Automatic lifting mechanism, cleaning assembly and cleaning robot

Abstract

The present application belongs to the technical field of cleaning robots, and particularly relates to an automatic lifting mechanism, a cleaning assembly and a cleaning robot, which comprises a driver, a first connecting piece, a second connecting piece and a wheel disc assembly, the first connecting piece is provided with a first threaded structure, and the second connecting piece is provided with a second threaded structure; when the second threaded structure spirally moves to an endpoint position of the first threaded structure in a direction of screwing relative to the first threaded structure, the wheel disc assembly realizes a predetermined stroke of descending; the first connecting piece is provided with a first abutting block, the second connecting piece and / or the wheel disc assembly is provided with a second abutting block, and the first abutting block is used for abutting with the second abutting block when the wheel disc assembly realizes a predetermined stroke of ascending. The automatic lifting mechanism of the present application can automatically realize the control of the lifting stroke of the wheel disc assembly without separately setting a switch element to control the lifting stroke of the wheel disc assembly, so that the design cost consumed due to setting such a switch element can be reduced.

Description

Technical Field

[0001] This invention belongs to the field of cleaning robot technology, and particularly relates to an automatic lifting mechanism, cleaning components and a cleaning robot. Background Technology

[0002] With the development of cleaning robot technology, their level of intelligence is constantly improving. Currently, mainstream household intelligent cleaning robots, such as sweeping robots and mopping robots, can already traverse obstacles when they are in their way. When a cleaning robot crosses an obstacle, to prevent the cleaning components close to the ground from scraping against the obstacle and affecting the robot's obstacle-crossing ability, the cleaning components need to be raised. After the cleaning robot crosses the obstacle, it needs to immediately move the cleaning components downwards so that they can return to the ground and continue cleaning.

[0003] Existing lifting mechanisms that enable cleaning components to move upwards and downwards all use various sensing elements (or triggering elements) connected to switching elements to control the stroke of the lifting motion. These sensing elements (or triggering elements) and switching elements increase the design cost of the entire cleaning robot and also increase the complexity of the corresponding software control system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the issue that the lifting mechanism of existing cleaning components all uses switching elements to control the lifting stroke, which leads to additional design costs. The present invention provides an automatic lifting mechanism, a cleaning component, and a cleaning robot.

[0005] To solve the above technical problems, embodiments of the present invention provide an automatic lifting mechanism, including a driver, a first connecting member, a second connecting member, and a wheel assembly. The first connecting member is connected to the driver and can rotate around its own central axis under the drive of the driver. The second connecting member is fixedly connected to the wheel assembly. The first connecting member is provided with a first threaded structure, and the second connecting member is provided with a second threaded structure. The first threaded structure and the second threaded structure are helically engaged.

[0006] The second connector is capable of spiraling relative to the first connector when the first connector rotates around its own central axis, thereby driving the wheel assembly to rise and fall along the first connector; the first threaded structure and the second threaded structure are configured such that when the second threaded structure spirals relative to the first threaded structure to the end position of the first threaded structure, the wheel assembly achieves a predetermined downward stroke;

[0007] The first connector is provided with at least one first abutting block, and the second connector and / or the wheel assembly is provided with at least one second abutting block. The first abutting block is used to abut against the second abutting block in the rotation direction of the first connector when the wheel assembly achieves a predetermined upward stroke.

[0008] Optionally, the first thread structure is an internal thread groove, the second thread structure is an external thread tooth, the first abutment block is disposed on the side of the first connector near the wheel assembly, and the second abutment block is disposed on the side of the wheel assembly near the first abutment block.

[0009] Optionally, the first abutment block is provided with a first inclined surface and a first vertical abutment surface, and the second abutment block is provided with a second inclined surface and a second vertical abutment surface. The first vertical abutment surface is used to abut against the second vertical abutment surface along the rotation direction of the first connector when the wheel assembly achieves a predetermined upward stroke. The slope of the first inclined surface is not less than the slope of the second inclined surface, and the first abutment block can pass over the second abutment block during the downward movement of the wheel assembly.

[0010] Optionally, the automatic lifting mechanism further includes a cover assembly, which includes a first cover and a second cover. The first cover and the second cover engage to form a cavity. The first connector is at least partially disposed in the cavity. The first cover has a first through hole communicating with the cavity. The driver has a drive shaft that passes through the first through hole and is connected to the first connector.

[0011] The wheel assembly is located outside the cover assembly. The second cover has a second through hole communicating with the cavity. One end of the second connector passes through the second through hole and is screwed into the first connector. The other end of the second connector passes through the second through hole and is fixedly connected to the wheel assembly.

[0012] Optionally, the automatic lifting mechanism further includes a connecting rod and a rubber ring. The second connecting member is a hollow structure. The connecting rod is fixed inside the second connecting member. The inner wall of the first cover is provided with a hollow cylinder protruding towards the second cover. The rubber ring is fixedly sleeved on one end of the connecting rod near the hollow cylinder. The rubber ring can be inserted into the hollow cylinder and restrict the connecting rod from rotating relative to the hollow cylinder.

[0013] Optionally, the wheel assembly is provided with a connecting post facing the cover assembly, the connecting post is provided with a locking protrusion, and the second connector is provided with a locking groove that matches the locking protrusion. The second connector is fixedly connected to the wheel assembly through the cooperation of the locking protrusion and the locking groove.

[0014] Optionally, the automatic lifting mechanism further includes a transmission gear set connected to the driver, the driver being used to drive the transmission gear set to rotate, and the first connecting member having meshing teeth that mesh with the transmission gear set.

[0015] Optionally, lubricating grease is provided between the mating clearance of the first threaded structure and the second threaded structure.

[0016] Optionally, the first connector is provided with two or more first abutment blocks, the first abutment blocks being equally spaced around the central axis of the first connector; the second connector is provided with two or more second abutment blocks, the second abutment blocks being equally spaced around the central axis of the second connector, and the number of second abutment blocks is equal to the number of first abutment blocks.

[0017] According to an embodiment of the present invention, when the wheel assembly needs to perform work, the driver is activated, which drives the first connecting member to rotate around its own central axis, thereby causing the second connecting member to generate a helical motion relative to the first connecting member, and driving the wheel assembly fixedly connected to the second connecting member to descend. When the second threaded structure moves to the end position of the first threaded structure in the direction of screwing in relative to the first threaded structure, the wheel assembly achieves a predetermined downward stroke. At this time, the first connecting member engages with the second connecting member in its own rotation direction, thereby driving the second connecting member and the wheel assembly to rotate synchronously, so as to achieve the normal rotation state of the wheel assembly when working close to the ground. When the wheel assembly encounters an obstacle and needs to be lifted, the driver is controlled to rotate in the opposite direction, and the helical motion generated by the second connecting member relative to the first connecting member can drive the wheel assembly to rise. When the predetermined upward stroke of the wheel assembly is achieved, the first abutting block abuts against the second abutting block in the rotation direction of the first connecting member, thereby causing the first connecting member to drive the second connecting member and the wheel assembly to rotate synchronously, so as to prevent the second connecting member and the wheel assembly from continuing to rise and damaging the automatic lifting mechanism. Compared with existing technologies, the automatic lifting mechanism of this invention can automatically control the lifting stroke of the wheel assembly without setting a separate switching element to control the lifting stroke of the wheel assembly, thereby reducing the design cost required by setting such a switching element. Furthermore, the automatic lifting mechanism of this invention only needs to control the forward and reverse rotation of the driver, without needing to control the switching element to disconnect at a specific moment to achieve the lifting stroke of the wheel assembly, thus significantly reducing the complexity of the corresponding software control system.

[0018] On the other hand, embodiments of the present invention also provide a cleaning component, the cleaning component including a mopping component and the aforementioned automatic lifting mechanism; the mopping component is disposed on the side of the wheel assembly opposite to the second connecting member.

[0019] The cleaning assembly according to an embodiment of the present invention, by employing the aforementioned automatic lifting mechanism, can reduce the design costs required for setting up switching elements for controlling the lifting stroke of the wheel assembly.

[0020] In another aspect, embodiments of the present invention also provide a cleaning robot, the cleaning robot including a body and the aforementioned cleaning components; the body is provided with a mounting position, the cleaning components are installed in the mounting position and electrically connected to components inside the body.

[0021] The cleaning robot according to embodiments of the present invention, by employing the above-described cleaning components, can reduce the design costs required for setting up switching elements for controlling the lifting stroke of the wheel assembly. Attached Figure Description

[0022] Figure 1 This is an exploded view of an automatic lifting mechanism provided in an embodiment of the present invention;

[0023] Figure 2 This is a cross-sectional schematic diagram of an automatic lifting mechanism provided in an embodiment of the present invention when the wheel assembly achieves a predetermined downward stroke;

[0024] Figure 3 This is a cross-sectional schematic diagram of an automatic lifting mechanism provided in an embodiment of the present invention when the wheel assembly achieves a predetermined upward stroke;

[0025] Figure 4 A schematic diagram of the structure of an automatic lifting mechanism according to an embodiment of the present invention, showing the first connecting member abutting against a wheel assembly that achieves a predetermined upward stroke;

[0026] Figure 5 This is a schematic diagram of the structure of a wheel assembly provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present invention.

[0028] The reference numerals in the accompanying drawings are as follows:

[0029] 100. First connector; 110. First threaded structure; 120. First abutment block; 1201. First inclined surface; 1202. First vertical abutment surface; 130. Engaging teeth;

[0030] 200. Second connector; 210. Second threaded structure;

[0031] 300. Driver; 310. Drive shaft;

[0032] 400, Wheel assembly; 410, Wheel body; 420, Second abutment block; 4201, Second inclined surface; 4202, Second vertical abutment surface; 430, Connecting post; 4301, Engaging protrusion;

[0033] 500, Cover assembly; 510, First cover; 5101, First through hole; 5102, Hollow cylinder; 520, Second cover; 5201, Second through hole; 530, Cavity;

[0034] 600. Transmission gear set;

[0035] 700. Connecting rod; 710. Circular step;

[0036] 800, rubber ring;

[0037] 900. Screws;

[0038] 1000, Washers;

[0039] 1100. Mop / wipe parts. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0043] Please see Figure 1-5 This invention provides an automatic lifting mechanism, including a driver 300, a first connecting member 100, a second connecting member 200, and a wheel assembly 400. The first connecting member 100 is connected to the driver 300 and can rotate around its own central axis under the drive of the driver 300. The second connecting member 200 is fixedly connected to the wheel assembly 400. The first connecting member 100 is provided with a first threaded structure 110, and the second connecting member 200 is provided with a second threaded structure 210. The first threaded structure 110 and the second threaded structure 210 are helically engaged. The helical directions of the first threaded structure 110 and the second threaded structure 210 are the same.

[0044] The first thread structure 110 can be any one of an internal thread groove, an internal thread tooth, an external thread groove, or an external thread tooth. Correspondingly, the second thread structure 210 can be any one of an external thread tooth, an external thread groove, an internal thread tooth, or an internal thread groove, as long as the first thread structure 110 and the second thread structure 210 can achieve a helical fit. For example, when the first thread structure 110 is an internal thread groove, the second thread structure 210 is an external thread tooth; conversely, when the first thread structure 110 is an external thread tooth, the second thread structure 210 is an internal thread groove.

[0045] In this embodiment, the first connector 100 is a nut with an internal thread groove, and the first thread structure 110 is an internal thread groove; the second connector 200 is a screw with external thread teeth, and the second thread structure is an external thread tooth.

[0046] In some other embodiments, the first connector is a screw with external thread teeth, the first thread structure is external thread teeth, and the second connector is a nut with internal thread grooves, the second thread structure is internal thread grooves; or, the first connector is a cylindrical member with internal thread teeth, the first thread structure is internal thread teeth; the second connector is a rod-shaped member with external thread grooves that mates with the first connector, the second thread structure is external thread grooves; or, the second connector is a cylindrical member with internal thread teeth, the second thread structure is internal thread teeth; and the first connector is a rod-shaped member with external thread grooves that mates with the second connector, the first thread structure is external thread grooves.

[0047] The driver 300 is a power device capable of outputting rotational torque. In this embodiment, the driver 300 is a DC motor.

[0048] The wheel assembly 400 includes a wheel body 410 for mounting the towing member 1100 described below. The wheel body 410 is typically disc-shaped. Of course, the wheel body 410 can also be other shapes, and is not limited thereto.

[0049] The second connector 200 can helically move relative to the first connector 100 when the first connector 100 rotates around its own central axis, thereby driving the wheel assembly 400 to rise and fall along the first connector 100. Specifically, the first connector 100 and the second connector 200 can be configured such that when the driver 300 drives the first connector 100 to rotate around its own central axis in the forward direction (as opposed to the reverse direction), the helical motion of the second connector 200 relative to the first connector 100 drives the wheel assembly 400 to fall; when the driver 300 drives the first connector 100 to rotate in the reverse direction (as opposed to the forward direction) around its own central axis, the helical motion of the second connector 200 relative to the first connector 100 drives the wheel assembly 400 to rise.

[0050] The first threaded structure 110 and the second threaded structure 210 are configured such that when the second threaded structure 210 spirals relative to the first threaded structure 110 in the direction of screwing in, the wheel assembly 400 achieves a predetermined downward stroke. That is, during the downward movement of the wheel assembly 400, the second threaded structure 210 spirals relative to the first threaded structure 110 in the direction of screwing in; during the upward movement of the wheel assembly 400, the second threaded structure 210 spirals relative to the first threaded structure 110 in the direction of screwing out. When the second threaded structure 210 spirals into the end position of the first threaded structure 110, the first connecting member 100 engages with the second connecting member 200 in its own rotational direction, thereby enabling the first connecting member 100 to drive the second connecting member 200 and the wheel assembly 400 to rotate synchronously. During the process of the second threaded structure 210 unscrewing from the first threaded structure 110, if the spiral motion stroke of the second threaded structure 210 relative to the first threaded structure 110 is not controlled, the second threaded structure 210 will continue to spiral and eventually detach from the first threaded structure 110. At the same time, it will also drive the wheel assembly 400 to continue to rise, which may damage other parts of the lifting mechanism.

[0051] For this purpose, the first connector 100 is provided with at least one first abutting block 120, and the wheel body 410 of the wheel assembly 400 is provided with at least one second abutting block 420. The first abutting block 120 is used to abut against the second abutting block 420 along the rotation direction of the first connector 100 when the wheel assembly 400 achieves a predetermined upward stroke.

[0052] When the first abutting block 120 abuts against the second abutting block 420, the first connecting member 100 can abut against the second abutting block 420 through the first abutting block 120, thereby driving the wheel assembly 400 and the second connecting member 200 fixedly connected to the wheel assembly 400 to rotate synchronously, thereby preventing the second threaded structure 210 from unscrewing out of the first threaded structure 110, and preventing the wheel assembly 400 from continuously rising and damaging other components.

[0053] In some other embodiments, the second abutment block may also be disposed on the second connector 200, or the second abutment block may be partially disposed on the second connector 200 and partially disposed on the wheel assembly 400 (that is, the second abutment block may be disposed at the connection position between the second connector 200 and the wheel assembly 400), as long as it can be ensured that when the wheel assembly 400 achieves the predetermined upward stroke, the first abutment block 120 can abut against the second abutment block in the rotation direction of the first connector 100.

[0054] In summary, the automatic lifting mechanism provided in this embodiment of the invention, when the wheel assembly 400 needs to perform its work, activates the driver 300. The driver 300 can drive the first connecting member 100 to rotate around its own central axis, thereby causing the second connecting member 200 to generate a helical motion relative to the first connecting member 100, and driving the wheel assembly 400, which is fixedly connected to the second connecting member 200, to descend. When the second threaded structure 210 moves to the end position of the first threaded structure 110 in the direction of screwing in relative to the first threaded structure 110, the wheel assembly 400 achieves a predetermined downward stroke. At this time, the first connecting member 100 engages with the second connecting member 200 in its own rotation direction, thereby driving the second connecting member 200 and the wheel assembly 400 to descend. The disc assembly 400 rotates synchronously to achieve normal rotation when the disc assembly is close to the ground. When the disc assembly 400 encounters an obstacle and needs to be lifted, the driver 300 is controlled to rotate in the opposite direction. The spiral motion generated by the second connector 200 relative to the first connector 100 can drive the disc assembly 400 to rise. When the disc assembly 400 has reached the predetermined stroke of rising, the first abutment block 120 abuts against the second abutment block 420 along the rotation direction of the first connector 100, thereby causing the first connector 100 to drive the second connector 200 and the disc assembly 400 to rotate synchronously, so as to prevent the second connector 200 and the disc assembly 400 from continuing to rise and damaging the automatic lifting mechanism.

[0055] Compared with existing technologies, the automatic lifting mechanism provided in this invention can automatically control the lifting stroke of the wheel assembly without setting a separate switching element to control the lifting stroke of the wheel assembly, thereby reducing the design cost required by setting such a switching element. Furthermore, the automatic lifting mechanism provided in this invention only needs to control the forward and reverse rotation of the driver, without needing to control the switching element to disconnect at a specific moment to achieve the lifting stroke of the wheel assembly, thus significantly reducing the complexity of the corresponding software control system.

[0056] Please see Figure 1 , Figure 4 and Figure 5 In this embodiment, the first abutment block 120 is disposed on the side of the first connector 100 near the wheel assembly 400, and the second abutment block 420 is disposed on the side of the wheel assembly 400 near the first abutment block 120. Specifically, the first abutment block 120 is disposed on the end face of the first connector 100 near the wheel assembly 400, and the second abutment block 420 is disposed on the end face of the wheel body 410 near the first abutment block 120, and the first abutment block 120 and the second abutment block 420 are disposed on the same cylindrical surface. This arrangement of the positions of the first abutment block 120 and the second abutment block 420 ensures that the first abutment block 120 can smoothly abut against the second abutment block 420 when the wheel assembly 400 has achieved a predetermined upward stroke.

[0057] Please see Figure 1 , Figure 4 and Figure 5 In this embodiment, two first abutment blocks 120 and two second abutment blocks 420 are provided, and the number of second abutment blocks 420 is equal to the number of first abutment blocks 120. Providing two first abutment blocks 120 and two abutment blocks 420 ensures that if one of the first abutment blocks 120 or the second abutment block 420 fails, the remaining first abutment block 120 or the second abutment block 420 can still function normally, thereby ensuring that the first abutment block 120 can abut against the second abutment block 420.

[0058] However, in some other embodiments, the number of first abutment blocks and the number of second abutment blocks can each be set to one or more, and the number of first abutment blocks and the number of second abutment blocks can be equal or unequal. There is no limitation on the number of first abutment blocks and second abutment blocks.

[0059] Please see Figure 1 , Figure 4 and Figure 5In this embodiment, the first abutment block 120 is arranged with equal intervals around the central axis of the first connector 100, and the second abutment block 420 is arranged with equal intervals around the central axis of the second connector 200. The equal intervals between the first abutment block 120 and the second abutment block 420 ensure that when the first connector 100 abuts against the second abutment block 420 via the first abutment block 120, thereby driving the wheel assembly 400 to rotate, the force points of the wheel assembly 400 along the circumferential direction are equally spaced, resulting in smoother rotation of the wheel assembly 400.

[0060] Please see Figure 1 , Figure 4 and Figure 5 In this embodiment, the first abutment block 120 is provided with a first inclined surface 1201 and a first vertical abutment surface 1202, and the second abutment block 420 is provided with a second inclined surface 4201 and a second vertical abutment surface 4202. The first vertical abutment surface 1202 is used to abut against the second vertical abutment surface 4202 along the rotation direction of the first connector 100 when the wheel assembly 400 achieves a predetermined upward stroke. The slope of the first inclined surface 1201 is not less than the slope of the second inclined surface 4201, and the first abutment block 120 can pass over the second abutment block 420 during the descent of the wheel assembly 400.

[0061] Because a first vertical contact surface 1202 and a second vertical contact surface 4202 are provided, the first contact block 120 can contact the second contact block 420 in the vertical plane when the wheel assembly 400 achieves a predetermined upward stroke.

[0062] Because a first inclined surface 1201 and a second inclined surface 4201 are provided, and the slope of the first inclined surface 1201 is not less than the slope of the second inclined surface 4201, during the descent of the wheel assembly 400, if the slope of the first inclined surface 1201 is greater than the slope of the second inclined surface 4201, the first inclined surface 1201 and the second inclined surface 4201 will not come into contact, and thus the second inclined surface 4201 will not obstruct the first inclined surface 1201 from passing over, ensuring the smooth rotation of the first connecting member 100; if the slope of the first inclined surface 1201 is greater than the slope of the second inclined surface 4201, the first inclined surface 1201 and the second inclined surface 4201 will not come into contact, and the second inclined surface 4201 will not obstruct the first inclined surface 1201 from passing over, thus ensuring the smooth rotation of the first connecting member 100; if the slope of the first inclined surface 1201 is less than the slope of the second inclined surface 4201, the first inclined surface 1201 will not come into contact with the second inclined surface 4201 ... greater than the slope of the second inclined surface 4201, the first inclined surface 1201 will not come into contact with the second inclined surface 4201, and the second inclined surface If the slope of the first inclined plane 1201 is equal to the slope of the second inclined plane 4201, then during the first rotation of the first connecting member 100, the sliding friction between the first inclined plane 1201 and the second inclined plane 4201 will ensure that the first inclined plane 1201 can smoothly pass over the second inclined plane 4201. During subsequent rotations of the first connecting member 100, the first inclined plane 1201 and the second inclined plane 4201 will not come into contact, so the second inclined plane 4201 will not block the first inclined plane 1201 from passing over, thus ensuring that the first connecting member 100 can rotate smoothly.

[0063] In this embodiment, the automatic lifting mechanism further includes a controller (not shown in the figure), which is electrically connected to the driver 300. The controller is used to control the driver 300 to switch between forward and reverse rotation. Specifically, at the beginning of the downward stroke of the wheel assembly 400, the controller controls the driver 300 to switch from reverse rotation (or a stationary state) to forward rotation; and at the beginning of the upward stroke of the wheel assembly 400, the controller controls the driver 300 to switch from forward rotation (or a stationary state) to reverse rotation. It should be noted that the forward and reverse rotation of the driver 300 are relative concepts. When the driver 300 rotates forward, it drives the first connecting member 100 to rotate forward, thereby causing the wheel to descend; and when the driver 300 rotates in reverse, it drives the first connecting member 100 to rotate in reverse, thereby causing the wheel to rise.

[0064] Please see Figure 1-3 In this embodiment, the automatic lifting mechanism further includes a cover assembly 500, which includes a first cover 510 and a second cover 520. The first cover 510 and the second cover 520 engage to form a cavity 530, and the first connector 100 is at least partially disposed within the cavity 530. The first cover 510 has a first through hole 5101 communicating with the cavity 530. The driver 300 has a drive shaft 310, which passes through the first through hole 5101 and is connected to the first connector 100. The wheel assembly 400 is located outside the cover assembly 500. The second cover 520 has a second through hole 5201 communicating with the cavity 530. One end of the second connector 200 passes through the second through hole 5201 and is screwed into the first connector 100. The other end of the second connector 200 passes through the second through hole 5201 and is fixedly connected to the wheel assembly 400.

[0065] By setting the cover assembly 500, it can provide installation space for the first connector 100, the second connector 200 and other components, and at the same time protect the first threaded structure 110 and the second threaded structure 210 from foreign objects such as dust and hair in the external environment, so as to avoid the first threaded structure 110 and the second threaded structure 210 from being unable to perform relative spiral motion due to the influence of foreign objects.

[0066] Specifically, the portion of the first connector 100 with the first threaded structure 110 is disposed within the cavity 530, while the first abutting block 120 extends out of the second through hole 5201 toward the wheel assembly 400.

[0067] Please see Figure 1-3In this embodiment, the automatic lifting mechanism further includes a transmission gear set 600, which is disposed within the cavity 530 and connected to the driver 300. The driver 300 drives the transmission gear set 600 to rotate. A first connecting member 100 is provided with meshing teeth 130, which mesh with the transmission gear set 600. The first connecting member 100 is connected to the driver 300 through its meshing connection with the transmission gear set 600.

[0068] The transmission gear set 600 may include multiple meshing gears. In this embodiment, the transmission gear set 600 is designed as a four-stage gear transmission, with the first connecting member 100 meshing with the fourth-stage transmission gear.

[0069] By designing the transmission gear set 600, the rotational speed of the first connecting member 100 can be adjusted more conveniently. By setting the meshing teeth 130 on the first connecting member 100, the connection between the first connecting member 100 and the transmission gear set is realized.

[0070] Please see Figure 1 and Figure 5 In this embodiment, the wheel assembly 400 is provided with a connecting post 430 facing the cover assembly 500. The connecting post 430 is provided with an engaging protrusion 4301. The second connecting member 200 is provided with an engaging groove (not shown in the figure) that matches the engaging protrusion 4301. The second connecting member is fixedly connected to the wheel assembly 400 through the engagement of the engaging protrusion 4301 and the engaging groove. Specifically, one or more engaging protrusions 4301 can be provided, and the engaging grooves are provided corresponding to the engaging protrusions 4301, with the same number of both.

[0071] Of course, the method of fixing the second connector to the wheel assembly is not limited to the snap-fit ​​connection described above. In other embodiments, the second connector and the wheel assembly can also be fixed by common methods such as threaded connection, riveting, or welding. These methods of fixing are common knowledge in this technical field and will not be described in detail here.

[0072] Please see Figure 1-3 In this embodiment, the automatic lifting mechanism further includes a connecting rod 700, and the second connecting member 200 has a hollow structure. The connecting rod 700 is fixedly disposed inside the second connecting member 200. Specifically, the connecting post 430 is inserted into the second connecting member 200, and one end of the connecting rod 700 extends into the interior of the second connecting member 200 and is fixedly connected to the connecting post 430.

[0073] In other embodiments, the connecting rod may also be fixed inside the second connector by other connection methods. For example, the connecting rod and the connecting post are integrally formed, and the integrally formed connecting rod and the connecting post are inserted into the second connector and fixedly connected to the second connector.

[0074] Please see Figure 1-3 In this embodiment, the inner wall of the first cover 510 is provided with a hollow cylinder 5102 protruding toward the second cover 520. The automatic lifting mechanism also includes a rubber ring 800, which is fixedly sleeved on the end of the connecting rod 700 near the hollow cylinder 5102. The rubber ring 800 can be inserted into the hollow cylinder 5102 and restrict the connecting rod 700 from rotating relative to the hollow cylinder 5102.

[0075] By setting the rubber ring 800, the connecting rod 700 cannot rotate relative to the hollow cylinder 5102, thus ensuring that the second connecting piece 200 will not rotate relative to the cover assembly 500. This design prevents dust, hair, or other foreign objects from adhering to the first threaded structure 110 or the second threaded structure 210 during the lifting and lowering of the wheel assembly 400, which could cause the first threaded structure 110 to directly drive the second threaded structure 210 to rotate in the same direction relative to the ground reference. It should be noted that if the second threaded structure 210 rotates in the same direction as the first threaded structure 110 relative to the ground reference, the helical motion of the second threaded structure 210 relative to the first threaded structure 110 will slow down or stop, thus affecting the lifting and lowering process of the wheel assembly 400. Therefore, the rubber ring 800 effectively prevents the lifting and lowering process of the wheel assembly 400 from being interfered with by dust, hair, or other foreign objects.

[0076] Please see Figure 1-3 In this embodiment, the automatic lifting mechanism further includes a set screw 900 and a washer 1000. The connecting rod 700 has an annular step 710 at one end near the hollow cylinder 4102. The rubber ring 800 is wrapped around the annular step 710. The washer 1000 is pressed on the rubber ring 800. The set screw 900 is screwed into the connecting rod 700 to press the washer 1000 and the rubber ring 800 on the annular step 710, thereby fixing the rubber ring 800 on the connecting rod 700.

[0077] In other embodiments, the rubber ring can also be fixedly fitted onto the connecting rod in other ways. For example, the rubber ring can be integrally injection molded with the connecting rod to be fixedly fitted onto the connecting rod.

[0078] In this embodiment, in order to reduce the frictional force of the second connector 200 relative to the first connector 100 during spiral motion and make its spiral motion smoother, lubricating grease is provided between the mating gap of the first thread structure 110 and the second thread structure 210.

[0079] Please see Figure 1-3A second aspect of the present invention provides a cleaning assembly, which includes a mopping member 1100 and an automatic lifting mechanism as described in the above embodiment; the mopping member 1100 is disposed on the side of the wheel assembly 400 opposite to the second connecting member 200. The mopping member 1100 is used to rotate with the wheel assembly 400 as the wheel assembly 400 completes a predetermined downward stroke, thereby cleaning the ground.

[0080] The cleaning assembly provided in the second aspect of the present invention, by employing the automatic lifting mechanism of the above embodiment, can reduce the design cost required for setting a switching element for controlling the lifting stroke of the wheel assembly.

[0081] Please see Figure 6 A third aspect of the present invention provides a cleaning robot, which includes a body and a cleaning component as described in the above embodiments. The body has a mounting position, in which the cleaning component is mounted and electrically connected to components inside the body. The components inside the body may include a power source, thereby providing energy to a driver 300.

[0082] The cleaning robot provided by the third aspect of the present invention, by employing the cleaning components of the above embodiments, can reduce the design cost required for setting up switching elements for controlling the lifting stroke of the wheel assembly.

[0083] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An automatic lifting mechanism, characterized in that, The device includes a driver, a first connector, a second connector, and a wheel assembly. The first connector is connected to the driver and can rotate around its own central axis under the drive of the driver. The second connector is fixedly connected to the wheel assembly. The first connector has a first thread structure, and the second connector has a second thread structure. The first thread structure and the second thread structure are helically engaged. The second connector is capable of spiraling relative to the first connector when the first connector rotates around its own central axis, thereby driving the wheel assembly to rise and fall along the first connector; the first threaded structure and the second threaded structure are configured such that when the second threaded structure spirals relative to the first threaded structure to the end position of the first threaded structure, the wheel assembly achieves a predetermined downward stroke; The first connector is provided with at least one first abutting block, and the second connector and / or the wheel assembly is provided with at least one second abutting block. The first abutting block is used to abut against the second abutting block in the rotation direction of the first connector when the wheel assembly achieves a predetermined upward stroke. Wherein, the first thread structure is an internal thread groove, the second thread structure is an external thread tooth, the first abutment block is disposed on the side of the first connector near the wheel assembly, and the second abutment block is disposed on the side of the wheel assembly near the first abutment block; The first abutment block is provided with a first inclined surface and a first vertical abutment surface, and the second abutment block is provided with a second inclined surface and a second vertical abutment surface. The first vertical abutment surface is used to abut against the second vertical abutment surface along the rotation direction of the first connector when the wheel assembly achieves a predetermined upward stroke. The slope of the first inclined surface is not less than the slope of the second inclined surface, and the first abutment block can pass over the second abutment block during the downward movement of the wheel assembly.

2. The automatic lifting mechanism according to claim 1, characterized in that, The automatic lifting mechanism also includes a controller, which is electrically connected to the drive, and is used to control the drive to switch between forward and reverse rotation.

3. The automatic lifting mechanism according to claim 1, characterized in that, The automatic lifting mechanism further includes a cover assembly, which includes a first cover and a second cover. The first cover and the second cover engage to form a cavity. The first connector is at least partially disposed in the cavity. The first cover has a first through hole communicating with the cavity. The driver has a drive shaft that passes through the first through hole and is connected to the first connector. The wheel assembly is located outside the cover assembly. The second cover has a second through hole communicating with the cavity. One end of the second connector passes through the second through hole and is screwed into the first connector. The other end of the second connector passes through the second through hole and is fixedly connected to the wheel assembly.

4. The automatic lifting mechanism according to claim 3, characterized in that, The automatic lifting mechanism also includes a connecting rod and a rubber ring. The second connecting member is a hollow structure. The connecting rod is fixed inside the second connecting member. The inner wall of the first cover is provided with a hollow cylinder protruding towards the second cover. The rubber ring is fixedly sleeved on one end of the connecting rod near the hollow cylinder. The rubber ring can be inserted into the hollow cylinder and restrict the connecting rod from rotating relative to the hollow cylinder.

5. The automatic lifting mechanism according to claim 3, characterized in that, The wheel assembly is provided with a connecting post facing the cover assembly. The connecting post is provided with a locking protrusion. The second connector is provided with a locking groove that matches the locking protrusion. The second connector is fixedly connected to the wheel assembly through the cooperation of the locking protrusion and the locking groove.

6. The automatic lifting mechanism according to claim 1, characterized in that, The automatic lifting mechanism also includes a transmission gear set, which is connected to the driver. The driver is used to drive the transmission gear set to rotate. The first connecting member is provided with meshing teeth, which mesh with the transmission gear set.

7. The automatic lifting mechanism according to claim 1, characterized in that, Lubricating grease is provided between the mating gap of the first thread structure and the second thread structure.

8. The automatic lifting mechanism according to claim 1, characterized in that, The first connector is provided with two or more first abutting blocks, the first abutting blocks being equally spaced around the central axis of the first connector; the second connector is provided with two or more second abutting blocks, the second abutting blocks being equally spaced around the central axis of the second connector, and the number of second abutting blocks is equal to the number of first abutting blocks.

9. A cleaning component, characterized in that, The cleaning assembly includes a mopping component and an automatic lifting mechanism as described in any one of claims 1-8; the mopping component is disposed on the side of the wheel assembly opposite to the second connecting member.

10. A cleaning robot, characterized in that, The cleaning robot includes a body and a cleaning component as described in claim 9; the body is provided with a mounting position, and the cleaning component is installed in the mounting position and electrically connected to components inside the body.

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