Lifting devices and cleaning robots

Abstract

This application relates to the field of cleaning robot technology, and more particularly to a lifting device and a cleaning robot. The lifting device includes a top plate, a transmission assembly, a drive component, an elastic damping component, and a guide assembly. The transmission assembly includes a cooperating worm gear and worm shaft. One end of the elastic damping component is rotatably connected to the top plate, and the other end is rotatably connected to the cleaning component. Both ends of the guide assembly are connected to the top plate and the cleaning component, respectively. The drive component rotates to drive the worm shaft, which in turn rotates the worm gear, causing the cleaning component to rise or fall. During the descent of the cleaning component, the elastic damping component buffers the descent speed. By incorporating the transmission assembly, elastic damping component, and guide assembly, the problem of conventional cleaning robots causing significant impact force between the cleaning component and the ground during height adjustment, which can easily damage the equipment or the ground, is solved.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more particularly to a lifting device and a cleaning robot. Background Technology

[0002] With the development of technology, cleaning robots, as intelligent cleaning equipment, have been widely used in various aspects of people's production and life. Leveraging their autonomous navigation, obstacle avoidance, and intelligent path planning capabilities, cleaning robots can efficiently complete cleaning tasks such as floor sweeping, reducing human intervention. They not only improve cleaning efficiency but also enhance convenience, providing users with a time-saving and labor-saving cleaning solution. They are widely applicable to various environments and meet the cleaning needs of different scenarios.

[0003] When adjusting the height of the cleaning components, conventional cleaning robots typically lift or release them directly using a lifting mechanism. Since the cleaning components are in direct contact with the ground, a significant impact force is generated between them, which can easily damage the equipment or the ground, and also produce noise pollution. Utility Model Content

[0004] This application provides a lifting device and a cleaning robot to solve the problem that conventional cleaning robots typically lift or release the cleaning component directly by a lifting device when adjusting the height of the cleaning component. Since the cleaning component is in direct contact with the ground, a large impact force is generated between the cleaning component and the ground, which can easily cause damage to the equipment or the ground, and also generate noise pollution.

[0005] In a first aspect, this application provides a lifting device for use in a cleaning robot, comprising:

[0006] roof;

[0007] A transmission assembly, comprising a cooperating worm gear and a worm, wherein the worm is rotatably mounted on the top plate and is capable of driving the worm gear to rotate;

[0008] A driving component, the output end of which is connected to the worm gear;

[0009] An elastic damping element, one end of which is rotatably connected to the top plate, and the other end of which is rotatably connected to the cleaning assembly;

[0010] A guide assembly, the two ends of which are respectively connected to the top plate and the cleaning assembly, and the guide assembly is arranged in a vertical direction;

[0011] The drive component can rotate to drive the worm gear to rotate, thereby causing the cleaning component to rise or fall; during the descent of the cleaning component, the elastic damping component can buffer the descent speed of the cleaning component.

[0012] Optionally, the worm gear has a central shaft, and the transmission assembly includes a rocker arm and a flexible traction member. One end of the rocker arm is connected to the flexible traction member, and the other end of the rocker arm is connected to the shaft. The flexible traction member is used to drive the cleaning assembly to move.

[0013] Optionally, the transmission assembly further includes an elastic element, the two ends of which are connected to the flexible traction element and the cleaning assembly, respectively.

[0014] Optionally, the top plate is provided with a grooved wheel at one end near the transmission assembly, the grooved wheel is rotatably connected to the top plate, and the flexible traction member is arranged around a portion of the arc of the grooved wheel.

[0015] Optionally, the elastic damping element is a gas spring, and the elastic damping element is arranged in the vertical direction.

[0016] Optionally, the guide assembly includes at least two linear bearings and at least two guide shafts, each linear bearing being connected to the cleaning assembly and the top plate, and each guide shaft being slidably disposed on one of the linear bearings.

[0017] Optionally, the transmission assembly includes a mounting base connected to the top plate, the mounting base having a mounting cavity, the worm gear and the worm being rotatably mounted on the mounting base, and the driving component being connected to the mounting base.

[0018] Optionally, the lifting device includes a limit switch connected to the mounting base, the limit switch being used to abut against the transmission assembly to determine the initial position of the driving member.

[0019] Optionally, a pad is provided at one end of the top plate near the cleaning component, and the pad is connected to the top plate.

[0020] Secondly, this application provides a cleaning robot, including the lifting device provided in the first aspect of this application.

[0021] The technical solutions provided in this application have the following advantages compared with the prior art:

[0022] The lifting device of this application achieves smooth lifting and lowering of the cleaning component through the synergistic action of a worm gear structure, a guide assembly, and an elastic damping element. Specifically, the output end of the drive component is connected to the worm gear. When the drive component rotates, the worm gear rotates and drives the cooperating worm gear to rotate. The rotation of the worm gear drives the cleaning component to rise or fall along the guide assembly via a transmission mechanism (such as a connecting rod or gear transmission). The guide assembly (such as a guide rail or slide bar) is set vertically to ensure that the cleaning component maintains a stable motion trajectory during lifting and lowering. One end of the elastic damping element (such as a gas spring or hydraulic damper) is rotatably connected to the top plate, and the other end is rotatably connected to the cleaning component. During the descent of the cleaning component, the elastic damping element can effectively absorb impact force and buffer the descent speed of the cleaning component. When the cleaning component approaches the ground, the elastic damping element slows down the descent speed of the cleaning component through elastic deformation or hydraulic damping, avoiding a violent collision with the ground. In addition, the elastic damping element can also provide some assistance when the cleaning component rises, further optimizing the lifting and lowering process. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0026] Figure 1 A schematic diagram of the structure of a lifting device provided in this application embodiment. Figure 1 ;

[0027] Figure 2 for Figure 1 A magnified structural diagram at point A;

[0028] Figure 3 A schematic diagram of the structure of a lifting device provided in this application embodiment. Figure 2 ;

[0029] Figure 4 A schematic diagram of the structure of a lifting device provided in this application embodiment. Figure 3 ;

[0030] Figure 5 This is a schematic diagram of the structure of the mounting base, worm gear, and worm provided in the embodiments of this application;

[0031] Figure 6 This is a schematic diagram of the mounting base provided in an embodiment of this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Top plate; 11. Spacer blocks;

[0034] 2. Transmission assembly; 21. Worm gear; 211. Rotating shaft; 22. Worm; 23. Rocker arm; 231. Connecting shaft; 24. Flexible traction component; 25. Elastic component; 26. Mounting base; 26a. Mounting cavity;

[0035] 3. Driving components;

[0036] 4. Elastic damping components;

[0037] 5. Guide assembly; 51. Linear bearing; 52. Guide shaft;

[0038] 6. Geneva wheel;

[0039] 7. Limit switches;

[0040] 8. Clean the components. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0043] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0044] To address the issue that conventional cleaning robots typically lift or release the cleaning component 8 directly via a lifting mechanism when adjusting its height, which generates significant impact force due to direct contact between the cleaning component 8 and the ground, potentially damaging the equipment or the ground, and also causing noise pollution, this application provides a lifting device and a cleaning robot. The lifting device achieves smooth lifting and lowering of the cleaning component 8 through the combined synergistic action of its worm gear 21 and worm shaft 22 structure, guide component 5, and elastic damping component 4.

[0045] Please see Figures 1 to 5 This application provides a lifting device for a cleaning robot, comprising: a top plate 1, a transmission assembly 2, a drive component 3, an elastic damping component 4, and a guide assembly 5. The transmission assembly 2 includes a cooperating worm gear 21 and a worm 22. The worm 22 is rotatably mounted on the top plate 1 and can drive the worm gear 21 to rotate. The output end of the drive component 3 is connected to the worm 22. One end of the elastic damping component 4 is rotatably connected to the top plate 1, and the other end of the elastic damping component 4 is used to rotatably connect to a cleaning component 8. Both ends of the guide assembly 5 are respectively connected to the top plate 1 and the cleaning component 8, and the guide assembly 5 is arranged in a vertical direction. The rotation of the drive component 3 can drive the worm 22 to rotate, thereby driving the worm gear 21 to rotate, so that the cleaning component 8 rises or falls. During the descent of the cleaning component 8, the elastic damping component 4 can buffer the descent speed of the cleaning component 8.

[0046] In this embodiment, the driving component 3 can generally be a motor or cylinder, and its output end is connected to the worm gear 22. When the driving component 3 rotates, the worm gear 22 rotates and drives the worm wheel 21 that cooperates with it to rotate. The worm wheel 21 and worm gear 22 are generally made of high-strength materials such as carbon steel or cast iron. The rotation of the worm wheel 21 drives the cleaning component 8 to rise or fall along the guide component 5 through a transmission mechanism. The transmission mechanism can be a linkage structure, a gear structure, or a traction rope structure. The guide component 5 is generally a guide rail or slide bar structure. The guide component 5 is set in the vertical direction to ensure that the cleaning component 8 maintains a stable movement trajectory during the lifting and lowering process. One end of the elastic damping component 4 (such as a gas spring or hydraulic damper) is rotatably connected to the top plate 1, and the other end is rotatably connected to the cleaning component 8. This rotatable connection can be a hinge structure or a hole-shaft fit structure. During the descent of the cleaning component 8, the elastic damping component 4 can effectively absorb the impact force and buffer the descent speed of the cleaning component 8. For example, when the cleaning component 8 approaches the ground, the elastic damping element 4 slows down the descent speed of the cleaning component 8 through elastic deformation or hydraulic damping, preventing it from colliding violently with the ground. Furthermore, the elastic damping element 4 can also provide some assistance when the cleaning component 8 rises, further optimizing the lifting process.

[0047] It should be noted that the elastic damping component 4 effectively cushions the impact force when the cleaning component 8 descends, reducing the collision between the cleaning component 8 and the ground, thereby reducing the risk of equipment damage and extending the service life of both the cleaning component 8 and the ground. The cushioning effect also significantly reduces noise pollution, making the cleaning robot more user-friendly in quiet environments (such as hospitals and libraries). The guide component 5 ensures that the cleaning component 8 moves stably in the vertical direction during lifting and lowering, avoiding poor cleaning results or equipment malfunctions caused by tilting or swaying. Furthermore, by optimizing the parameters of the elastic damping component 4 (such as spring stiffness or hydraulic damping coefficient), personalized adjustments can be made according to different cleaning scenarios and floor materials, further improving the adaptability and versatility of the cleaning robot. For example, when cleaning marble floors, the damping coefficient of the elastic damping component 4 can be appropriately increased to make a gentler contact with the ground and avoid scratches; while when cleaning carpets, the damping coefficient can be appropriately decreased to improve cleaning efficiency. Meanwhile, the addition of the worm gear 21 and worm 22 structure can ensure that the cleaning component 8 is self-locking in the height direction. When the equipment is powered off or subjected to external impact, it can effectively constrain the displacement of the cleaning component 8 and prevent positioning failure or the cleaning component 8 from falling.

[0048] Please see Figures 1 to 5 To prevent the cleaning component 8 from directly and rigidly contacting the ground, the worm gear 21 has a rotating shaft 211 at its center. The transmission component 2 includes a rocker arm 23 and a flexible traction member 24. One end of the rocker arm 23 is connected to the flexible traction member 24, and the other end of the rocker arm 23 is connected to the rotating shaft 211. The flexible traction member 24 is used to drive the cleaning component 8 to move.

[0049] In one embodiment, one end of the swing arm 23 is fixed to the rotating shaft 211, and the other end drives the cleaning component 8 to move via the flexible traction member 24. When the worm gear 22 drives the worm wheel 21 to rotate, the rotating shaft 211 rotates accordingly, and the swing arm 23 moves in a circular motion around the rotating shaft 211, thereby driving the flexible traction member 24 to move. The movement of the flexible traction member 24 further pulls the cleaning component 8, enabling it to rise or fall. For example, in a cleaning robot, the flexible traction member 24 can be a steel wire rope, and the swing arm 23 is connected to the cleaning component 8 via the steel wire rope. The worm wheel 21 and worm gear 22 transmission system precisely adjusts the height of the cleaning component 8 by controlling the movement of the swing arm 23. In addition, the flexible traction member 24 can also be guided by a guide device (such as a grooved wheel 6) to ensure the stability and accuracy of its movement and avoid entanglement or deviation.

[0050] This application achieves smooth lifting and precise positioning of the cleaning component 8 through the coordinated design of the rotating shaft 211 at the center of the worm gear 21, the swing arm 23, and the flexible traction component 24. The use of the flexible traction component 24 ensures that the cleaning component 8 maintains a stable trajectory during lifting, avoiding impact and noise issues caused by rigid connections. The design of the swing arm 23 makes the movement of the cleaning component 8 more flexible, allowing for height adjustment according to different cleaning needs. The combination of the worm gear 21 and worm 22 transmission system with the flexible traction component 24 achieves a self-locking function for the cleaning component 8. Even after the motor stops driving, the cleaning component 8 remains firmly locked at the target height, preventing accidental slippage due to its own weight or external forces. This design not only improves the lifting accuracy and stability of the cleaning component 8 but also significantly reduces operating noise, enhancing the user experience. Simultaneously, the shock absorption effect of the flexible traction component 24 effectively protects the cleaning component 8 and the ground, extending the service life of the equipment.

[0051] Please see Figures 1 to 4 In order to further buffer the contact between the cleaning component 8 and the ground, and to balance the gravity of the cleaning component 8 and the thrust of the elastic buffer, the transmission component 2 is also provided with an elastic element 25, the two ends of which are connected to the flexible traction element 24 and the cleaning component 8 respectively.

[0052] In the transmission assembly 2 of this application, the elastic element 25 further optimizes the lifting and lowering process of the cleaning assembly 8. Both ends of the elastic element 25 are connected to the flexible traction element 24 (such as a steel wire rope) and the cleaning assembly 8, respectively, forming a buffering and balancing system. The elastic element 25 can be a tension spring or elastic rubber, or other parts with elastic properties. When the cleaning assembly 8 descends, the elastic element 25 absorbs part of the impact force through its own elastic deformation, playing a buffering role and reducing the impact when the cleaning assembly 8 contacts the ground. Simultaneously, the elastic element 25 can also balance the weight of the cleaning assembly 8 and the thrust of the elastic damping element 4 (such as a gas spring), allowing the cleaning assembly 8 to make slow and gentle contact with the ground. For example, when the cleaning assembly 8 approaches the ground, the tension of the elastic element 25 balances the weight of the cleaning assembly 8 and the thrust of the elastic damping element 4, ensuring a smooth descent of the cleaning assembly 8. In a specific embodiment, the elastic element 25 can be a tension spring, with one end fixed to the flexible traction element 24 and the other end fixed to the support of the cleaning assembly 8. By adjusting the spring constant, the force of the cleaning component 8 when it contacts the ground can be precisely controlled, achieving a gentle contact effect.

[0053] It should be noted that the cushioning effect of the elastic element 25 effectively reduces the impact force when the cleaning component 8 contacts the ground, preventing damage to the equipment and the ground, while also reducing noise pollution and making the cleaning process quieter. By balancing the weight of the cleaning component 8 and the thrust of the elastic damping element 4, the elastic element 25 ensures that the cleaning component 8 contacts the ground slowly and gently, improving the positioning accuracy and stability of the cleaning component 8. In the cleaning robot, this design allows the cleaning component 8 to achieve gentle cushioning upon contact with the ground, avoiding equipment damage or ground scratches caused by hard collisions. Furthermore, the use of the elastic element 25 extends the service life of the cleaning component 8 and related components, reducing equipment maintenance costs. By precisely controlling the elastic coefficient and preload of the elastic element 25, personalized adjustments can be made according to different cleaning scenarios and ground materials, further enhancing the adaptability and versatility of the cleaning robot.

[0054] Please see Figures 1 to 4 In order to limit the direction of movement of the flexible traction member 24 and make the flexible traction member 24 move smoothly along the predetermined trajectory, a grooved wheel 6 is provided at one end of the top plate 1 near the transmission assembly 2. The grooved wheel 6 is rotatably connected to the top plate 1, and the flexible traction member 24 is wrapped around a portion of the arc of the grooved wheel 6.

[0055] In this embodiment, a grooved wheel 6 is provided at one end of the top plate 1 near the transmission component 2. The grooved wheel 6 is rotatably connected to the top plate 1 via a bearing and can rotate freely. A flexible traction member 24 (such as a steel wire rope) is wound around a portion of the arc of the grooved wheel 6. Guided by the grooved wheel 6, the flexible traction member 24 maintains a stable and smooth path during movement. Specifically, the outer surface of the grooved wheel 6 can be designed with a grooved structure to better restrain the flexible traction member 24 and prevent it from deviating or slipping during movement. For example, the grooved wheel 6 can be made of metal (such as aluminum alloy or stainless steel) to ensure its strength and durability. The length of the portion of the arc around the flexible traction member 24 on the grooved wheel 6 can be adjusted according to actual needs, typically 1 / 4 to 1 / 2 of the circumference of the grooved wheel 6, to ensure sufficient contact area and guiding effect. In the cleaning robot, the grooved wheel 6 enables the flexible traction member 24 to move smoothly along a predetermined trajectory when driving the cleaning component 8 to rise and fall, avoiding instability in the movement of the cleaning component 8 due to slackness or twisting of the flexible traction member 24.

[0056] The guiding function of the grooved wheel 6 ensures that the flexible traction component 24 remains stable during movement, avoiding instability in the cleaning component 8 caused by slackness or twisting of the flexible traction component 24. The rotation of the grooved wheel 6 reduces friction between the flexible traction component 24 and the wheel 6, extending the service life of the flexible traction component 24 and reducing equipment maintenance costs. The design of the grooved wheel 6 can also further optimize the movement trajectory of the flexible traction component 24 by adjusting its size and shape, improving the lifting accuracy of the cleaning component 8. For example, in cleaning robots, the use of the grooved wheel 6 allows the cleaning component 8 to move more smoothly during lifting, reducing equipment shaking or jamming caused by irregular movement of the flexible traction component 24. By rationally designing the structure and material of the grooved wheel 6, the performance and reliability of cleaning robots can be further improved according to different cleaning scenarios and needs.

[0057] Please see Figure 1 and Figure 2 In order to ensure that the weight of the elastic damping element 4 and the cleaning component 8 can be balanced, the elastic damping element 4 is a gas spring and is arranged in the vertical direction.

[0058] In one embodiment, one end of the gas spring is rotatably connected to the top plate 1 via a hinge or a hole-shaft joint, while the other end is rotatably connected to the cleaning component 8 via a hinge or a hole-shaft joint. The gas inside the gas spring generates elastic force when compressed, and simultaneously produces a damping effect through an internal damping mechanism, thus providing cushioning when the cleaning component 8 descends and providing some assistance when it ascends. Specifically, the elastic coefficient and damping coefficient of the gas spring can be adjusted according to the weight of the cleaning component 8 and the usage scenario. For heavier cleaning components 8, a gas spring with a larger elastic coefficient can be selected; for scenarios requiring a gentler ground contact, a gas spring with a larger damping coefficient can be selected. In the cleaning robot, the vertical orientation of the gas spring ensures that the cleaning component 8 can move smoothly along the vertical direction during lifting and lowering, avoiding deviation or swaying caused by lateral forces. By appropriately selecting the parameters of the gas spring, precise positioning and gentle ground contact of the cleaning component 8 can be achieved.

[0059] Please see Figures 1 to 4 In order to achieve precise vertical movement of the cleaning component 8, the guide component 5 includes at least two linear bearings 51 and at least two guide shafts 52. Each linear bearing 51 is connected to the cleaning component 8 and to the top plate 1. Each guide shaft 52 is slidably mounted on a linear bearing 51.

[0060] The guide assembly 5 of this application is designed to ensure the precise positioning and stable movement of the cleaning assembly 8 during lifting. The guide assembly 5 includes at least two linear bearings 51 and at least two guide shafts 52. Each linear bearing 51 is fixedly connected to the cleaning assembly 8 by bolts or clips, and each guide shaft 52 is slidably disposed within its corresponding linear bearing 51, with one end of the guide shaft 52 connected to the top plate 1 by bolts or clips, ensuring that the guide shaft 52 can slide freely along the axial direction of the linear bearing 51. Specifically, the linear bearings 51 can be high-precision ball bearings to reduce friction and improve movement accuracy. The guide shafts 52 can be made of high-strength aluminum alloy or stainless steel to ensure durability and stability. For example, in a cleaning robot, three linear bearings 51 and three guide shafts 52 can be installed on both sides of the cleaning assembly 8 and at the end opposite the flexible traction member 24, forming a symmetrical support structure. This design not only evenly distributes the weight of the cleaning assembly 8 but also ensures that it maintains vertical movement during lifting, avoiding deviation or swaying.

[0061] It should be noted that the combined design of linear bearing 51 and guide shaft 52 effectively reduces friction and swaying of the cleaning component 8 during lifting, ensuring its smooth vertical movement. The symmetrically arranged linear bearing 51 and guide shaft 52 evenly distribute the weight of the cleaning component 8, further improving its stability and reliability. The high-precision linear bearing 51 enhances the lifting accuracy of the cleaning component 8, and, combined with the self-locking structure of the worm gear 21 and worm 22, ensures stable operation at different heights.

[0062] Please see Figures 1 to 6 In order to make the operation of the drive component 3 and the worm gear 21 and worm 22 more stable and to prevent interference from the flexible traction component 24 or the external environment, the transmission component 2 includes a mounting base 26. The mounting base 26 is connected to the top plate 1. The mounting base 26 is provided with a mounting cavity 26a. The worm gear 21 and worm 22 are rotatably mounted on the mounting base 26. The drive component 3 is connected to the mounting base 26.

[0063] In this embodiment, the transmission assembly 2 includes a mounting base 26, which is securely connected to the top plate 1 by screws or other fasteners to ensure the stability of the entire transmission assembly 2. The mounting base 26 has a mounting cavity 26a inside, within which the worm gear 21 and worm 22 are rotatably mounted. The drive component 3 (such as a motor) is connected to the mounting base 26, and its output end is connected to the worm 22. This design integrates the worm gear 21, worm 22, and drive component 3 into a closed mounting cavity 26a, effectively isolating external environmental interference, such as dust and debris, while also reducing interference from the flexible traction component 24 during movement. In specific implementations, the mounting base 26 can be made of high-strength aluminum alloy or cast iron to ensure its structural strength and durability. The size and shape of the mounting cavity 26a can be optimized according to the actual dimensions of the worm gear 21 and worm 22 to ensure smooth operation and stability during operation.

[0064] This application significantly improves the stability and reliability of the transmission assembly 2 by integrating the worm gear 21, worm 22, and drive component 3 into a closed mounting cavity 26a through the mounting base 26. The design of the mounting base 26 allows for the compact integration of the various components of the transmission assembly 2, reducing space occupation and improving transmission efficiency. The mounting cavity 26a provides a stable operating environment for the worm gear 21 and worm 22, effectively isolating them from external environmental interference, such as dust and debris, reducing malfunctions and wear caused by external factors. By connecting the drive component 3 to the mounting base 26, precise power transmission can be achieved, ensuring accurate lifting and lowering movements of the cleaning assembly 8. For example, in cleaning robots, this integrated design not only improves the service life of the transmission assembly 2 but also enhances the overall performance of the equipment and the user experience. By rationally selecting the materials and structure of the mounting base 26, the performance of the transmission assembly 2 can be further optimized according to different cleaning scenarios and equipment requirements, enabling it to operate stably in various complex environments.

[0065] Please see Figures 1 to 4 The lifting device includes a limit switch 7, which is connected to the mounting base 26. The limit switch 7 is used to abut against the transmission assembly 2 to determine the initial position of the drive component 3.

[0066] In the lifting device of this application, a limit switch 7 is used to determine the initial position of the drive component 3 to ensure the accurate operation of the transmission assembly 2. The limit switch 7 is mounted on the mounting base 26 and securely connected to it by screws or other fasteners. The position of the limit switch 7 allows it to abut against the swing arm 23 structure in the transmission assembly 2. When the swing arm 23 moves to a specific position, the limit switch 7 is triggered, thereby sending a signal to the control system indicating that the drive component 3 has reached its initial position. This design effectively prevents excessive movement of the drive component 3 during startup, ensuring the stable operation of the transmission assembly 2. Specifically, the limit switch 7 can be a micro switch or a proximity switch, etc., and the appropriate switch type can be selected according to actual needs. For example, in a cleaning robot, the limit switch 7 can be mounted on the side of the mounting base 26. When the swing arm 23 moves to the initial position, the end of the swing arm 23 abuts against the limit switch 7, triggering the limit switch 7. The limit switch 7 can accurately determine the initial position of the drive component 3, ensuring that the transmission assembly 2 can operate accurately during startup and avoiding malfunctions or damage caused by inaccurate initial positions. The contact design between the limit switch 7 and the rocker arm 23 allows for real-time monitoring of the position of the rocker arm 23, providing accurate feedback signals to the control system and further improving the control accuracy of the transmission component 2.

[0067] Please see Figures 1 to 4 To prevent the cleaning component 8 from colliding with the top plate 1 during movement, a pad 11 is provided at one end of the top plate 1 near the cleaning component 8, and the pad 11 is connected to the top plate 1.

[0068] In this embodiment, a pad 11 is provided at one end of the top plate 1 near the cleaning component 8. The pad 11 is securely connected to the top plate 1 by screws or a snap-fit ​​structure. The main function of the pad 11 is to provide a stable support point for the cleaning component 8, and at the same time, it acts as a buffer and limit when the cleaning component 8 rises to its highest position. Specifically, the pad 11 can be made of a material with a certain degree of elasticity, such as rubber or polyurethane, to achieve a cushioning effect. For example, in a cleaning robot, when the cleaning component 8 rises to contact the top plate 1, the pad 11 can absorb part of the impact force, reduce the hard collision between the cleaning component 8 and the top plate 1, and protect the cleaning component 8 and the top plate 1 from damage.

[0069] Secondly, please refer to Figures 1 to 4 This application provides a cleaning robot, including the lifting device provided in the first aspect of this application.

[0070] The second aspect of this application provides a cleaning robot that integrates the lifting device described in the first aspect. This integrated design allows the cleaning robot to fully utilize the advantages of the lifting device, achieving efficient and stable lifting of the cleaning component 8. Specifically, the main structure of the cleaning robot includes a top plate 1, on which all the key components of the lifting device are mounted, such as the worm gear 21 and worm shaft 22 transmission system, the drive component 3, the elastic damping component 4 (e.g., a gas spring), the guide component 5 (including a linear bearing 51 and a guide shaft 52), and the limit switch 7. These components work together to ensure that the cleaning component 8 can smoothly and accurately reach the predetermined position during lifting. For example, during the descent of the cleaning component 8, the gas spring provides cushioning to reduce impact; the worm gear 21 and worm shaft 22 transmission system provides precise lifting control; the guide component 5 ensures stable vertical movement of the cleaning component 8; and the limit switch 7 ensures accurate activation of the drive component 3 in its initial position. Through this integrated design, the cleaning robot can operate efficiently in various complex environments, meeting the cleaning needs of different scenarios.

[0071] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0072] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0073] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A lifting device applied to a cleaning robot, characterized in that, include: Top plate (1); The transmission assembly (2) includes a cooperating worm wheel (21) and worm (22), the worm (22) being rotatably disposed on the top plate (1) and capable of driving the worm wheel (21) to rotate; A drive unit (3) is provided, the output end of which is connected to the worm gear (22). An elastic damping element (4) is provided, one end of which is rotatably connected to the top plate (1), and the other end of which is rotatably connected to the cleaning assembly (8). A guide assembly (5) is provided, with its two ends connected to the top plate (1) and the cleaning assembly (8) respectively, and the guide assembly (5) is arranged in the vertical direction. The drive member (3) can rotate to drive the worm (22) to rotate, thereby driving the worm wheel (21) to rotate, so that the cleaning component (8) rises or falls; during the descent of the cleaning component (8), the elastic damping member (4) can buffer the descent speed of the cleaning component (8).

2. The lifting device according to claim 1, characterized in that, The worm gear (21) has a rotating shaft (211) at its center. The transmission assembly (2) includes a rocker arm (23) and a flexible traction member (24). One end of the rocker arm (23) is connected to the flexible traction member (24), and the other end of the rocker arm (23) is connected to the rotating shaft (211). The flexible traction member (24) is used to drive the cleaning assembly (8) to move.

3. The lifting device according to claim 2, characterized in that, The transmission assembly (2) is also provided with an elastic element (25), the two ends of which are connected to the flexible traction element (24) and the cleaning assembly (8) respectively.

4. The lifting device according to claim 3, characterized in that, The top plate (1) is provided with a grooved wheel (6) at one end near the transmission assembly (2). The grooved wheel (6) is rotatably connected to the top plate (1), and the flexible traction member (24) is arranged around a portion of the arc of the grooved wheel (6).

5. The lifting device according to claim 3, characterized in that, The elastic damping element (4) is a gas spring, and the elastic damping element (4) is arranged in the vertical direction.

6. The lifting device according to any one of claims 1-5, characterized in that, The guide assembly (5) includes at least two linear bearings (51) and at least two guide shafts (52). Each linear bearing (51) is connected to the cleaning assembly (8) and each linear bearing (51) is connected to the top plate (1). Each guide shaft (52) is slidably disposed on one of the linear bearings (51).

7. The lifting device according to any one of claims 1-5, characterized in that, The transmission assembly (2) includes a mounting base (26) connected to the top plate (1), and a mounting cavity (26a) is provided in the mounting base (26). The worm gear (21) and the worm (22) are rotatably mounted on the mounting base (26), and the driving member (3) is connected to the mounting base (26).

8. The lifting device according to claim 7, characterized in that, The lifting device includes a limit switch (7), which is connected to the mounting base (26). The limit switch (7) is used to abut against the transmission assembly (2) to determine the initial position of the drive member (3).

9. The lifting device according to any one of claims 1-5, characterized in that, The top plate (1) has a pad (11) at one end near the cleaning component (8), and the pad (11) is connected to the top plate (1).

10. A cleaning robot, characterized in that, Includes the lifting device as described in any one of claims 1-9.

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