Cleaning robot and cleaning apparatus

Abstract

The application provides a cleaning robot and a cleaning device. The cleaning robot comprises a cleaning assembly, a cleaning component and a lifting rotating shaft. The first end of the lifting rotating shaft is connected with the cleaning component, and the second end of the lifting rotating shaft is provided with a first clamping part. The cleaning robot further comprises a cleaning driving assembly, a first driver and a driving shaft. The first driver is used for driving the driving shaft to rotate. The driving shaft is coaxially arranged with the lifting rotating shaft, and the driving shaft and the lifting rotating shaft are mutually sleeved. The driving shaft is provided with a second clamping part matched with the first clamping part. The cleaning robot further comprises a lifting driving assembly used for driving the cleaning assembly to move up and down along the axial direction of the lifting rotating shaft. The components of the cleaning robot are less worn, thereby prolonging the service life of the cleaning robot. Moreover, the transmission structures between the cleaning driving assembly and the cleaning assembly and between the lifting driving assembly and the cleaning assembly are relatively simple, thereby improving the working reliability of the cleaning robot.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a cleaning robot and cleaning equipment. Background Technology

[0002] A robot vacuum and mop is a cleaning robot that combines sweeping and mopping functions. It is convenient, time-saving, and labor-saving, freeing people from tedious housework and greatly improving the convenience of their lives.

[0003] However, when a cleaning robot is working, if there is a carpet on the floor, the robot will move onto the carpet and soil it with the stains from the mop. Moreover, after a period of time, the mop will be covered with a lot of dirt. If the cleaning robot continues to work, it will not only fail to clean the floor, but will also cause secondary pollution to the floor.

[0004] In light of this, cleaning robots with mop-lifting functions have emerged on the market. When the robot encounters a carpet or an excessively dirty mop, the mop is lifted to prevent it from soiling the carpet or causing secondary pollution to the floor. However, these cleaning robots typically only have one drive component. This component drives both the rotation and lifting of the mop. Regardless of whether the mop is in the rising or falling position, the drive component continuously rotates the mop, increasing internal wear and shortening the robot's lifespan. Furthermore, because the drive component must simultaneously drive both rotation and lifting, a more complex transmission mechanism is required between the drive component and the mop. This increases the complexity of the robot's software control and hardware operating logic, raising the failure rate and reducing its reliability. Summary of the Invention

[0005] The purpose of this application is to provide a solution to the technical problems of short service life and poor operational reliability of existing cleaning robots.

[0006] To achieve the above objectives, the technical solution adopted in this application embodiment is: to provide a cleaning robot, comprising:

[0007] A cleaning assembly includes a cleaning component and a lifting shaft, wherein a first end of the lifting shaft is connected to the cleaning component, and a second end of the lifting shaft is provided with a first engaging portion;

[0008] A cleaning drive assembly includes a first driver and a drive shaft. The first driver is used to drive the drive shaft to rotate. The drive shaft is coaxially arranged with the lifting shaft and the drive shaft is sleeved with the lifting shaft. The drive shaft is provided with a second engaging part that is adapted to the first engaging part.

[0009] A lifting drive assembly is used to drive the cleaning assembly to move up and down along the axial direction of the lifting shaft.

[0010] Optionally, the cleaning drive assembly further includes a first elastic element, one end of which abuts against the drive shaft and the other end of which abuts against the lifting shaft. When the cleaning assembly is lowered to its lowest position, the first elastic element is in a compressed state.

[0011] Optionally, the lifting shaft has a first shaft connection cavity inside, the first shaft connection cavity extends along the axial direction of the lifting shaft, and the first shaft connection cavity passes through the second end of the lifting shaft. The first engaging portion is disposed on the cavity wall of the first shaft connection cavity, and the lifting shaft is sleeved on the drive shaft through the first shaft connection cavity; or,

[0012] The drive shaft has a second shaft connection cavity inside, which extends along the axial direction of the drive shaft and passes through one end of the drive shaft near the cleaning component. The second engaging part is disposed on the cavity wall of the second shaft connection cavity, and the drive shaft is sleeved on the lifting shaft through the second shaft connection cavity.

[0013] Optionally, the lifting drive assembly includes a second driver, a cam, a lifting frame, and a second elastic element. The lifting shaft is rotatably connected to the lifting frame. The second elastic element has a fixed end and a telescopic end. The telescopic end is connected to the lifting frame. The second driver is used to drive the cam to rotate, so that the cam drives the lifting frame to perform lifting movements.

[0014] Optionally, the cam is provided with a sliding groove, and the lifting frame includes a frame body and a rolling part connected to the frame body, wherein the rolling part is movably disposed in the sliding groove.

[0015] Optionally, one end of the chute has a first flat wall surface, and the other end of the chute has a second flat wall surface. When the cleaning component descends to its lowest position, the first flat wall surface is horizontal and the rolling part is placed on the first flat wall surface. When the cleaning component rises to its highest position, the second flat wall surface is horizontal and the rolling part is placed on the second flat wall surface.

[0016] Optionally, the lifting drive assembly further includes a guide mechanism, which includes a guide post extending along the movement direction of the lifting frame and a guide sleeve sleeved on the guide post; the guide post is connected to the lifting frame, and the guide sleeve is fixedly disposed relative to the second driver; or, the guide sleeve is connected to the lifting frame, and the guide post is fixedly disposed relative to the second driver.

[0017] Optionally, the outer peripheral wall of the lifting shaft is provided with a protrusion, and the lifting frame abuts against the side of the protrusion near the cleaning component.

[0018] Optionally, the outer peripheral wall of the lifting shaft is provided with an annular groove, the annular groove is arranged around the axis of the lifting shaft, and the lifting shaft is rotatably connected to the lifting frame through the annular groove.

[0019] Optionally, there are multiple cleaning components and multiple cleaning drive components. Each cleaning drive component is configured to correspond one-to-one with each of the cleaning components. The lifting drive component is used to drive each of the cleaning components to perform lifting and lowering movements.

[0020] The cleaning robot provided in this application has at least the following beneficial effects: Compared with the prior art, this application provides a first engaging portion on one end wall of the second end of the lifting shaft and a second engaging portion on the drive shaft, thus connecting the drive shaft and the lifting shaft together. When the lifting drive assembly drives the cleaning component to descend to the lowest position, the first engaging portion and the second engaging portion engage with each other. At this time, after the first driver drives the drive shaft to rotate, the lifting shaft rotates together with the drive shaft, thereby driving the cleaning component to rotate and clean the ground. When the lifting drive assembly drives the cleaning component to rise to the highest position, the first engaging portion and the second engaging portion separate. At this time, even if the first driver drives the drive shaft to rotate... The lifting shaft will not rotate with the drive shaft, thus preventing the cleaning component from continuously rotating due to misoperation or occasional malfunctions during the lifting process. This reduces wear on components in the cleaning robot and extends its service life. Furthermore, this application simplifies the transmission structure between the cleaning drive assembly and the cleaning component, as well as between the lifting drive assembly and the cleaning component, by using a cleaning drive assembly to drive the cleaning component to rotate and a lifting drive assembly to drive the cleaning component to lift. This simplifies the software control logic and hardware operation logic of the cleaning robot, reduces its failure rate, and improves its operational reliability.

[0021] To achieve the above objectives, this application also provides a cleaning device, including the cleaning robot described in any one or more of the above embodiments.

[0022] Because the cleaning equipment uses the aforementioned cleaning robot, it not only effectively extends the service life of the cleaning equipment, but also effectively improves the operational reliability of the cleaning equipment. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the cleaning robot provided in the embodiments of this application;

[0025] Figure 2 for Figure 1 The diagram shows a cross-sectional view of the cleaning robot, with the plane formed by connecting the drive shafts of the two cleaning drive components as the cross-section.

[0026] Figure 3 for Figure 2 A schematic cross-sectional view of the lifting shaft along the axial direction in the cleaning robot shown.

[0027] Figure 4 for Figure 2 A schematic diagram of the drive shaft in the cleaning robot shown.

[0028] Figure 5 for Figure 1 The diagram shows the structure of the cleaning component in the cleaning robot when it descends to its lowest position. Figure 1 ;

[0029] Figure 6 for Figure 1 The diagram shows the structure of the cleaning component in the cleaning robot when it descends to its lowest position. Figure 2 ;

[0030] Figure 7 for Figure 1 The diagram shows the structure of the cleaning component in the cleaning robot when it is raised to its highest position. Figure 1 ;

[0031] Figure 8 for Figure 1 The diagram shows the structure of the cleaning component in the cleaning robot when it is raised to its highest position. Figure 2 ;

[0032] Figure 9 for Figure 1 The diagram shows the structure of the cam in the cleaning robot.

[0033] The following are the labeling elements in the figure:

[0034] 100. Cleaning robot; 110. Cleaning component; 111. Cleaning part; 1111. Mop; 1112. Bracket; 112. Lifting shaft; 1121. First engaging part; 1122. First shaft cavity; 1123. Protrusion; 120. Cleaning drive assembly; 121. First driver; 122. Drive shaft; 1221. Second engaging part; 123. First elastic element; 124. Gear transmission mechanism; 1241. Gearbox; 1242. Gear set; 130. Lifting drive assembly; 131. Second driver; 132. Cam; 1321. Slide; 1322. First flat wall; 1323. Second flat wall; 133. Lifting frame; 1331. Frame body; 1332. Rolling part; 134. Second elastic element; 135. Guide mechanism; 1351. Guide post; 1352. Guide sleeve. Detailed Implementation

[0035] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0036] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0039] The first aspect of this application provides a cleaning robot 100, and the cleaning robot 100 provided in the embodiments of this application will now be described with reference to the accompanying drawings.

[0040] Please refer to the following: Figures 1 to 4 The cleaning robot 100 includes a cleaning component 110, a cleaning drive component 120, and a lifting drive component 130. The cleaning component 110 includes a cleaning element 111 and a lifting shaft 112. The first end of the lifting shaft 112 is connected to the cleaning element 111, and the second end of the lifting shaft 112 is provided with a first engaging portion 1121. The cleaning drive component 120 includes a first driver 121 and a drive shaft 122. The first driver 121 drives the drive shaft 122 to rotate. In this embodiment, the first driver 121 is a motor. The drive shaft 122 is coaxially arranged with the lifting shaft 112, and the drive shaft 122 and the lifting shaft 112 are sleeved together. The drive shaft 122 is provided with a second engaging portion 1221 that matches the first engaging portion 1121. Specifically, to ensure that the lifting shaft 112 has sufficient lifting stroke, the second engaging portion 1221 is provided on the end of the drive shaft 122 near the cleaning element 111. The lifting drive assembly 130 is used to drive the cleaning assembly 110 to move up and down along the axial direction of the lifting shaft 112.

[0041] The cleaning robot 100 provided in this application, compared with the prior art, provides a first engaging portion 1121 on one end wall of the second end of the lifting shaft 112, and a second engaging portion 1221 on the drive shaft 122, thereby connecting the drive shaft 122 and the lifting shaft 112 together. Please refer to [link to relevant documentation]. Figure 5 When the lifting drive assembly 130 drives the cleaning assembly 110 to its lowest position, the first engaging part 1121 and the second engaging part 1221 engage with each other. At this time, after the first driver 121 drives the drive shaft 122 to rotate, the lifting shaft 112 rotates together with the drive shaft 122, thereby driving the cleaning component 111 to rotate and clean the floor. Please refer to [link to relevant documentation]. Figure 7When the lifting drive assembly 130 drives the cleaning assembly 110 to the highest position, the first engaging part 1121 and the second engaging part 1221 separate. At this time, even if the first driver 121 drives the drive shaft 122 to rotate, the lifting shaft 112 will not rotate with the drive shaft 122. This avoids the cleaning component 111 from continuously rotating due to misoperation or occasional failure during the lifting process, thereby reducing the wear of components in the cleaning robot 100 and extending the service life of the cleaning robot 100. At the same time, this application drives the cleaning assembly 110 to rotate by the cleaning drive assembly 120 and drives the cleaning assembly 110 to lift by the lifting drive assembly 130. This effectively simplifies the transmission structure between the cleaning drive assembly 120 and the cleaning assembly 110, as well as the transmission structure between the lifting drive assembly 130 and the cleaning assembly 110. This simplifies the software control logic and hardware operation logic of the cleaning robot 100, reduces the failure rate of the cleaning robot 100, and improves the working reliability of the cleaning robot 100.

[0042] In one embodiment of this application, please refer to Figure 1 and Figure 2 The cleaning component 111 includes a mop 1111 and a bracket 1112. The first end of the lifting shaft 112 is fixedly connected to the bracket 1112. The mop 1111 is mounted on the bracket 1112. It can be understood that the mop 1111 can be fixedly mounted on the bracket 1112 or detachably mounted on the bracket 1112. When the lifting drive assembly 130 drives the cleaning component 110 to descend to its lowest position, the first driver 121 drives the drive shaft 122 to rotate. The lifting shaft 112 rotates together with the drive shaft 122, thereby causing the bracket 1112 and the mop 1111 to rotate, thus cleaning the floor.

[0043] In another embodiment of this application, the cleaning component 111 includes a brush and a bracket 1112. The first end of the lifting shaft 112 is fixedly connected to the bracket 1112. The brush is mounted on the bracket 1112. When the lifting drive assembly 130 drives the cleaning component 110 to descend to the lowest position, the first driver 121 drives the drive shaft 122 to rotate. The lifting shaft 112 rotates together with the drive shaft 122, thereby driving the bracket 1112 and the brush to rotate, so as to clean the ground.

[0044] In one embodiment of this application, please refer to Figure 1 and Figure 2The cleaning drive assembly 120 also includes a gear transmission mechanism 124, through which the first driver 121 drives the drive shaft 122 to rotate. Specifically, the gear transmission mechanism 124 includes a gearbox 1241 and a gear set 1242. The power output end of the first driver 121 is disposed inside the gearbox 1241 and is connected to the power input side of the gear set 1242. The power input end of the drive shaft 122 is disposed inside the gearbox 1241 and is connected to the power output side of the gear set 1242.

[0045] In one embodiment of this application, please refer to the following: Figure 2 , Figure 5 and Figure 7 The cleaning drive assembly 120 also includes a first elastic element 123. One end of the first elastic element 123 abuts against the drive shaft 122, and the other end of the first elastic element 123 abuts against the lifting shaft 112. When the cleaning assembly 110 descends to the lowest position, the first elastic element 123 is in a compressed state, which can provide sufficient downward pressure to the cleaning component 111, so that the cleaning component 111 can stick to the ground during operation, effectively improving the cleaning effect of the cleaning robot 100.

[0046] It is understandable that the first elastic element 123 can be of various types, such as springs and sheet metal, and no specific limitation is made here.

[0047] In one embodiment of this application, please refer to Figure 2 The lifting shaft 112 has a first shaft connection cavity 1122 inside, which extends axially along the lifting shaft 112 and passes through the second end of the lifting shaft 112. A first engaging portion 1121 is disposed on the cavity wall of the first shaft connection cavity 1122, and the lifting shaft 112 is sleeved onto the drive shaft 122 through the first shaft connection cavity 1122. It can be understood that in this embodiment, a first elastic member 123 is disposed within the first shaft connection cavity 1122, and the first elastic member 123 abuts against the drive shaft 122 and the lifting shaft 112. Please refer to... Figure 5 When the cleaning component 110 descends to its lowest position, the second engaging portion 1221 of the drive shaft 122 engages with the first engaging portion 1121 of the lifting shaft 112. At this time, after the first driver 121 drives the drive shaft 122 to rotate, the lifting shaft 112 rotates together with the drive shaft 122, thereby causing the cleaning component 111 to rotate. Please refer to [link to relevant documentation]. Figure 7 When the lifting drive assembly 130 drives the cleaning assembly 110 to rise to the highest position, the first engaging part 1121 and the second engaging part 1221 separate from each other. At this time, even if the first driver 121 drives the drive shaft 122 to rotate, the lifting shaft 112 will not rotate with the drive shaft 122.

[0048] In another embodiment of this application, a second shaft cavity (not shown) is provided inside the drive shaft 122. The second shaft cavity extends axially along the drive shaft 122 and passes through one end of the drive shaft 122 near the cleaning member 111. A second engaging portion 1221 is disposed on the cavity wall of the second shaft cavity, and the drive shaft 122 is sleeved onto the lifting shaft 112 through the second shaft cavity. It can be understood that in this embodiment, a first elastic member 123 is disposed in the second shaft cavity, and the first elastic member 123 abuts against the drive shaft 122 and the lifting shaft 112. When the cleaning component 110 descends to its lowest position, the second engaging portion 1221 of the drive shaft 122 engages with the first engaging portion 1121 of the lifting shaft 112. At this time, after the first driver 121 drives the drive shaft 122 to rotate, the lifting shaft 112 rotates together with the drive shaft 122, thereby driving the cleaning component 111 to rotate. When the lifting drive assembly 130 drives the cleaning component 110 to rise to its highest position, the first engaging portion 1121 and the second engaging portion 1221 separate from each other. At this time, even if the first driver 121 drives the drive shaft 122 to rotate, the lifting shaft 112 will not rotate together with the drive shaft 122.

[0049] Specifically, the cross-section of the first engaging portion 1121 is non-circular. For example, the cross-section of the first engaging portion 1121 can be hexagonal, pentagonal, quadrilateral, etc., without specific limitation. The cross-sectional structure of the second engaging portion 1221 is adapted to the cross-sectional structure of the first engaging portion 1121. It can be understood that the cross-section of the first engaging portion 1121 refers to the cross-section of the first engaging portion 1121 along the direction perpendicular to the axis of the lifting shaft 112. Similarly, the cross-section of the second engaging portion 1221 refers to the cross-section of the second engaging portion 1221 along the direction perpendicular to the axis of the drive shaft 122.

[0050] In one embodiment of this application, please refer to Figure 1 and Figure 2 The lifting drive assembly 130 includes a second driver 131, a cam 132, a lifting frame 133, and a second elastic element 134. The lifting shaft 112 is rotatably connected to the lifting frame 133. Understandably, the lifting shaft 112 can rotate around its own axis on the lifting frame 133. The second elastic element 134 has a fixed end and a telescopic end, the telescopic end of which is connected to the lifting frame 133. The second driver 131 drives the cam 132 to rotate, so that the cam 132 drives the lifting frame 133 to perform lifting and lowering movements. By using the cam 132 to drive the lifting frame 133 to perform lifting and lowering movements, the size of the lifting drive assembly 130 can be effectively reduced, which is more conducive to the miniaturization design of the cleaning robot 100.

[0051] It should be noted that the second driver 131 can be, but is not limited to, a servo motor or a motor. In this embodiment, in order to further reduce the size of the lifting drive assembly 130, the second driver 131 is a servo motor.

[0052] In the above embodiments, please refer to Figure 1 and Figure 2 During the operation of the lifting drive assembly 130, the fixed end of the second elastic element 134 remains stationary. Specifically, the fixed end of the second elastic element 134 is connected to any fixed component in the cleaning robot 100. For example, the fixed end of the second elastic element 134 is connected to the gearbox 1241. It can be understood that the second elastic element 134 is always in a stretched state. On the one hand, it can keep the lifting frame 133 in close contact with the cam 132. On the other hand, it can provide an upward lifting force for the lifting frame 133, which can reduce the workload of the second drive 131 to a certain extent, thereby further extending the service life of the cleaning robot 100.

[0053] Please refer to the above embodiments as well. Figure 6 , Figure 8 and Figure 9 The cam 132 has a slide groove 1321. The lifting frame 133 includes a frame 1331 and a rolling part 1332 connected to the frame 1331. The rolling part 1332 is movably disposed within the slide groove 1321. It is understood that the extension trajectory of the slide groove 1321 coincides with the contour line of the cam 132. Please refer to [reference needed]. Figure 6 When the second driver 131 drives the cam 132 to rotate counterclockwise, the rolling part 1332 rolls relative to the cam 132 to one end of the slide groove 1321. At this time, the lifting frame 133 drives the cleaning assembly 110 to descend to the lowest position. Please refer to [link / reference]. Figure 8 When the second driver 131 drives the cam 132 to rotate clockwise, the rolling part 1332 rolls relative to the cam 132 to the other end of the slide groove 1321. At this time, the lifting frame 133 drives the cleaning component 110 to rise to its highest position. By setting the rolling part 1332 in the slide groove 1321, the relative position of the lifting frame 133 and the cam 132 is effectively limited, thereby preventing the lifting frame 133 from disengaging from the cam 132 and further improving the working reliability of the cleaning robot 100.

[0054] In the above embodiments, please refer to Figure 9 One end of the groove 1321 has a first flat wall surface 1322, and the other end of the groove 1321 has a second flat wall surface 1323. Please refer to [link / reference]. Figure 6When the cleaning component 110 descends to its lowest position, the first flat wall surface 1322 is horizontal, and the rolling part 1332 is placed on the first flat wall surface 1322. At this time, the rolling part 1332 will remain stationary on the first flat wall surface 1322 without being subjected to other external forces, thereby achieving the function of locking the position of the rolling part 1332. Similarly, please refer to... Figure 8 When the cleaning component 110 rises to its highest position, the second flat wall surface 1323 is in a horizontal state, and the rolling part 1332 is placed on the second flat wall surface 1323. At this time, the rolling part 1332 will remain stationary on the first flat wall surface 1322 without being subjected to other external forces, thereby realizing the locking function of the position of the rolling part 1332. In this way, no matter whether the cleaning component 110 is in the lowest position or the highest position, the cleaning component 110 will not shift vertically. The position locking function of the cleaning component 110 can be realized without setting an additional locking mechanism, which further simplifies the structure of the cleaning robot 100 and can more effectively realize the miniaturization design of the cleaning robot 100.

[0055] Please refer to the above embodiments as well. Figure 1 and Figure 2 The lifting drive assembly 130 also includes a guide mechanism 135, which includes a guide post 1351 extending along the movement direction of the lifting frame 133, and a guide sleeve 1352 sleeved on the guide post 1351.

[0056] The guide column 1351 is connected to the lifting frame 133, and the guide sleeve 1352 is fixedly disposed relative to the second drive 131. Specifically, the guide sleeve 1352 is connected to any fixed component of the cleaning robot 100, for example, the guide sleeve 1352 is connected to the gearbox 1241 mentioned above.

[0057] Alternatively, the guide sleeve 1352 is connected to the lifting frame 133, and the guide column 1351 is fixedly disposed relative to the second drive 131. Specifically, the guide column 1351 is connected to any fixed component in the cleaning robot 100, for example, the guide column 1351 is connected to the gearbox 1241 mentioned above.

[0058] By setting up the guide mechanism 135, the displacement of the lifting frame 133 is effectively avoided, which would cause additional mechanical wear and tear. This effectively improves the movement stability of the lifting frame 133 and further enhances the working reliability of the cleaning robot 100.

[0059] In one embodiment of this application, please refer to the following: Figure 2 and Figure 3The outer peripheral wall of the lifting shaft 112 is provided with a protrusion 1123, and the lifting frame 133 abuts against the side of the protrusion 1123 near the cleaning component 111. When the second driver 131 drives the lifting frame 133 to rise through the cam 132, the lifting frame 133 supports the protrusion 1123 of the lifting shaft 112, so that the lifting shaft 112 rises together with the lifting frame 133, thereby driving the cleaning component 110 to rise. When the second driver 131 drives the lifting frame 133 to fall through the cam 132, the lifting shaft 112, under the action of its own weight, the weight of the cleaning component 110, and other downward pressures (such as the downward pressure of the first elastic element 123 acting on the lifting shaft 112), falls together with the lifting frame 133, thereby driving the cleaning component 110 to fall. This can effectively drive the cleaning component 110 to perform lifting and lowering movements.

[0060] In another embodiment of this application, an annular groove (not shown in the figure) is provided on the outer peripheral wall of the lifting shaft 112. The annular groove is arranged around the axis of the lifting shaft 112. The lifting shaft 112 is rotatably connected to the lifting frame 133 through the annular groove. In other words, the lifting frame 133 is inserted into the annular groove, and the lifting shaft 112 can rotate relative to the lifting frame 133 around its own axis. This allows the lifting shaft 112 to move up and down synchronously with the lifting frame 133. At the same time, the lifting shaft 112 can rotate around its own axis on the lifting frame 133.

[0061] In one embodiment of this application, please refer to Figure 1 The system comprises multiple cleaning components 110 and multiple cleaning drive components 120, with each cleaning drive component 120 corresponding to one of the cleaning components 110. A lifting drive component 130 drives each cleaning component 110 to perform lifting and lowering movements. In this way, one lifting drive component 130 can simultaneously drive multiple cleaning components 110 to perform lifting and lowering movements, further simplifying the structure of the cleaning robot 100, reducing its size, and facilitating the miniaturization design of the cleaning robot 100.

[0062] It should be noted that the number of cleaning components 110 and cleaning drive components 120 can be determined according to actual needs. In this embodiment, please refer to... Figure 1 The number of cleaning components 110 is two, and correspondingly, the number of cleaning drive components 120 is two, but not limited to this. The number of cleaning components 110 can also be three, four, etc., and correspondingly, the number of cleaning drive components 120 can also be three, four, etc.

[0063] A second aspect of this application also provides a cleaning device, including a cleaning robot 100 of any one or more of the above embodiments.

[0064] Because the cleaning equipment uses the cleaning robot 100, it not only effectively extends the service life of the cleaning equipment, but also effectively improves the working reliability of the cleaning equipment.

[0065] In one embodiment of this application, the cleaning device further includes a cleaning base station, which is used to clean the cleaning components 111 of the cleaning robot 100 and to charge the cleaning robot 100.

[0066] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a cleaning assembly comprising a cleaning member and a lifting shaft, a first end of the lifting shaft being connected with the cleaning member, and a first clamping portion being arranged on a second end of the lifting shaft; a cleaning driving assembly comprising a first driver and a driving shaft, the first driver being used to drive the driving shaft to rotate, the driving shaft being coaxially arranged with the lifting shaft, and the driving shaft and the lifting shaft being mutually sleeved, and a second clamping portion being arranged on the driving shaft and being matched with the first clamping portion; a lifting driving assembly used to drive the cleaning assembly to make lifting movement along the axial direction of the lifting shaft; the cleaning driving assembly further comprises a first elastic member, one end of the first elastic member being abutted against the driving shaft, and the other end of the first elastic member being abutted against the lifting shaft, and the first elastic member being in a compressed state when the cleaning assembly is lowered to the lowest position; a first shaft receiving cavity is arranged in the interior of the lifting shaft, the first shaft receiving cavity extends along the axial direction of the lifting shaft, and the first shaft receiving cavity penetrates through the second end of the lifting shaft, the first clamping portion is arranged on the cavity wall of the first shaft receiving cavity, and the lifting shaft is sleeved on the driving shaft through the first shaft receiving cavity; or a second shaft receiving cavity is arranged in the interior of the driving shaft, the second shaft receiving cavity extends along the axial direction of the driving shaft, and the second shaft receiving cavity penetrates through the end of the driving shaft close to the cleaning member, the second clamping portion is arranged on the cavity wall of the second shaft receiving cavity, and the driving shaft is sleeved on the lifting shaft through the second shaft receiving cavity.

2. The cleaning robot of claim 1, wherein: the lifting driving assembly comprises a second driver, a cam, a lifting frame and a second elastic member, the lifting shaft is rotatably connected with the lifting frame, the second elastic member has a fixed end and an extension end, the extension end is connected with the lifting frame, and the second driver is used to drive the cam to rotate, so that the cam drives the lifting frame to make lifting movement.

3. The cleaning robot of claim 2, wherein: a sliding groove is arranged on the cam, the lifting frame comprises a frame body and a rolling portion connected on the frame body, and the rolling portion is movably arranged in the sliding groove.

4. The cleaning robot of claim 3, wherein: one end of the sliding groove is provided with a first flat wall surface, the other end of the sliding groove is provided with a second flat wall surface, the first flat wall surface is in a horizontal state when the cleaning assembly is lowered to the lowest position, and the rolling portion is arranged on the first flat wall surface, the second flat wall surface is in a horizontal state when the cleaning assembly is raised to the highest position, and the rolling portion is arranged on the second flat wall surface.

5. The cleaning robot of claim 2, wherein: the lifting driving assembly further comprises a guide mechanism, the guide mechanism comprises a guide column extending along the movement direction of the lifting frame, and a guide sleeve sleeved on the guide column, the guide column is connected with the lifting frame, and the guide sleeve is fixedly arranged opposite to the second driver; or the guide sleeve is connected with the lifting frame, and the guide column is fixedly arranged opposite to the second driver.

6. The cleaning robot of claim 2, wherein: a convex portion is arranged on the outer peripheral wall of the lifting shaft, and the lifting frame is abutted against one side of the convex portion close to the cleaning member.

7. The cleaning robot of claim 2, wherein: The outer peripheral wall of the lifting rotating shaft is provided with an annular groove, the annular groove is arranged around the axis of the lifting rotating shaft, and the lifting rotating shaft is rotatably connected with the lifting frame through the annular groove.

8. The cleaning robot according to any one of claims 1 to 7, wherein: The number of the cleaning assemblies is multiple, the number of the cleaning driving assemblies is multiple, each cleaning driving assembly is arranged in one-to-one correspondence with each cleaning assembly, and the lifting driving assembly is used for driving each cleaning assembly to move up and down.

9. A cleaning apparatus characterized by: The cleaning equipment comprises the cleaning robot as claimed in any one of claims 1-8.

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