robot. Background Art

[0002] A cleaning robot is a highly intelligent cleaning device, which has multiple functions such as autonomous navigation, intelligent perception, path planning, sweeping and dust suction. Cleaning robots are widely used in household cleaning, office cleaning, etc., and can automatically complete floor cleaning work in a room by virtue of certain artificial intelligence, thus improving the cleaning work efficiency. During the working process, the cleaning robot needs to drive the roller brush module and the drum module to automatically lift and lower to achieve cleaning. However, for traditional cleaning robots, there are usually defects such as complex structure and high manufacturing cost. Summary of the Invention

[0003] One technical problem solved by this application is how to simplify the structure of the cleaning robot and reduce its manufacturing cost.

[0004] This application provides a cleaning robot, including a first functional component, a second functional component and a lifting mechanism, and the lifting mechanism includes:

[0005] A first rotating member;

[0006] A first cable, one end of which is wound around the first rotating member and the other end is connected to the first functional component;

[0007] A second rotating member;

[0008] A second cable, one end of which is wound around the second rotating member and the other end is connected to the second functional component; and

[0009] A driving component, which is used to drive the first rotating member to rotate and then drive the first functional component to lift through the first cable, and is also used to drive the second rotating member to rotate and then drive the second functional component to lift through the second cable.

[0010] In one embodiment, the first functional component and the second functional component are both in a descending state, or an ascending state, or one is in an ascending state and the other is in a descending state through the lifting mechanism.

[0011] In one embodiment, the cleaning robot has an initial working state, in which the first functional component and the second functional component are both in the descending state.

[0012] In one embodiment, in the initial working state, with the position of the first rotating member as a reference, the first rotating member has a first maximum angle of rotation in the first direction and a second maximum angle of rotation in the second direction;

[0013] In the initial working state, with the position of the second rotating member as a reference, the second rotating member has a third maximum angle of rotation in the first direction and a fourth maximum angle of rotation in the second direction;

[0014] Wherein, the first direction and the second direction are opposite to each other, and the first maximum angle is greater than the third maximum angle.

[0015] In one embodiment, the lifting mechanism is configured such that during the process of the first rotating member rotating from the position corresponding to the initial working state to the position corresponding to the first maximum angle in the first direction, the first rotating member and the second rotating member change from a state of both rotating to a state where the first rotating member rotates while the second rotating member stops rotating.

[0016] In one embodiment, when the first rotating member rotates the first maximum angle in the first direction, the first functional component is in the ascending state, and when the first rotating member rotates the second maximum angle in the second direction, the first functional component is in the ascending state;

[0017] When the second rotating member rotates the third maximum angle in the first direction, the second functional component is in the ascending state, and when the second rotating member rotates the fourth maximum angle in the second direction, the second functional component maintains the descending state.

[0018] In one embodiment, when the first rotating member rotates the first maximum angle in the first direction, the first rotating member first releases and then winds the first cable.

[0019] In one embodiment, the lifting mechanism further includes a housing, at least a part of the first rotating member and the second rotating member is received in the housing, the housing is provided with a first through hole and a second through hole, the first cable is threaded through the first through hole, and the second cable is threaded through the second through hole.

[0020] In one embodiment, the direction in which the first cable passes out of the housing is opposite to the direction in which the second cable passes out of the housing.

[0021] In one embodiment, one of the housing and the second rotating member has a boss and the other has a limiting surface. During the rotation of the second rotating member, when the boss abuts against the limiting surface in the circumferential direction, the second rotating member stops rotating.

[0022] In one embodiment, before the second rotating member stops rotating, the first rotating member rotates synchronously with the second rotating member; when the second rotating member stops rotating, the first rotating member can continue to rotate in the original direction relative to the second rotating member. One of the first rotating member and the second rotating member has a convex block and the other has a positioning surface. When the convex block abuts against the positioning surface in the circumferential direction, the first rotating member stops rotating relative to the second rotating member in the original direction.

[0023] In one embodiment, the first rotating member has a first fixing portion for fixing the end of the first cable, and the second rotating member has a second fixing portion for fixing the end of the second cable. In the initial working state, along the circumferential direction of the first rotating member, the first fixing portion is spaced apart from the first through hole and the second through hole, and the second fixing portion is spaced apart from the first through hole and the second through hole.

[0024] In one embodiment, in the initial working state, the first fixing portion and the second fixing portion are located at the same position in the circumferential direction of the first rotating member.

[0025] In one embodiment, the first rotating member and the second rotating member rotate in the same direction.

[0026] In one embodiment, the first rotating member rotates synchronously with the second rotating member; or,

[0027] The first rotating member and the second rotating member rotate relative to each other.

[0028] In one embodiment, when the first rotating member and the second rotating member rotate synchronously, the first rotating member releases the first cable, and the second rotating member winds the second cable; or, the first rotating member winds the first cable, and the second rotating member releases the second cable.

[0029] In one embodiment, the winding direction of the first cable on the first rotating member is the same as or opposite to the winding direction of the second cable on the second rotating member.

[0030] In one embodiment, the drive assembly is used to drive the first rotating member to rotate, and the second rotating member is configured to rotate under the action of the first rotating member.

[0031] In one embodiment, the maximum rotation angle corresponding to the first rotating member is greater than the maximum rotation angle corresponding to the second rotating member;

[0032] When the second rotating member rotates to the corresponding maximum rotation angle, the second rotating member stops rotating, and the first rotating member can continue to rotate relative to the second rotating member.

[0033] In one embodiment, the first rotating member and the second rotating member are coaxially arranged.

[0034] In one embodiment, the lifting mechanism further includes an elastic member, the elastic member abuts between the first rotating member and the second rotating member, and the first rotating member drives the second rotating member to rotate synchronously through the elastic member.

[0035] In one embodiment, one of the first functional component and the second functional component is a wet cleaning component, and the other is a dry cleaning component.

[0036] In one embodiment, the wet cleaning component includes a drum, the dry cleaning component includes a rotary brush, and the axes of the drum and the rotary brush are parallel to each other.

[0037] In one embodiment, a third functional component is further included, the third functional component is connected to the first cable to lift synchronously with the first functional component; or the third functional component is connected to the second cable to lift synchronously with the second functional component.

[0038] In one embodiment, a first feature member and a second feature member are further included, the first cable includes a first elastic section having elasticity, and the first feature member is arranged at opposite ends of the first elastic section; the second cable includes a second elastic section having elasticity, and the second feature member is arranged at opposite ends of the second elastic section.

[0039] One technical effect of an embodiment of the present application is that only one lifting mechanism needs to be provided, so that the driving component drives the first rotating member and the second rotating member to rotate, thereby causing the first cable to drive the first functional component to lift and the second cable to drive the second functional component to lift, ensuring that the cleaning robot can be applicable to different working scenarios. In view of the fact that the first functional component and the second functional component share one lifting mechanism, the number of lifting mechanisms is reduced, so that the structure of the cleaning robot can be simplified and the manufacturing cost of the cleaning robot can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic plan view of a cleaning robot provided for an embodiment.

[0041] Figure 2 The Figure 1 three-dimensional structure schematic diagram of the lifting mechanism in the cleaning robot shown in the figure.

[0042] Figure 3 The Figure 2 three-dimensional sectional structure schematic diagram of the lifting mechanism in the cleaning robot shown in the figure at the first position.

[0043] Figure 4 The Figure 3 overall exploded structure schematic diagram of the lifting mechanism shown in the figure.

[0044] Figure 5 The Figure 3 three-dimensional sectional structure schematic diagram of the lifting mechanism shown in the figure at the second position.

[0045] Figure 6 The Figure 3 partial exploded structure schematic diagram of the lifting mechanism shown in the figure.

[0046] Figure 7 The three-dimensional structure schematic diagram of 6 from another perspective.

[0047] Figure 8 The Figure 6 three-dimensional sectional structure schematic diagram.

[0048] Figure 9 The Figure 2 three-dimensional sectional structure schematic diagram of the lifting mechanism shown in the figure at the third position.

[0049] Figure 10 The planar schematic diagram of the first rotating member and the second rotating member in the initial working state.

[0050] Figure 11 The planar schematic diagram of the first rotating member and the second rotating member when they rotate synchronously in the first direction from the reference position corresponding to the initial working state and the second rotating member reaches the limit position.

[0051] Figure 12 The planar schematic diagram of the first rotating member when it continues to rotate in the first direction to the limit position relative to the second rotating member that has rotated to the limit position in the first direction.

[0052] Figure 13It is a plan view when the first rotating member and the second rotating member synchronously rotate from the reference position corresponding to the initial working state to the limit position along the second direction. Reference numerals: cleaning robot 10, lifting mechanism 101, first feature member 102, second feature member 103, first functional component 104, roller 1041, second functional component 105, brush 1051, third functional component 106, side brush 1061, first rotating member 100, bump 110, first fixing point 140, second rotating member 200, first limiting surface 211, second limiting surface 212, abutting surface 213, first positioning surface 221, second positioning surface 222, stopping surface 223, second fixing point 240, driving component 300, driving motor 310, housing 400, first housing 411, second housing 412, first through hole 421, second through hole 422, boss 430, first cable 510, first elastic section 511, second cable 520, second elastic section 521, elastic member 600. Detailed implementation manners

[0053] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0054] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0055] In addition, if these terms "first" and "second" appear, these terms are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In this application, unless otherwise clearly specified and defined, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In this application, unless otherwise clearly specified and defined, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely means that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely means that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0059] Refer to Figure 1 、 Figure 2 and Figure 3, the cleaning robot 10 provided in one embodiment of the present application includes a lifting mechanism 101, a first functional component 104 and a second functional component 105. The lifting mechanism 101 drives the first functional component 104 and the second functional component 105 to rise and fall relative to the ground to be cleaned, so that the first functional component 104 and the second functional component 105 share a lifting mechanism 101, and the ground is used as the surface to be cleaned for explanation below. The lifting mechanism 101 includes a first rotating member 100, a first cable 510, a second rotating member 200, a second cable 520 and a driving assembly 300; the first cable 510 and the second cable 520 are both flexible. One end of the first cable 510 is wound around the first rotating member 100, and the other end of the first cable 510 is connected to the first functional component 104; one end of the second cable 520 is wound around the second rotating member 200, and the other end of the second cable 520 is connected to the second functional component 105. The driving assembly 300 is used to drive the first rotating member 100 and the second rotating member 200 to rotate, so that the first cable 510 is entangled or released relative to the first rotating member 100, thereby driving the first functional member to rise and fall relative to the ground; and also causes the second cable 520 to be entangled or released relative to the second rotating member 200, thereby driving the second functional member to rise and fall relative to the ground.

[0060] See also Figure 1 , Figure 2 and Figure 3 In some embodiments, the driving assembly 300 is connected to at least one of the first rotating member 100 and the second rotating member 200 in a transmission manner. The driving assembly 300 is used to drive at least one of the first rotating member 100 and the second rotating member 200 to rotate, thereby driving the first functional component 104 to be lifted and lowered through the first cable 510, and driving the second functional component 105 to be lifted and lowered through the second cable 520. The driving assembly 300 may include a driving motor 310, which drives the first rotating member 100 to rotate. The second rotating member 200 is configured to rotate under the action of the first rotating member 100, that is, the first rotating member 100 drives the second rotating member 200 to rotate, so that the structure of the lifting mechanism 101 can be simplified, and finally the first functional component 104 and the second functional component 105 can be lifted and lowered independently. The lifting mechanism 101 may also include an elastic member 600, which abuts between the first rotating member 100 and the second rotating member 200. The first rotating member 100 drives the second rotating member 200 to rotate through the elastic member 600; the elastic member 600 may be a torsion spring or the like. In other embodiments, the elastic member 600 may also be replaced by other transmission structures, such as a clutch structure, a gear structure, etc.

[0061] In other embodiments, for example, the driving assembly 300 may include a driving motor 310. However, the driving motor 310 drives the first rotating member 100 and the second rotating member 200 to rotate through two transmission assemblies respectively. Alternatively, the driving assembly 300 may adopt a dual-head motor, one output end of the dual-head motor is in transmission connection with the first rotating member 100, and the other output end is connected to the second rotating member 200. For another example, the driving assembly 300 may include two driving motors 310, and the two driving motors 310 independently drive the first rotating member 100 and the second rotating member 200 to rotate respectively. It can be understood that the first rotating member 100 and the second rotating member 200 are respectively driven by a driving motor 310. In this way, the independent rotation of the first rotating member 100 and the second rotating member 200 can also be achieved. Through the independent rotation of the first rotating member 100 and the second rotating member 200, the first cable 510 and the second cable 520 are independently released or wound, and finally the first functional component 104 and the second functional component 105 are independently lifted and lowered.

[0062] In some embodiments, the first rotating member 100 and the second rotating member 200 may be coaxially arranged. In this way, the structure of the lifting mechanism 101 can be simplified, the occupied space of the lifting mechanism 101 can be reduced, and the miniaturized design of the lifting mechanism 101 and the cleaning robot 10 can be realized. In other embodiments, the first rotating member 100 and the second rotating member 200 may also be non-coaxially arranged. For example, the first rotating member 100 and the second rotating member 200 are arranged side by side, and the axis of the first rotating member 100 is parallel to the axis of the second rotating member 200.

[0063] In some embodiments, the rotating directions of the first rotating member 100 and the second rotating member 200 are the same. For example, the first rotating member 100 and the second rotating member 200 rotate synchronously in the same direction at the same speed. For another example, the first rotating member 100 and the second rotating member 200 can rotate relative to each other. For example, the second rotating member 200 can stop rotating, and the first rotating member 100 rotates relative to the second rotating member 200. Or, both the first rotating member 100 and the second rotating member 200 are in a rotating state, but the first rotating member 100 and the second rotating member 200 rotate relative to each other in the same direction at different speeds. In other embodiments, the first rotating member 100 and the second rotating member 200 may also rotate in opposite directions.

[0064] The first rotating member 100 and the second rotating member 200 can rotate in the first direction or the second direction, and the first direction and the second direction are two opposite directions. Along the axial direction of the lifting mechanism 101, the first rotating member 100 is closer to the observer relative to the second rotating member 200, that is, the observer's line of sight points from the first rotating member 100 to the second rotating member 200 along the axial direction of the first rotating member 100, that is Figure 2The directions indicated by the medium thick dashed arrows define the first direction and the second direction from the perspective of the observer relative to the lifting mechanism 101 at this time. The following description is made with the first direction being clockwise and the second direction being counterclockwise. The first direction is Figure 2 the direction indicated by the medium thick solid arrow, and the second direction is Figure 2 the direction indicated by the thin dashed arrow.

[0065] Referring to Figure 4 、 Figure 5 and Figure 6 In some embodiments, when the first rotating member 100 and the second rotating member 200 rotate synchronously, the first rotating member 100 releases the first cable 510, and the second rotating member 200 winds the second cable 520; alternatively, the first rotating member 100 winds the first cable 510, and the second rotating member 200 releases the second cable 520. It can be understood that when the first cable 510 and the second cable 520 are wound, the winding lengths of both the first cable 510 and the second cable 520 increase and the effective lengths decrease; when the first cable 510 and the second cable 520 are released, the winding lengths of both the first cable 510 and the second cable 520 decrease and the effective lengths increase. It is not difficult to understand that the winding length mentioned here refers to the circumference of the first cable 510 wound around the first rotating member 100, and the effective length refers to the length of the first cable 510 between the first rotating member and the first functional component 104. The same applies to the second cable 520. When both the first cable 510 and the second cable 520 are in a taut state, and both the first functional component 104 and the second functional component 105 are above the ground and maintain a certain distance from the ground, when the first cable 510 is wound, the first cable 510 will drive the first functional component 104 to rise further relative to the ground, and when the first cable 510 is released, the first cable 510 will drive the first functional component 104 to descend relative to the ground. Similarly, when the second cable 520 is wound, the second cable 520 will drive the second functional component 105 to rise further relative to the ground, and when the second cable 520 is released, the second cable 520 will drive the second functional component 105 to descend relative to the ground.

[0066] In some embodiments, the winding direction of the first cable 510 on the first rotating member 100 is the same as or opposite to the winding direction of the second cable 520 on the second rotating member 200. For example, the first cable 510 and the second cable 520 may be wound along the second direction simultaneously. Another example is that the first cable 510 may be wound along the first direction, and the second cable 520 may be wound along the second direction. It can be understood that when the first cable 510 is wound on the first rotating member 100 along the first direction, starting from the fixed end of the first cable 510 fixed on the first rotating member 100, the first cable 510 is wound on the first rotating member 100 along the first direction relative to the fixed end; when the first cable 510 is wound on the first rotating member 100 along the second direction, the first cable 510 is wound on the first rotating member 100 along the second direction relative to the fixed end. Similarly, when the second cable 520 is wound on the second rotating member 200 along the first direction, the second cable 520 is wound on the second rotating member 200 along the first direction relative to the fixed end; when the second cable 520 is wound on the second rotating member 200 along the second direction, the second cable 520 is wound on the second rotating member 200 along the second direction relative to the fixed end. Of course, in some embodiments, the winding direction of the first cable 510 on the first rotating member 100 varies with the rotation direction of the first rotating member 100. For example, when the first rotating member 100 rotates along the first direction, the first cable 510 is wound on the first rotating member 100 along the first direction, and when the first rotating member 100 rotates along the second direction, the first cable 510 is wound on the first rotating member 100 along the second direction. The winding direction of the second cable 520 on the second rotating member 200 is the same, and will not be repeated here.

[0067] When the first functional component 104 and the second functional component 105 are in contact with the ground, it can be understood that both the first functional component 104 and the second functional component 105 are in the descending state; when the first functional component 104 and the second functional component 105 are above the ground and maintain a spacing from the ground, it can be understood that both the first functional component 104 and the second functional component 105 are in the ascending state. Taking the first cable 510 and the first functional component 104 as an example, in view of the flexibility of the first cable 510, when the first functional component 104 is in the descending state and the part of the first cable 510 located between the first functional component 104 and the first rotating member 510 is just in a taut state, when the first cable 510 is released, although the length of the part of the first cable 510 located between the first functional component 104 and the first rotating member 510 becomes longer, the height of the first functional component 104 is restricted by the ground and remains unchanged. Therefore, the first functional component 104 continues to maintain the descending state; when the first cable 510 is wound, the first cable 510 drives the first functional component 104 to rise away from the ground, so that the first functional component 104 is in the ascending state; for the first functional component 104 in the ascending state, the first cable 510 can be wound or released to drive the first functional component 104 to rise or fall further relative to the ground. And when the first functional component 104 is in the descending state and the first cable 510 is in a non-taut state, when the first cable 510 is released, the first functional component 104 continues to be in contact with the ground and maintains the descending state; when the first cable 510 is wound, before the first cable 510 is in a taut state, the first functional component 104 continues to be in contact with the ground and maintains the descending state, and after the first cable 510 is in a taut state, the first functional component 104 will leave the ground and rise to be in the ascending state. For the case of the second cable 520 and the second functional component 105, reference can be made to the relevant description of the first cable 510 and the first functional component 104 above.

[0068] In some embodiments, the driving assembly 300 drives the first rotating member 100 and the second rotating member 200 to rotate, and then drives the first cable 510 and the second cable 520 to be released or wound. For example, it can make both the first functional component 104 and the second functional component 105 be in the descending state; for another example, it can make both the first functional component 104 and the second functional component 105 be in the ascending state. For yet another example, it can make one of the first functional component 104 and the second functional component 105 be in the descending state while the other is in the ascending state.

[0069] Refer to Figure 5 、 Figure 6 and Figure 7, in some embodiments, the cleaning robot 10 has an initial working state. In the initial working state, both the first functional component 104 and the second functional component 105 are in the lowered state. That is, in the initial working state, both the first functional component 104 and the second functional component 105 are in contact with the ground. In other embodiments, the initial state of the cleaning robot 10 may also be that both the first functional component 104 and the second functional component 105 are in the raised state, or one of the first functional component 104 and the second functional component 105 is in the raised state while the other is in the lowered state.

[0070] In this embodiment, both the first rotating member and the second rotating member have rotational limit positions. Specifically, in the initial working state, taking the position where the first rotating member 100 is located as the reference position, when the first rotating member 100 rotates from this reference position in the first direction to the limit position and stops rotating, the first rotating member 100 rotates the first maximum angle in the first direction; when the first rotating member 100 rotates from this reference position in the second direction to the limit position and stops rotating, the first rotating member 100 rotates the second maximum angle in the second direction. In the initial working state, taking the position where the second rotating member 200 is located as the reference position, when the second rotating member 200 rotates from this reference position in the first direction to the limit position and stops rotating, the second rotating member 200 rotates the third maximum angle in the first direction; when the second rotating member 200 rotates from this reference position in the second direction to the limit position and stops rotating, the second rotating member 200 rotates the fourth maximum angle in the second direction. The first maximum angle is greater than the third maximum angle, and the second angle may be less than or greater than or equal to the fourth angle. In this way, at least the relative rotation of the first rotating member 100 and the second rotating member 200 in the first direction can be achieved, so that the first cable 510 and the second cable 520 are independently wound or released, thereby driving the first functional component 104 and the second functional component 105 to independently rise or fall relative to the ground by the first functional component 104 and the second functional component 105.

[0071] See Figure 5 , Figure 6 and Figure 7, in some embodiments, during the process of the first rotating member 100 rotating from the position corresponding to the initial working state to the position corresponding to the first maximum angle along the first direction, the first rotating member 100 and the second rotating member 200 change from the state of both rotating to the state where the first rotating member 100 rotates while the second rotating member 200 stops rotating. In other words, during the process of the first rotating member 100 rotating from the reference position to the limit position along the first direction, first, both the first rotating member 100 and the second rotating member 200 rotate, and then, the second rotating member 200 stops rotating, and the first rotating member 100 rotates relative to the second rotating member 200. When both the first rotating member 100 and the second rotating member 200 rotate, the first rotating member 100 and the second rotating member 200 can rotate at the same speed and synchronously, or the first rotating member 100 and the second rotating member 200 can rotate at different speeds and asynchronously. In this way, the diversification of the rotation forms of the first rotating member 100 and the second rotating member 200 in terms of time and space can be realized, so as to realize the diversification of the lifting of both the first functional component 104 and the second functional component 105.

[0072] The maximum rotation angle corresponding to the first rotating member 100 is greater than the maximum rotation angle corresponding to the second rotating member 200. For example, the first maximum angle is greater than the third maximum angle. When the second rotating member 200 rotates to the third maximum angle, the second rotating member 200 stops rotating, and the first rotating member 100 can continue to rotate relative to the second rotating member 200. For example, during the process of the first rotating member 100 rotating from the reference position to the limit position corresponding to the first maximum angle along the first direction, after the second rotating member 200 rotates the third maximum angle and then stops rotating, the first rotating member 100 continues to rotate a certain angle along the first direction relative to the stationary second rotating member 200.

[0073] Refer to Figure 5 、 Figure 8 and Figure 9, in some embodiments, when the first rotating member 100 rotates a first maximum angle in the first direction, that is, when the first rotating member 100 reaches the limit position in the first direction, the first functional component 104 is in the rising state; when the first rotating member 100 rotates a second maximum angle in the second direction, that is, when the first rotating member 100 reaches the limit position in the second direction, the first functional component 104 is also in the rising state. When the second rotating member 200 rotates a third maximum angle in the first direction, that is, when the second rotating member 200 reaches the limit position in the first direction, the second functional component 105 is in the rising state; when the second rotating member 200 rotates a fourth maximum angle in the second direction, that is, when the second rotating member 200 reaches the limit position in the second direction, the second functional component 105 is also in the descending state. Therefore, when the first rotating member 100 and the second rotating member 200 rotate in the first direction from their respective reference positions, the second functional component 105 is in the rising state, and the first functional component 104 can be in the descending state or the rising state. When the first rotating member 100 and the second rotating member 200 rotate in the second direction from their respective reference positions, the first functional component 104 is in the rising state, and the second functional component 105 remains in the descending state. In this way, the diversification of the combination of the first functional component 104 and the second functional component 105 between the rising state and the descending state can be achieved.

[0074] In some embodiments, during the process in which the first rotating member 100 rotates a first maximum angle in the first direction, that is, during the process in which the first rotating member 100 rotates from the reference position in the first direction to the limit position, the first rotating member 100 first releases and then winds the first cable 510. When the first cable 510 is released, the first functional component 104 can maintain the descending state; during the winding process of the first cable 510, before the first cable 510 is tightened, the first functional component 104 can continue to maintain the descending state, and after the first cable 510 is tightened, the first functional component 104 can be in the rising state.

[0075] Refer to Figure 5 、 Figure 8 and Figure 9, in some embodiments, the lifting mechanism 101 further includes a housing 400. At least a part of both the first rotating member 100 and the second rotating member 200 is received in the housing 400. For example, the first rotating member 100 and the second rotating member 200 can be entirely received in the housing 400. Both the first cable 510 and the second cable 520 are threaded through the housing 400. The housing 400 can protect the first rotating member 100 and the second rotating member 200, preventing external impact forces from interfering with the rotation of the first rotating member 100 and the second rotating member 200. The direction in which the first cable 510 passes through the housing 400 is opposite to the direction in which the second cable 520 passes through the housing 400. In this way, it is possible to avoid interference such as entanglement between the first cable 510 and the second cable 520, thereby improving the control accuracy of the lifting movement of the first functional component 104 and the second functional component 105. In other embodiments, the housing 400 can be omitted, and the direction in which the first cable 510 passes through the housing 400 can be the same as the direction in which the second cable 520 passes through the housing 400.

[0076] Refer to Figure 5 , Figure 8 and Figure 9 , in some embodiments, one of the housing 400 and the second rotating member 200 has a boss 430 and the other has a limiting surface. During the rotation of the second rotating member 200, when the boss 430 abuts against the limiting surface circumferentially, the second rotating member 200 stops rotating. Therefore, when the boss 430 abuts against the limiting surface circumferentially, the second rotating member 200 rotates to the limit position. In this way, the limit positions of the second rotating member 200 in the first direction and the second direction can be defined. In other embodiments, the boss 430 and the limiting surface can also be omitted. The limit position of the second rotating member 200 can be controlled by controlling the rotation angle of the driving assembly 300 or by limiting the transmission structure connected to the second rotating member 200. For example, when the second rotating member 200 moves to the limit position, the driving assembly 300 automatically stops driving the second rotating member 200 to move through a control program.

[0077] Refer to Figure 4 , Figure 7 and Figure 8, in some embodiments, one of the first rotating member 100 and the second rotating member 200 has a convex block 110 and the other has a positioning surface. When the convex block 110 abuts against the positioning surface in the circumferential direction, the first rotating member 100 stops rotating relative to the second rotating member 200 in the original direction. Before the second rotating member 200 stops rotating, both the first rotating member 100 and the second rotating member 200 can rotate; when the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate relative to the second rotating member 200 in the original direction, and when the convex block 110 abuts against the positioning surface in the circumferential direction, the first rotating member 100 stops rotating relative to the second rotating member 200 in the original direction. For example, in the process of the first rotating member 100 rotating from the reference position in the first direction by the first maximum angle to reach the limit position, first, before the second rotating member 200 stops rotating, both the first rotating member 100 and the second rotating member 200 can rotate; then, after the second rotating member 200 abuts against the housing 400 in the circumferential direction, the second rotating member 200 rotates to the limit position and stops rotating; then, after the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate relative to the second rotating member 200 in the first direction, and when the convex block 110 abuts against the positioning surface in the circumferential direction, the first rotating member 100 stops rotating. In other embodiments, it is also possible to make the second maximum angle greater than the fourth maximum angle. In this way, when the first rotating member 100 rotates to the limit position in the second direction, it is also possible to first make the first rotating member 100 and the second rotating member 200 both rotate in the second direction. After the second rotating member 200 abuts against the housing 400 and rotates to the limit position to stop rotating, the first rotating member 100 continues to rotate relative to the second rotating member 200 in the second direction to the limit position.

[0078] Refer to Figure 4 and Figure 5, in some embodiments, the housing 400 is provided with a first through hole 421 and a second through hole 422. The first cable 510 is threaded through the first through hole 421, and the second cable 520 is threaded through the second through hole 422. The first rotating member 100 has a first fixing portion 140 for fixing the end of the first cable 510, and the second rotating member 200 has a second fixing portion 240 for fixing the end of the second cable 520. In the initial working state, along the circumferential direction of the first rotating member 100, the first fixing portion 140 is spaced from the first through hole 421 and the second through hole 422, and the second fixing portion 240 is spaced from the first through hole 421 and the second through hole 422. In this way, in the initial working state, a part of the first cable 510 is wound around the first rotating member 100, and a part of the second cable 520 can also be wound around the second rotating member 200. For example, in the initial working state, the winding lengths of the first cable 510 and the second cable 520 can both be less than one turn. Of course, the winding lengths of the first cable 510 and the second cable 520 can also be multiple turns. Further, in the initial working state, the positions of the first fixing portion 140 and the second fixing portion 240 in the circumferential direction of the first rotating member 100 are the same, which can be understood as the angle between the first fixing portion 140 and the second fixing portion 240 along the circumferential direction of the first rotating member 100 is approximately zero. This facilitates improving the balance of the first rotating member 100 and the second rotating member 200 during rotation, reducing the swing generated during their rotation, and improving the smoothness of the lifting movement of the first functional component 104 and the second functional component 105 relative to the ground seat.

[0079] Referring to Figure 4 and Figure 5 , in some embodiments, the housing 400 may include a first housing 411 and a second housing 412. The first housing 411 and the second housing 412 can be detachably connected by means of bolt connection or the like, so as to improve the convenience of assembly and maintenance of the cleaning robot 10. The first through hole 421 and the second through hole 422 may be spaced 180° along the circumferential direction of the housing 400. The first housing 411 or the second housing 412 may include a boss 430. The boss 430 may protrude radially along the housing 400 on the inner wall surface of the first housing 411 or the second housing 412. The boss 430 may be used to abut against the second rotating member 200. In the initial working state, the angles between the first fixing portion 140 and the first through hole 421 and the second through hole 422 may be equal, such that the angles between the first fixing portion 140 and the first through hole 421 and the second through hole 422 are both 90°. Similarly, the angles between the second fixing portion 240 and the first through hole 421 and the second through hole 422 can both be 90°. That is, in the initial working state, the first cable 510 is wound around the first rotating member 100 at least one quarter turn, and the second cable 510 is also wound around the second rotating member 200 at least one quarter turn.

[0080] Referring to Figure 5 , in some embodiments, the second rotating member 200 has a limiting surface and an abutting surface 213. The abutting surface 213 is arranged axially along the second rotating member 200 away from the first rotating member 100. The number of limiting surfaces is two, and the two limiting surfaces are respectively denoted as the first limiting surface 211 and the second limiting surface 212. Both the first limiting surface 211 and the second limiting surface 212 are arranged at an angle with the abutting surface 213. For example, both the first limiting surface 211 and the second limiting surface 212 can be perpendicular to the abutting surface 213, that is, connected at a 90° angle; the first limiting surface 211 and the second limiting surface 212 can be spaced 180° along the circumferential direction of the second rotating member 200. Both the first limiting surface 211 and the second limiting surface 212 can abut against the boss 430 along the circumferential direction of the housing 400. During the rotation of the second rotating member 200 in the first direction, when the first limiting surface 211 of the second rotating member 200 abuts against the boss 430 of the housing 400 along the circumferential direction of the housing 400, the first limiting surface 211 will interfere with the boss 430, thereby preventing the second rotating member 200 from continuing to rotate forward in the first direction. At this time, the second rotating member 200 rotates to the limit position in the first direction and stops rotating. During the rotation of the second rotating member 200 in the second direction, when the second limiting surface 212 of the second rotating member 200 abuts against the boss 430 of the housing 400 along the circumferential direction of the housing 400, the second limiting surface 212 will interfere with the boss 430, thereby preventing the second rotating member 200 from continuing to rotate forward in the second direction. At this time, the second rotating member 200 rotates to the limit position in the second direction and stops rotating. In the initial working state, along the circumferential direction of the housing 400, the angles between the boss 430 and the first limiting surface 211 and the second limiting surface 212 can be equal. In the case where the first limiting surface 211 and the second limiting surface 212 are spaced 180°, the angles between the boss 430 and the first limiting surface 211 and the second limiting surface 212 are both 90°. Of course, the angles between the boss 430 and the first limiting surface 211 and the second limiting surface 212 can be unequal. During the rotation of the second rotating member 200, the boss 430 of the housing 400 can abut against the abutting surface 213 axially along the second rotating member 200, so as to limit the second rotating member 200 well axially and improve the assembly accuracy and rotation accuracy of the second rotating member 200.

[0081] Referring to Figure 6 and Figure 9, in some embodiments, the first rotating member 100 includes a convex block 110. The second rotating member 200 has a positioning surface and a stop surface 223. The stop surface 223 is arranged towards the first rotating member 100 along the axial direction of the second rotating member 200. Therefore, the directions of the stop surface 223 and the abutting surface 213 are opposite. The number of positioning surfaces is two, which are respectively denoted as the first positioning surface 221 and the second positioning surface 222. Both the first positioning surface 221 and the second positioning surface 222 are connected to the stop surface 223 at an angle. For example, both the first positioning surface 221 and the second positioning surface 222 can be perpendicular to the stop surface 223, that is, connected at a 90° angle; the first positioning surface 221 and the second positioning surface 222 can be spaced 180° along the circumferential direction of the second rotating member 200. Both the first positioning surface 221 and the second positioning surface 222 can abut against the convex block 110 along the circumferential direction of the housing 400. During the process of the first rotating member 100 rotating relative to the second rotating member 200 that is relatively stationary along the first direction, when the first positioning surface 221 of the second rotating member 200 abuts against the convex block 110 of the first rotating member 100 along the circumferential direction of the housing 400, the first positioning surface 221 will interfere with the convex block 110, thereby preventing the first rotating member 100 from continuing to rotate forward relative to the second rotating member 200 along the first direction. At this time, the first rotating member 100 rotates to the limit position along the first direction and stops rotating. During the process of the first rotating member 100 rotating relative to the second rotating member 200 that is relatively stationary along the second direction, when the second positioning surface 222 of the second rotating member 200 abuts against the convex block 110 of the first rotating member 100 along the circumferential direction of the housing 400, the second positioning surface 222 will interfere with the convex block 110, thereby preventing the first rotating member 100 from continuing to rotate forward relative to the second rotating member 200 along the second direction. At this time, the first rotating member 100 rotates to the limit position along the second direction and stops rotating. In the initial working state, along the circumferential direction of the housing 400, the convex block 110 can abut against the second positioning surface 222, that is, the circumferential spacing angle between the convex block 110 and the second positioning surface 222 is zero. In the case where the first positioning surface 221 and the second positioning surface 222 are spaced 180°, the convex block 110 is spaced 180° from the first positioning surface 221. Of course, the angles between the convex block 110 and the first positioning surface 221 and the second positioning surface 222 can be equal, that is, the angles between the convex block 110 and the first positioning surface 221 and the second positioning surface 222 are both 90°. During the rotation of the first rotating member 100, the convex block 110 can abut against the stop surface 223 along the axial direction of the second rotating member 200. In this way, good axial limiting can be performed on the first rotating member 100, and the assembly accuracy and rotation accuracy of the first rotating member 100 can be improved.

[0082] Refer to Figure 10, for the convenience of description, the working principle of the lifting mechanism 101 will be described below with a specific embodiment. For this specific embodiment, the driving component 300 drives the second rotating member 200 to rotate through the first rotating member 100. In the initial working state, the first through hole 421 and the second through hole 422 are spaced 180°, the angle between the first fixing portion 140 and the second fixing portion 240 is zero, the first cable 510 is wound 1 / 4 turn on the first rotating member 100, starting from the first fixing portion 140, and the first cable 510 is wound on the first rotating member 100 along the first direction relative to the first fixing portion 140. The second cable 520 is wound 1 / 4 turn on the second rotating member 200, starting from the second fixing portion 240, and the second cable 520 is wound on the second rotating member 200 along the second direction relative to the second fixing portion 240. Therefore, the winding directions of the first cable 510 and the second cable 520 are opposite. The first limiting surface 211 and the second limiting surface 212 of the second rotating member 200 are spaced 180°, and the boss 430 of the housing 400 is spaced 90° from both the first limiting surface 211 and the second limiting surface 212. The first positioning surface 221 and the second positioning surface 222 of the second rotating member 200 are spaced 180°, the convex block 110 of the first rotating member 100 is spaced 180° from the first positioning surface 221, and the convex block 110 abuts against the second positioning surface 222. Therefore, the angle between the convex block 110 and the second positioning surface 222 is zero. The first cable 510 and the second cable 520 are both in a taut state, and the first functional component 104 and the second functional component 105 are both in a descending state.

[0083] Refer to Figure 11, during the process that the driving component 300 drives the first rotating member 100 to rotate in the first direction from the reference position corresponding to the initial working state, first of all, the first rotating member 100 drives the second rotating member 200 to rotate synchronously in the first direction through the elastic member 600. Obviously, during the synchronous rotation in the first direction, the first cable 510 is released and the winding length thereof decreases, while the second cable 520 is wound and the winding length thereof increases. After they rotate 90° synchronously in the first direction from the reference position, both the first fixing portion 140 and the second fixing portion 240 are in positions corresponding to the first through hole 421, that is, in the circumferential direction of the housing 400, the interval angles between the first fixing portion 140 and the second fixing portion 240 and the first through hole 421 are approximately zero. At this time, the boss 430 of the housing 400 abuts against the first limiting surface 211 to generate interference, preventing the second rotating member 200 from continuing to rotate in the first direction, so the second rotating member 200 rotates to the limit position in the first direction, and the third maximum angle of the second rotating member 200 rotating in the first direction is 90°. When the second rotating member 200 stops rotating, the winding length of the first cable 510 is converted from 1 / 4 turn to zero turn and is in a non-tight state, and the first functional component 104 maintains the descending state; the winding length of the second cable 520 is converted from 1 / 4 turn to 1 / 2 turn, and the second functional component 105 is in the ascending state. Of course, when the first rotating member 100 and the second rotating member 200 rotate in the reverse direction from this limit position to the reference position, the process is the reverse process and will not be elaborated herein.

[0084] Refer to Figure 12, when the second rotating member 200 stops rotating, the first rotating member 100 can continue to rotate relative to the second rotating member 200 in the first direction. Specifically, the convex block 110 of the first rotating member 100 gradually moves closer to the first positioning surface 221. When the convex block 110 of the first rotating member 100 abuts against the first positioning surface 221, interference is generated due to the abutment between the convex block 110 and the first positioning surface 221, preventing the first rotating member 100 from continuing to rotate in the first direction. Therefore, the first rotating member 100 rotates to the limit position in the first direction, and the first maximum angle of the first rotating member 100 rotating in the first direction is 270°, enabling the first rotating member 100 to continue to rotate 180° in the first direction relative to the second rotating member 200 that has stopped rotating. At this time, the first fixing portion 140 is located at a position corresponding to the second through hole 422. Therefore, during the process of the first rotating member 100 rotating relative to the second rotating member 200 in the first direction, the winding length of the first cable 510 increases, the winding length of the second cable 520 remains unchanged, the first functional component 104 is in the rising state, and the second functional component 105 still maintains the rising state. Specifically, when the first rotating member 100 rotates 90° relative to the second rotating member 200 for the first time, that is, when the first rotating member 100 rotates 180° relative to the reference position, the winding length of the first cable 510 changes from zero turns to 1 / 4 turn, and the first cable 510 is in a taut state, and the first functional component 104 still maintains the descending state; when the first rotating member 100 rotates 90° relative to the second rotating member 200 again, that is, when the first rotating member 100 rotates 270° relative to the reference position, the winding length of the first cable 510 changes from 1 / 4 turn to 1 / 2 turn, and the first cable 510 is in a taut state, and the first functional component 104 is in the rising state. Therefore, during the process of the first rotating member 100 rotating relative to the second rotating member 200 in the first direction, the first functional component 104 can be changed from the descending state to the rising state. Of course, when the first rotating member 100 rotates in the reverse direction from this limit position to the reference position, it is the reverse process and will not be elaborated.

[0085] Refer to Figure 13, during the process that the driving component 300 drives the first rotating member 100 to rotate in the second direction from the reference position corresponding to the initial working state, the first rotating member 100 drives the second rotating member 200 to rotate synchronously in the second direction through the elastic member 600. Obviously, during the synchronous rotation in the second direction, the first cable 510 is wound and the winding length increases, and the second cable 520 is released and the winding length decreases. After the two rotate synchronously 90° in the second direction from the reference position, both the first fixing portion 140 and the second fixing portion 240 are in the position corresponding to the second through hole 422, that is, in the circumferential direction of the housing 400, the interval angles between the first fixing portion 140 and the second fixing portion 240 and the second through hole 422 are both approximately zero. At this time, the boss 430 of the housing 400 abuts against the second limiting surface 212 to generate interference, preventing the second rotating member 200 from continuing to rotate in the second direction. Therefore, the second rotating member 200 rotates to the limit position in the second direction, and the fourth maximum angle of the second rotating member 200 rotating in the second direction is 90°. Since the convex block 110 abuts against the second positioning surface 222 to generate interference, the first rotating member 100 cannot continue to move relative to the second rotating member 200 in the second direction. Therefore, after the first rotating member 100 and the second rotating member 200 rotate synchronously 90° in the second direction, both stop rotating. Therefore, the first rotating member 100 also rotates to the limit position in the second direction, making the second maximum angle of the first rotating member 100 rotating in the second direction be 90°. That is, the second maximum angle of the first rotating member 100 rotating in the second direction is equal to the fourth maximum angle of the second rotating member 200 rotating in the second direction. When both the first rotating member 100 and the second rotating member 200 stop rotating, the winding length of the first cable 510 is converted from 1 / 4 turn to 1 / 2 turn, and the first functional component 104 is in the rising state; the winding length of the second cable 520 is converted from 1 / 4 turn to zero turn, and the second functional component 105 maintains the descending state. Of course, when the first rotating member 100 and the second rotating member 200 rotate in the reverse direction from this limit position to the reference position, the process is the reverse process and will not be elaborated.

[0086] Therefore, during the process in which the first rotating member 100 moves 180° in the first direction from the reference position, the first functional component 104 is in a descending state; thus, when it is necessary to make the first functional component 104 in a descending state, the first rotating member 100 can be rotated in the first direction to a position where the interval from the reference position is less than or equal to 180°. During the process in which the first rotating member 100 rotates 90° again after rotating 180° relative to the reference position in the first direction, and during the process in which the first rotating member 100 rotates 90° in the second direction from the reference position, the first functional component 104 is in an ascending state. Thus, when it is necessary to make the first functional component 104 in an ascending state, the first rotating member 100 can be rotated in the first direction to a position where it is greater than 180° and less than or equal to 270° relative to the reference position, or the first rotating member 100 can be rotated in the second direction to a position where the interval from the reference position is less than or equal to 90 degrees.

[0087] During the process in which the second rotating member 200 rotates 90° in the first direction from the reference position, the second functional component 105 is in an ascending state. Thus, when it is necessary to make the second functional component 105 in an ascending state, the second rotating member 200 can be rotated in the first direction to a position where the interval from the reference position is less than or equal to 90 degrees. During the process in which the second rotating member 200 rotates 90° in the second direction from the reference position, the second functional component 105 is in a descending state. Thus, when it is necessary to make the second functional component 105 in a descending state, the second rotating member 200 can be rotated in the second direction to a position where the interval from the reference position is less than or equal to 90 degrees.

[0088] More specifically, in this embodiment, in the initial working state of the cleaning robot 10, both the first functional component 104 and the second functional component 105 are in a descending state. Starting from the initial working state, when it is necessary to make the second functional component 105 rise while maintaining the first functional component 104 in a descending state, the driving component 300 drives the first rotating member 100 to rotate 90° in the first direction. Starting from the initial working state, when it is necessary to make the first functional component 104 rise while maintaining the second functional component 105 in a descending state, the driving component 300 drives the first rotating member 100 to rotate 90° in the second direction. Starting from the initial working state, when it is necessary to make both the first functional component 104 and the second functional component 105 rise, the driving component 300 controls the first rotating member 100 to rotate 270° in the first direction. When the cleaning robot 10 switches from the state where the first functional component 104 is in an ascending state and the second functional component 105 is in a descending state to the state where the second functional component 105 is in an ascending state and the first functional component 104 is in a descending state, the driving component 300 only needs to drive the first rotating member 100 to rotate 180° in the first direction. The switching between each state can be deduced by analogy, and will not be listed one by one here.

[0089] If the cleaning robot 10 respectively adopts different lifting mechanisms 101 to drive the first functional component 104 and the second functional component 105 to move independently, the number of the lifting mechanisms 101 will be increased, making the structure of the cleaning robot 10 more complex and also increasing the manufacturing cost of the cleaning robot 10. For the cleaning robot 10 in the above embodiment, only one lifting mechanism 101 needs to be provided, so that the driving component 300 drives the first rotating member 100 and the second rotating member 200 to rotate, so that the first cable 510 and the second cable 520 are released or wound, and finally the first functional component 104 and the second functional component 105 can be lifted independently, ensuring that the cleaning robot 10 can be applied to different working scenarios. In view of the fact that the first functional component 104 and the second functional component 105 share one lifting mechanism 101, the number of the lifting mechanisms 101 is reduced, which can not only simplify the structure of the cleaning robot 10, but also reduce the manufacturing cost of the cleaning robot 10.

[0090] In some embodiments, one of the first functional component 104 and the second functional component 105 is a wet cleaning component, and the other is a dry cleaning component. The wet cleaning component includes a roller 1041, and the dry cleaning component includes a rotary brush 1051. The axes of the roller 1041 and the rotary brush 1051 are parallel to each other. When cleaning a carpet, the cleaning robot 10 can drive the wet cleaning component to rise through the lifting mechanism 101, and keep the dry cleaning component in a lowered state to perform a cleaning operation on the carpet. When only the mopping task needs to be performed, the cleaning robot 10 can drive the dry cleaning component to rise through the lifting mechanism 101, and keep the wet cleaning component in a lowered state to perform a mopping operation. When facing an obstacle, the cleaning robot 10 can drive both the wet cleaning component and the dry cleaning component to rise through the lifting mechanism 101 to improve the obstacle-crossing ability of the cleaning robot 10.

[0091] In other embodiments, the wet cleaning component may further include a rotating mop, the axis of the rotating mop is perpendicular to the ground, or a flat mop. The dry cleaning component may further include a side brush 1061, and the axis of rotation of the side brush 1061 is perpendicular to the ground. Or, in other embodiments, both the first functional component 104 and the second functional component 105 may also be wet cleaning components or dry cleaning components. Or, the first functional component 104 or the second functional component 105 may also be a driving wheel, a universal wheel or a sensor, etc., as long as the structure on the cleaning robot 10 that needs to actively lift to change the lifting state can be realized by the lifting mechanism 101. The first functional component 104 roller 1041 the second functional component 105 rotary brush 1051

[0092] It should be further noted that, in this embodiment, the first rotating member 100 and the second rotating member 200 are coaxially arranged, and the axes of the first rotating member 100 and the second rotating member 200 are parallel to the axes of both the drum 1041 and the roller brush 1051. The above-mentioned first direction can be the same as or opposite to the rotation direction of the roller brush 1051 when the cleaning robot 10 moves forward, and there is no unique limitation here.

[0093] In some embodiments, the cleaning robot 10 may further include a third functional component 106. The third functional component 106 is connected to the first cable 510 to enable the third functional component 106 to lift and lower synchronously with the first functional component 104; or the third functional component 106 is connected to the second cable 520 to enable the third functional component 106 to lift and lower synchronously with the second functional component 105. The third functional component 106 may include a side brush 1061. At this time, the first functional component 104, the second functional component 105, and the third functional component 106 share a lifting structure to achieve independent lifting, which can further simplify the structure of the cleaning robot 10 and reduce its manufacturing cost. Similarly, in other embodiments, for example, the third functional component 106 may also be other structures that need to actively lift to change the lifting state, and will not be listed one by one here. Another example is that the cleaning robot 10 may also be provided with a third rotating member separately. The third rotating member can be driven by the second rotating member 200 to rotate, so that the third functional component 106 realizes lifting through the rotation of the third rotating member.

[0094] Referring to Figure 1 , in some embodiments, the cleaning robot 10 further includes a first feature member 102 and a second feature member 103. The first cable 510 includes an elastic first elastic section 511, and the first feature member 102 is arranged at opposite ends of the first elastic section 511; the second cable 520 includes an elastic second elastic section 521, and the second feature member 103 is arranged at opposite ends of the second elastic section 521. Through the first elastic section 511 and the second elastic section 521, pre-tension and pre-deformation can be provided to ensure resilience.

[0095] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0096] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patented application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A cleaning robot, characterized in that, Comprising a first functional component, a second functional component and a lifting mechanism, the lifting mechanism comprising: A first rotating member; A first cable, one end of which is wound around the first rotating member and the other end of which is connected to the first functional component; A second rotating member; A second cable, one end of which is wound around the second rotating member and the other end of which is connected to the second functional component; and A driving component, the driving component being configured to drive the first rotating member to rotate so as to drive the first functional component to lift through the first cable, and to drive the second rotating member to rotate so as to drive the second functional component to lift through the second cable.

2. The cleaning robot according to claim 1, wherein The first functional component and the second functional component are configured to both be in a descending state, or an ascending state, or one is in an ascending state and the other is in a descending state through the lifting mechanism.

3. The cleaning robot according to claim 2, wherein The cleaning robot has an initial working state, in which the first functional component and the second functional component are both in the descending state.

4. The cleaning robot according to claim 3, wherein In the initial working state, with the position of the first rotating member as a reference, the first rotating member has a first maximum angle of rotation in a first direction and a second maximum angle of rotation in a second direction; In the initial working state, with the position of the second rotating member as a reference, the second rotating member has a third maximum angle of rotation in the first direction and a fourth maximum angle of rotation in the second direction; Wherein, the first direction and the second direction are opposite, and the first maximum angle is greater than the third maximum angle.

5. The cleaning robot according to claim 4, characterized in that, The lifting mechanism is configured such that, during the process of the first rotating member rotating in the first direction from the position corresponding to the initial working state to the position corresponding to the first maximum angle, the first rotating member and the second rotating member change from a state of both rotating to a state where the first rotating member rotates and the second rotating member stops rotating.

6. The cleaning robot according to claim 4, characterized in that, When the first rotating member rotates the first maximum angle in the first direction, the first functional component is in the ascending state, and when the first rotating member rotates the second maximum angle in the second direction, the first functional component is in the ascending state; When the second rotating member rotates the third maximum angle in the first direction, the second functional component is in the ascending state, and when the second rotating member rotates the fourth maximum angle in the second direction, the second functional component maintains the descending state.

7. The cleaning robot according to claim 6, characterized in that, When the first rotating member rotates the first maximum angle in the first direction, the first rotating member first releases and then winds the first cable.

8. The cleaning robot according to claim 3, characterized in that, The lifting mechanism further includes a housing, at least part of the first rotating member and the second rotating member are received in the housing, the housing is provided with a first through hole and a second through hole, the first cable is threaded through the first through hole, and the second cable is threaded through the second through hole.

9. The cleaning robot according to claim 8, characterized in that, The direction in which the first cable exits the housing is opposite to the direction in which the second cable exits the housing.

10. The cleaning robot according to claim 8, characterized in that, One of the housing and the second rotating member has a boss and the other has a limiting surface. During the rotation of the second rotating member, when the boss abuts against the limiting surface in the circumferential direction, the second rotating member stops rotating.

11. The cleaning robot according to claim 10, characterized in that, Before the second rotating member stops rotating, the first rotating member rotates synchronously with the second rotating member; when the second rotating member stops rotating, the first rotating member can continue to rotate in the original direction relative to the second rotating member. One of the first rotating member and the second rotating member has a convex block and the other has a positioning surface. When the convex block abuts against the positioning surface in the circumferential direction, the first rotating member stops rotating relative to the second rotating member in the original direction.

12. The cleaning robot according to claim 8, characterized in that, The first rotating member has a first fixing portion for fixing the end of the first cable, and the second rotating member has a second fixing portion for fixing the end of the second cable. In the initial working state, along the circumferential direction of the first rotating member, the first fixing portion is spaced apart from the first through hole and the second through hole, and the second fixing portion is spaced apart from the first through hole and the second through hole.

13. The cleaning robot according to claim 12, characterized in that, In the initial working state, the first fixing portion and the second fixing portion are in the same position in the circumferential direction of the first rotating member.

14. The cleaning robot according to claim 1, characterized in that, The first rotating member and the second rotating member rotate in the same direction.

15. The cleaning robot according to claim 14, wherein The first rotating member and the second rotating member rotate synchronously; or, The first rotating member and the second rotating member rotate relative to each other.

16. The cleaning robot according to claim 15, characterized in that, When the first rotating member and the second rotating member rotate synchronously, the first rotating member releases the first cable, and the second rotating member winds the second cable; or, the first rotating member winds the first cable, and the second rotating member releases the second cable.

17. The cleaning robot according to claim 14, wherein The winding direction of the first cable on the first rotating member is the same as or opposite to the winding direction of the second cable on the second rotating member.

18. The cleaning robot according to claim 1, wherein, The driving assembly is used to drive the first rotating member to rotate, and the second rotating member is configured to rotate under the action of the first rotating member.

19. The cleaning robot according to claim 18, wherein, The maximum rotation angle corresponding to the first rotating member is greater than the maximum rotation angle corresponding to the second rotating member; When the second rotating member rotates to the corresponding maximum rotation angle, the second rotating member stops rotating, and the first rotating member can continue to rotate relative to the second rotating member.

20. The cleaning robot according to claim 18, characterized in that, The first rotating member and the second rotating member are coaxially arranged.

21. The cleaning robot according to claim 1, characterized in that, The lifting mechanism further includes an elastic member, and the elastic member abuts between the first rotating member and the second rotating member. The first rotating member drives the second rotating member to rotate synchronously through the elastic member.

22. The cleaning robot according to claim 1, characterized in that, One of the first functional component and the second functional component is a wet cleaning component, and the other is a dry cleaning component.

23. The cleaning robot according to claim 22, wherein, The wet cleaning component includes a drum, and the dry cleaning component includes a rotary brush. The axes of the drum and the rotary brush are parallel to each other.

24. The cleaning robot according to claim 1, wherein, Further comprising a third functional component, the third functional component is connected to the first cable to lift and lower synchronously with the first functional component; or the third functional component is connected to the second cable to lift and lower synchronously with the second functional component.

25. The cleaning robot according to claim 1, wherein Further comprising a first feature member and a second feature member, the first cable includes a first elastic section having elasticity, and the first feature member is disposed at opposite ends of the first elastic section; the second cable includes a second elastic section having elasticity, and the second feature member is disposed at opposite ends of the second elastic section.

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