Lifting device and cleaning robot

Abstract

The present invention relates to the technical field of cleaning equipment, and provides a lifting device and a cleaning robot, wherein the lifting device includes a lifting mechanism and a driver; the lifting mechanism includes a shell, a sleeve and a lifting shaft, the shell has a rotating chamber and is fixed relative to the driver; the sleeve has a lifting chamber and is rotatably installed in the rotating chamber, the inner wall of the sleeve is provided with a spiral portion, the spiral portion spirally extends along the axis of the sleeve and both ends of the spiral portion are provided as limit ends; the lifting shaft and the sleeve are coaxially arranged in the lifting chamber, the output end of the driver is connected to the lifting shaft to drive the lifting shaft to rotate along a first rotation direction or a second rotation direction, the outer wall of the lifting shaft is provided with an abutment portion, and the abutment portion abuts on the spiral portion. A cleaning robot using the above-mentioned lifting device only needs to use one driver to realize the ground cleaning function and the lifting function of the cleaning part, has a compact structure, can effectively reduce the volume, and can effectively improve practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a lifting device and a cleaning robot. Background Art

[0002] The sweeping and mopping robot is a cleaning robot that has both sweeping and mopping functions. It is easy to clean, saves time and effort, frees people from tedious housework, and greatly improves people's life convenience.

[0003] However, when the cleaning robot is working, if the floor is carpeted, the carpet will be stained by the stains on the mop when the cleaning robot moves onto it. Moreover, after the cleaning robot has been working for a period of time, a large amount of dirt will adhere to the mop. If the cleaning robot continues to work, it will not only fail to achieve the cleaning effect, but will also cause secondary pollution to the floor.

[0004] In view of this, cleaning robots with mop lifting and lowering functions have appeared on the market. However, this type of cleaning robot needs to be equipped with at least two drives, one of which is used to drive the mop for cleaning, and the other is used to drive the mop to lift and lower. However, the use of such a structure increases the size of the cleaning robot, making it impossible for the cleaning robot to enter a narrow space for cleaning, and its practicality is greatly reduced. Summary of the Invention

[0005] The purpose of the present invention is to provide a lifting device and a cleaning robot, aiming to solve the technical problems in the prior art that cleaning robots with mop lifting functions are large in size and poor in practicality.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the embodiment of the present invention is: a lifting device that can be applied to a cleaning robot to drive the cleaning member of the cleaning robot to perform lifting motion, the lifting device comprising a lifting mechanism and a driver; the lifting mechanism comprises:

[0007] A housing having a rotating cavity and fixedly arranged relative to the driver;

[0008] A shaft sleeve having a lifting cavity and rotatably mounted in the rotating cavity, wherein an inner wall of the shaft sleeve is provided with a spiral portion, the spiral portion spirally extending along the axis of the shaft sleeve and both ends of the spiral portion are provided as limit ends;

[0009] The lifting shaft is coaxially arranged with the sleeve in the lifting cavity, and the output end of the driver is connected to the lifting shaft to drive the lifting shaft to rotate along a first rotation direction or a second rotation direction opposite to the first rotation direction. The outer wall of the lifting shaft is provided with a supporting portion, and the supporting portion abuts against the spiral portion; when the lifting shaft rotates along the first rotation direction, the supporting portion moves along the extension direction of the spiral portion toward a direction away from the driver, and when the lifting shaft rotates along the second rotation direction, the supporting portion moves along the extension direction of the spiral portion toward a direction close to the driver.

[0010] The lifting device provided by the embodiment of the present invention has at least the following beneficial effects: the shaft sleeve is rotatably installed in the rotating cavity of the shell, and the lifting shaft is set in the lifting cavity of the shaft sleeve, and the abutment portion of the lifting shaft abuts against the spiral portion of the shaft sleeve; when it is necessary to clean the ground, the driver drives the lifting shaft to rotate along the first rotation direction, and the abutment portion moves along the extension direction of the spiral portion in the direction away from the driver until the abutment portion abuts against the limiting end of the spiral portion away from the driver, so that the shaft sleeve rotates together with the lifting shaft. At this time, the cleaning member descends with the lifting shaft to contact with the ground and moves with the lifting shaft. The lowering shaft rotates together to achieve the purpose of cleaning the floor; when the cleaning element needs to be lifted, the driver drives the lifting shaft to rotate along the second rotation direction, and the abutment portion moves along the extension direction of the spiral portion toward the direction close to the driver until the abutment portion abuts against the limit end of the spiral portion close to the driver. At this time, the cleaning element rises together with the lifting shaft to separate the cleaning element from the floor; it can be seen that the cleaning robot using the above-mentioned lifting device only needs to use one driver to realize the floor cleaning function and the lifting function of the cleaning element. It has a compact structure, can effectively reduce the volume, and can effectively improve practicality.

[0011] In one embodiment, the outer wall of the sleeve is provided with a first limiting portion, and the lifting mechanism further includes an elastic limiting component, which cooperates with the first limiting portion to limit the sleeve from rotating along the second rotation direction.

[0012] In one embodiment, a transition connection structure is provided on the outer wall of the sleeve, and the transition connection structure is used to connect the side of the first limiting portion facing the first rotation direction; the elastic limiting assembly includes a limiting member and a first elastic member, one end of the limiting member is used to abut against the side of the first limiting portion facing the second rotation direction, and the first elastic member is used to provide a thrust to the limiting member directed toward the sleeve.

[0013] In one embodiment, the transition connection structure is an involute structure.

[0014] In one embodiment, the limiting member is slidably installed in the housing.

[0015] In one embodiment, the lifting device further includes a bearing, which is installed in the rotating cavity and sleeved on the outer side of the sleeve.

[0016] In one embodiment, a second limiting portion is provided on the outer wall of the sleeve, and the second limiting portion is used to abut against the end surface of the bearing.

[0017] In one embodiment, the spiral portion is a spiral groove or a spiral flange.

[0018] In one embodiment, the lifting device further includes a second elastic member, and the second elastic member is used to provide a thrust to the lifting shaft directed toward the cleaning member.

[0019] In one embodiment, the number of the spiral portions is at least two, the number of the abutting portions is at least two, the spiral portions are arranged parallel to each other, and the abutting portions are arranged in one-to-one correspondence with the spiral portions.

[0020] In one embodiment, the driver has two output ends, the number of the lifting mechanisms is two, and the lifting shaft of each lifting mechanism is connected to each output end in a one-to-one correspondence.

[0021] In one embodiment, a shaft connection cavity is provided at one end of the lifting shaft, and the cross-section of the shaft connection cavity and the cross-section of the output end are both non-circular structures. The output end is inserted into the shaft connection cavity and is gap-matched with the cavity wall of the shaft connection cavity.

[0022] To achieve the above objectives, the present invention also provides a cleaning robot, comprising a cleaning member and a lifting device as described in any one or more of the above embodiments, wherein the lifting shaft of the lifting device is connected to the cleaning member at one end away from the driver of the lifting device.

[0023] Since the cleaning robot adopts all the embodiments of the lifting device, it has at least all the beneficial effects of the above embodiments, which will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1A schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

[0026] Figure 2 for Figure 1 An exploded view of the lifting mechanism in the cleaning robot shown;

[0027] Figure 3 for Figure 2 A schematic diagram of the structure of the shaft sleeve in the lifting mechanism shown;

[0028] Figure 4 for Figure 3 a top view of the sleeve shown;

[0029] Figure 5 for Figure 2 A schematic structural diagram of the lifting shaft in the lifting mechanism shown;

[0030] Figure 6 for Figure 1 A schematic structural diagram of the lifting mechanism in the cleaning robot shown;

[0031] Figure 7 for Figure 6 A cross-sectional view of the lifting mechanism shown along the AA direction;

[0032] Figure 8 for Figure 1 A schematic structural diagram of a lifting mechanism in a cleaning robot in a working state is shown;

[0033] Figure 9 for Figure 1 A structural schematic diagram of another working state of the lifting mechanism in the cleaning robot is shown.

[0034] Among them, the reference numerals in the figures are:

[0035] 100. Cleaning robot; 110. Lifting device; 111. Lifting mechanism; 1111. Housing; 11111. Rotating chamber; 1112. Bushing; 11121. Lifting chamber; 11122. Spiral portion; 11123. First limiting portion; 11124. Transition connection structure; 11125. Second limiting portion; 1113. Lifting shaft; 11131. Abutting portion; 11132. Shaft connection chamber; 11133. Connecting portion; 1114. Elastic limiting assembly; 11141. Limiting member; 11142. First elastic member; 1115. Second elastic member; 1116. Bearing; 112. Driver; 120. Cleaning member. DETAILED DESCRIPTION

[0036] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 limiting the present invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0039] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0040] In the related art, in order to avoid obstacles and prevent secondary pollution to the ground, cleaning robots with mop lifting functions have appeared on the market. However, this type of cleaning robot requires at least two drivers, one of which is used to drive the mop for cleaning, and the other is used to drive the mop to lift and lower. The use of such a structure will cause the size of the cleaning robot to increase, making it impossible for the cleaning robot to enter a narrow space for cleaning, and its practicality will be greatly reduced.

[0041] In view of this, a first aspect of the present invention provides a lifting device 110 that can be applied to a cleaning robot 100 to drive a cleaning member 120 of the cleaning robot 100 to perform lifting motion, wherein the cleaning member 120 includes but is not limited to a mop, a brush, etc.

[0042] The lifting device 110 will be described in detail below with reference to the accompanying drawings.

[0043] Please combine Figures 1 to 7 As shown, the lifting device 110 includes a lifting mechanism 111 and a driver 112. The lifting mechanism 111 includes a shell 1111, a sleeve 1112 and a lifting shaft 1113; the sleeve 1112, the lifting shaft 1113 and the output end of the driver 112 are all coaxially arranged; the shell 1111 has a rotating chamber 11111 and is fixedly arranged relative to the driver 112. It can be understood that the shell 1111 can be fixedly connected to the driver 112, and can also be fixedly installed on the body of the cleaning robot 100 (not shown in the figure) together with the driver 112; the sleeve 1112 has a lifting chamber 11121 and is rotatably installed in the rotating chamber 11111, and the inner wall of the sleeve 1112 is provided with a spiral portion 11122, and the spiral portion 11122 extends spirally along the axis of the sleeve 1112 and both ends of the spiral portion 11122 are set as limit ends; the lifting shaft 1113 is arranged in the lifting chamber 11121, and the driver 112 is fixedly arranged relative to the output end of the lifting shaft 1113. The output end of 112 is connected to the lifting shaft 1113 to drive the lifting shaft 1113 to rotate along the first rotation direction X or the second rotation direction Y, the second rotation direction Y is opposite to the first rotation direction X, and the outer wall of the lifting shaft 1113 is provided with a supporting portion 11131, and the supporting portion 11131 abuts on the spiral portion 11122. It can be understood that the supporting portion 11131 abuts on the side of the spiral portion 11122 opposite to the driver 112 to support the lifting shaft 1113; when the lifting shaft 1113 rotates along the first rotation direction X, the supporting portion 11131 moves along the extension direction of the spiral portion 11122 toward the direction away from the driver 112, and when the lifting shaft 1113 rotates along the second rotation direction Y, the supporting portion 11131 moves along the extension direction of the spiral portion 11122 toward the direction close to the driver 112.

[0044] In order to improve the structural compactness of the lifting device 110, the driver 112 adopts a reduction motor. Of course, there are many types of drivers 112, such as high-speed motors, constant-speed motors, etc., which are not specifically limited here.

[0045] The working principle of the lifting device 110 is as follows:

[0046] Please combine Figure 8As shown, when the floor needs to be cleaned, the driver 112 drives the lifting shaft 1113 to rotate along the first rotation direction X, and the abutting portion 11131 moves along the extension direction of the spiral portion 11122 in a direction away from the driver 112 until the abutting portion 11131 abuts against the limiting end of the spiral portion 11122 away from the driver 112, causing the sleeve 1112 to rotate together with the lifting shaft 1113. At this time, the cleaning member 120 descends along the lifting shaft 1113 until it contacts the floor and rotates together with the lifting shaft 1113 to achieve the purpose of cleaning the floor.

[0047] Please combine Figure 9 As shown, when the cleaning member 120 needs to be lifted, the driver 112 drives the lifting shaft 1113 to rotate along the second rotation direction Y, and the abutting portion 11131 moves along the extension direction of the spiral portion 11122 toward the driver 112 until the abutting portion 11131 abuts against the limiting end of the spiral portion 11122 close to the driver 112. At this time, the cleaning member 120 rises together with the lifting shaft 1113 to separate the cleaning member 120 from the ground.

[0048] It can be seen that the cleaning robot 100 using the above-mentioned lifting device 110 only needs to use one driver 112 to achieve the floor cleaning function and the lifting function of the cleaning member 120. It has a compact structure, can effectively reduce the volume, and can effectively improve practicality.

[0049] In one embodiment, please combine Figure 3 and Figure 4 As shown, the outer wall of the sleeve 1112 is provided with a first limiting portion 11123, and the lifting mechanism 111 further includes an elastic limiting component 1114, which cooperates with the first limiting portion 11123 to limit the sleeve 1112 from rotating along the second rotation direction Y.

[0050] Specifically, please combine Figure 3 and Figure 4 As shown, a transition connection structure 11124 is provided on the outer wall of the sleeve 1112, and the transition connection structure 11124 is used to connect the side of the first limiting portion 11123 facing the first rotation direction X (that is, the side of the first limiting portion 11123 facing the wind when the sleeve 1112 rotates along the first rotation direction X, hereinafter referred to as the first side); please combine Figure 2 、 Figure 6 and Figure 7As shown, the elastic limiting assembly 1114 includes a limiting member 11141 and a first elastic member 11142. One end of the limiting member 11141 is used to abut against the side of the first limiting portion 11123 facing the second rotation direction Y (i.e., the side of the first limiting portion 11123 facing the wind when the sleeve 1112 rotates along the second rotation direction Y, hereinafter referred to as the second side), and the first elastic member 11142 is used to provide a thrust directed to the sleeve 1112 to the limiting member 11141. It can be understood that the first elastic member 11142 includes but is not limited to a spring and a spring sheet.

[0051] Specifically, please combine Figure 7 As shown, one end of the first elastic member 11142 abuts against one end of the limiting member 11141 and the other end abuts against the inner wall of the outer shell 1111. Under the elastic action of the first elastic member 11142, the other end of the limiting member 11141 remains in contact with the outer peripheral wall of the sleeve 1112 at the same height position as the first limiting portion 11123.

[0052] Please combine Figure 8 As shown, when the driver 112 drives the lifting shaft 1113 to rotate along the first rotation direction X, the abutting portion 11131 moves along the extension direction of the spiral portion 11122 in the direction away from the driver 112 until the abutting portion 11131 abuts against the limiting end of the spiral portion 11122 away from the driver 112, so that the sleeve 1112 rotates along the first rotation direction X with the lifting shaft 1113. At this time, the lifting shaft 1113 drops to the lowest position. Under the transition action of the transition connection structure 11124, the end of the limiting member 11141 away from the first elastic member 11142 can pass over the first limiting portion 11123, so that the limiting action of the limiting member 11141 becomes invalid, thereby allowing the sleeve 1112 to continuously rotate along the lifting shaft 1113 along the first rotation direction X, so as to achieve the purpose of the cleaning member 120 cleaning the floor.

[0053] Please combine Figure 9As shown, when the driver 112 drives the lifting shaft 1113 to rotate along the second rotation direction Y, the abutment portion 11131 moves along the extension direction of the spiral portion 11122 toward the driver 112. Under the action of the friction between the abutment portion 11131 and the spiral portion 11122, the sleeve 1112 rotates along the second rotation direction Y along a certain angle together with the lifting shaft 1113 until the limiting member 11141 abuts against the first limiting portion 11123. At this time, the limiting member 11141 cooperates with the first limiting portion 11123 to limit the sleeve 1112 from rotating along the second rotation direction Y. The abutment portion 11131 continues to move along the extension direction of the spiral portion 11122. It moves in the direction close to the driver 112 until the abutment portion 11131 abuts against the limiting end of the spiral portion 11122 close to the driver 112, and the abutment portion 11131 cooperates with the limiting end of the spiral portion 11122 close to the driver 112 to limit the lifting shaft 1113 from rotating along the second rotation direction Y, that is, the sleeve 1112 and the lifting shaft 1113 both stop rotating. At this time, the lifting shaft 1113 rises to the highest position, thereby preventing the lifting shaft 1113 from slowing down its rising speed due to the continuous rotation of the sleeve 1112 during the rising process, thereby effectively improving the working response speed of the lifting device 110.

[0054] In a specific example of this embodiment, please combine Figure 4 As shown, the transition connection structure 11124 is an involute structure. In other words, the outer radius of the portion of the outer peripheral wall of the sleeve 1112 that is at the same height position as the first limiting portion 11123 gradually increases from the second side to the first side of the first limiting portion 11123. During the rotation of the sleeve 1112, the limiting member 11141 can smoothly cooperate with the portion of the outer peripheral wall of the sleeve 1112, which can effectively improve the working stability of the lifting device 110.

[0055] In a specific example of this embodiment, the limit member 11141 can be slidably installed in the shell 1111. Specifically, a slide rail (not shown in the figure) is provided in the shell 1111, and the slide rail extends toward the outer wall of the sleeve 1112. The limit member 11141 can be slidably installed on the slide rail so that the limit member 11141 can move stably in the shell 1111.

[0056] In one embodiment, please combine Figure 2 and Figure 7 As shown, in order to improve the rotation stability of the sleeve 1112 , the lifting device 110 further includes a bearing 1116 . The bearing 1116 is installed in the rotation cavity 11111 and sleeved on the outer side of the sleeve 1112 .

[0057] Specifically, the outer wall of the sleeve 1112 is provided with a second limiting portion 11125, and the second limiting portion 11125 is used to abut against the end surface of the bearing 1116 to limit the axial movement of the sleeve 1112.

[0058] In a specific example of this embodiment, the number of bearings 1116 is one, and the outer wall of the sleeve 1112 is provided with two second limiting portions 11125, one second limiting portion 11125 abuts against the upper end surface of the bearing 1116, and the other second limiting portion 11125 abuts against the lower end surface of the bearing 1116, so that the positions of the upper and lower parts of the sleeve 1112 can be effectively limited, thereby further improving the rotational stability of the sleeve 1112.

[0059] In another specific example of this embodiment, there are two bearings 1116, one bearing 1116 is sleeved on the upper portion of the sleeve 1112, and the other bearing 1116 is sleeved on the lower portion of the sleeve 1112. The outer wall of the sleeve 1112 is provided with two second limiting portions 11125, one second limiting portion 11125 abuts against the lower end surface of one bearing 1116, and the other second limiting portion 11125 abuts against the upper end surface of the other bearing 1116. This effectively defines the upper and lower positions of the sleeve 1112, thereby further improving the rotational stability of the sleeve 1112.

[0060] In one embodiment, please combine Figure 3 As shown, the spiral portion 11122 is a spiral groove, which may penetrate the wall of the sleeve 1112 along its depth direction, or may not penetrate the wall of the sleeve 1112. The abutting portion 11131 abuts against the groove wall opposite to the spiral groove and the driver 112, and the two groove ends of the spiral groove are closed respectively to form the above-mentioned two limit ends.

[0061] In another embodiment, the spiral portion 11122 is a spiral flange (not shown in the figure), and the abutting portion 11131 abuts against the side of the spiral flange opposite to the driver 112. The two ends of the spiral flange are respectively provided with limiting protrusions, and the two limiting protrusions are respectively used as the above-mentioned two limiting ends.

[0062] In one embodiment, please combine Figure 2 and Figure 7 As shown, the lifting device 110 further includes a second elastic member 1115 , which is used to provide a thrust to the lifting shaft 1113 directed toward the cleaning member 120 , wherein the second elastic member 1115 includes but is not limited to a spring or a spring.

[0063] Specifically, one end of the second elastic member 1115 abuts against the driver 112 and the other end abuts against the lifting shaft 1113. Optionally, the end of the second elastic member 1115 away from the lifting shaft 1113 abuts against the output end of the driver 112, so that the second elastic member 1115 can rotate together with the output end of the driver 112 and the lifting shaft 1113. The second elastic member 1115 remains in a compressed state. When the lifting shaft 1113 moves toward the direction close to the driver 112 (that is, the lifting shaft 1113 rises), the second elastic member 1115 is further compressed, so that the second elastic member 1115 generates greater elastic potential energy. When the lifting shaft 1113 moves toward the direction away from the driver 112 (that is, the lifting shaft 1113 descends), the elastic potential energy of the second elastic member 1115 is gradually released to provide a downward thrust to the lifting shaft 1113, thereby increasing the descending rate of the lifting shaft 1113; when the cleaning member 120 contacts the ground, the second elastic member 1115 still retains some elastic potential energy to press the lifting shaft 1113 downward, thereby ensuring that there is sufficient contact force between the cleaning member 120 and the ground, thereby improving the cleaning effect of the cleaning robot 100.

[0064] Specifically, please combine Figure 5 As shown, one end of the lifting shaft 1113 defines a connecting cavity 11132 having an opening. The connecting cavity 11132 is an elongated, strip-shaped cavity extending along the axis of the lifting shaft 1113. The cross-section of the connecting cavity 11132 is non-circular, such as rectangular or elliptical. Accordingly, the cross-section of the output end of the driver 112 is non-circular, so that the output end of the driver 112 can mate with the connecting cavity 11132. The output end of the driver 112 is inserted into the connecting cavity 11132 through the opening, and a gap is provided between the output end of the driver 112 and the wall of the connecting cavity 11132, so that the output end of the driver 112 can drive the lifting shaft 1113 to rotate while being able to move vertically relative to the lifting shaft 1113. One end of the second elastic member 1115 abuts against the edge of the opening, and the other end abuts against the driver 112.

[0065] Specifically, in order to improve the smoothness of the relative movement of the lifting shaft 1113 and the output end of the driver 112 in the vertical direction, a lubricant is provided in the gap between the output end of the driver 112 and the cavity wall of the shaft connection cavity 11132.

[0066] Specifically, a limiting groove is provided at the end of the lifting shaft 1113 close to the driver 112 . The limiting groove is arranged around the cavity opening, and one end of the second elastic member 1115 rests against the limiting groove.

[0067] In one embodiment, please combine Figure 3As shown, the number of the spiral portions 11122 is at least two, the number of the abutting portions 11131 is at least two, the spiral portions 11122 are arranged parallel to each other, and the abutting portions 11131 are arranged in one-to-one correspondence with the spiral portions 11122.

[0068] Taking the case where there are two spiral portions 11122 and two abutting portions 11131 as an example, the two spiral portions 11122 are symmetrically arranged with the axis of the lifting shaft 1113 as the center of symmetry, and the two abutting portions 11131 are symmetrically arranged with the axis of the lifting shaft 1113 as the center of symmetry. After each abutting portion 11131 abuts against the corresponding spiral portion 11122, the lifting shaft 1113 can achieve overall force balance regardless of whether it is performing lifting or rotational motion, which can effectively avoid the lifting shaft 1113 from tilting and ensure the operating stability of the lifting device 110.

[0069] In one embodiment, please combine Figure 1 As shown, the driver 112 has two output terminals. It can be understood that the driver 112 is a dual-axis motor, and the number of lifting mechanisms 111 is two. Accordingly, the cleaning robot 100 has two cleaning members 120. The lifting shaft 1113 of each lifting mechanism 111 is connected to each output terminal in a one-to-one correspondence, and each cleaning member 120 is connected to the lifting shaft 1113 of each lifting mechanism 111 in a one-to-one correspondence. By adopting the above technical solution, the structural compactness of the lifting device 110 can be further improved, thereby further reducing the size of the cleaning robot 100 and improving the practicality of the cleaning robot 100.

[0070] Please combine Figure 1 As shown, the second aspect of the present invention also provides a cleaning robot 100, including a cleaning member 120 and a lifting device 110 of any one or more of the above-mentioned embodiments, and the lifting shaft 1113 of the lifting device 110 is connected to the cleaning member 120 at one end away from the driver 112 of the lifting device 110.

[0071] Since the cleaning robot 100 adopts all the embodiments of the lifting device 110 , it has at least all the beneficial effects of the above embodiments, which will not be described in detail here.

[0072] In one embodiment, please combine Figure 5 As shown, a connecting portion 11133 is provided at one end of the lifting shaft 1113 away from the driver 112, and the cleaning member 120 is connected to the connecting portion 11133. Specifically, in order to facilitate the replacement of the cleaning member 120, the cleaning member 120 and the connecting portion 11133 are detachably connected. It can be understood that the detachable connection method includes but is not limited to a snap connection method, a fastening connection method, and a magnetic connection method.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A lifting device capable of being applied to a cleaning robot to drive a cleaning member of the cleaning robot to perform lifting motion, characterized in that: The lifting device includes a lifting mechanism and a driver; The lifting mechanism comprises: A housing having a rotating cavity and fixedly arranged relative to the driver; A shaft sleeve having a lifting cavity and rotatably mounted in the rotating cavity, wherein an inner wall of the shaft sleeve is provided with a spiral portion, the spiral portion spirally extending along the axis of the shaft sleeve and both ends of the spiral portion are provided as limit ends; A lifting shaft is coaxially arranged with the shaft sleeve in the lifting cavity, an output end of the driver is connected to the lifting shaft to drive the lifting shaft to rotate along a first rotation direction or a second rotation direction opposite to the first rotation direction, an outer wall of the lifting shaft is provided with an abutment portion, and the abutment portion abuts against the spiral portion; when the lifting shaft rotates along the first rotation direction, the abutment portion moves in a direction away from the driver along the extension direction of the spiral portion, and when the lifting shaft rotates along the second rotation direction, the abutment portion moves in a direction close to the driver along the extension direction of the spiral portion; The outer wall of the sleeve is provided with a first limiting portion, and the lifting mechanism further includes an elastic limiting component, the elastic limiting component cooperates with the first limiting portion to limit the sleeve from rotating along the second rotation direction; The lifting device further comprises a bearing, which is installed in the rotating cavity and sleeved on the outer side of the shaft sleeve.

2. The lifting device according to claim 1, characterized in that: A transition connection structure is provided on the outer wall of the sleeve, and the transition connection structure is used to connect the side of the first limiting portion facing the first rotation direction; the elastic limiting assembly includes a limiting member and a first elastic member, one end of the limiting member is used to abut against the side of the first limiting portion facing the second rotation direction, and the first elastic member is used to provide a thrust directed to the sleeve to the limiting member.

3. The lifting device according to claim 2, characterized in that: The transition connection structure is an involute structure.

4. The lifting device according to claim 2, wherein: The limiting component is slidably installed in the shell.

5. The lifting device according to claim 1, characterized in that: The outer wall of the shaft sleeve is provided with a second limiting portion, and the second limiting portion is used to abut against the end surface of the bearing.

6. The lifting device according to any one of claims 1 to 5, characterized in that: The spiral portion is a spiral groove or a spiral flange.

7. The lifting device according to any one of claims 1 to 5, characterized in that: The lifting device further includes a second elastic member, which is used to provide a thrust to the lifting shaft directed toward the cleaning member.

8. The lifting device according to any one of claims 1 to 5, characterized in that: The number of the spiral parts is at least two, the number of the abutting parts is at least two, the spiral parts are arranged in parallel with each other, and the abutting parts are arranged in a one-to-one correspondence with the spiral parts.

9. The lifting device according to any one of claims 1 to 5, characterized in that: The driver has two output ends, the number of the lifting mechanisms is two, and the lifting shaft of each lifting mechanism is connected to each output end in a one-to-one correspondence.

10. The lifting device according to any one of claims 1 to 5, characterized in that: One end of the lifting shaft is provided with a shaft connection cavity, the cross section of the shaft connection cavity and the cross section of the output end are both non-circular structures, the output end is inserted into the shaft connection cavity and is gap-matched with the cavity wall of the shaft connection cavity.

11. A cleaning robot, characterized in that: The cleaning robot comprises a cleaning member and the lifting device according to any one of claims 1 to 10, wherein one end of the lifting shaft of the lifting device away from the driver of the lifting device is connected to the cleaning member.

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