Lifting and rotating device and cleaning robot

Abstract

The present invention relates to the technical field of cleaning equipment, and provides a lifting and rotating device and a cleaning robot, wherein the lifting and rotating device includes a shell, a motor, and a lifting and rotating mechanism. The shell has a receiving cavity; the motor is arranged on the shell; and the lifting and rotating mechanism is arranged in the receiving cavity. The lifting and rotating mechanism includes a rotating shaft and a lifting shaft assembly. The motor drives the rotating shaft to rotate around the axis, and the lifting shaft assembly is rotatably connected to the shell and can perform lifting and lowering motion relative to the shell along its own axial direction. When the motor rotates in a first preset direction, the rotating shaft drives the cleaning part to perform rotational motion; when the motor rotates in a second preset direction, the rotation drives the lifting shaft assembly to rotate around the axis, and at the same time, the lifting shaft assembly is lifted and lowered relative to the shell to drive the shaft body and the cleaning part to perform lifting and lowering motion. The lifting and rotating device of the present application can complete the rotational motion and lifting and lowering motion of the cleaning part with one motor. In this way, the lifting and rotating device is more conducive to the miniaturized design of the cleaning robot.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular provides a lifting and rotating device and a cleaning robot having the lifting and rotating device. 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 users from tedious housework, and greatly improves their 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 object of the present invention is to provide a lifting and rotating device, aiming to solve the problem of large overall volume caused by the existing lifting and rotating device adopting two sets of drivers to realize the rotation and lifting of the mop.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] In a first aspect, an embodiment of the present application provides a lifting and rotating device, which is applied to a cleaning robot to drive a cleaning member to perform lifting motion and rotational motion around an axis, comprising:

[0008] a housing having a receiving cavity;

[0009] a motor, wherein the motor is arranged on the housing;

[0010] A lifting and rotating mechanism, the lifting and rotating mechanism being arranged in the accommodating cavity, the lifting and rotating mechanism comprising a rotating shaft for connecting to the cleaning member and a lifting shaft assembly coaxially arranged with the rotating shaft, the motor driving the rotating shaft to rotate around the axis, and the lifting shaft assembly being connected to the rotating shaft;

[0011] When the motor drives the rotating shaft to rotate along a first preset direction, the lifting shaft assembly is independent of the rotating shaft, the lifting shaft assembly and the housing remain relatively stationary, and the rotating shaft drives the cleaning element to rotate;

[0012] When the motor drives the rotating shaft to rotate along the second preset direction, the lifting shaft assembly is linked with the rotating shaft, and the rotating shaft drives the lifting shaft assembly to rotate around the axis along the second preset direction. At the same time, the lifting shaft assembly is lifted and lowered relative to the shell during the rotation process to drive the rotating shaft and the cleaning element to perform lifting and lowering movements. The second preset direction is opposite to the first preset direction.

[0013] The beneficial effects of the present invention are as follows: The lifting and rotating device provided by the present invention switches between the lifting motion mode and the rotating cleaning mode of the cleaning member based on the rotation direction of the motor-driven rotating shaft, so as to determine whether there is torque transmission between the rotating shaft and the lifting shaft assembly. Specifically, when the motor drives the rotating shaft to rotate in a first preset direction, which can be the clockwise rotation direction of the motor, the rotating shaft is driven to rotate clockwise around the axis, thereby driving the cleaning member to rotate and achieve normal cleaning of the ground. At this time, the lifting shaft assembly and the housing remain relatively stationary and do not rotate with the rotating shaft, that is, no torque is transmitted between the rotating shaft and the lifting shaft assembly. When the motor drives the rotating shaft to rotate in a second preset direction, which can be the counterclockwise rotation direction of the motor, the lifting shaft assembly rotates counterclockwise around the axis, and the lifting shaft assembly rotates along with the rotating shaft in the second preset direction. During the rotation process, the lifting shaft assembly rises and falls relative to the housing, that is, it can drive the rotating shaft and the cleaning member to rise and fall, thereby obtaining ground clearance for the cleaning member. The lifting and rotating device of the present application can complete the rotation and lifting movements of the cleaning member with one motor. In this way, the overall volume of the lifting and rotating device is smaller, and the manufacturing cost is lower, which is more conducive to the miniaturization design of the cleaning robot.

[0014] In one embodiment, the lifting shaft assembly includes a shaft body coaxially arranged with the rotating shaft and a guide sleeve sleeved on the outside of the shaft body and fixed to the inner wall of the accommodating cavity; the outer wall of the shaft body is provided with a first guide portion, and the guide sleeve is provided with a second guide portion slidingly engaged with the first guide portion, one of the first guide portion and the second guide portion is a slide groove, and the other is a slider, and the extension direction of the slide groove is inclined relative to the axial direction of the shaft body, and the guide sleeve is used to guide the shaft body to move axially along its own axial direction through the cooperation of the first guide portion and the second guide portion when the shaft body rotates around the axis along the second preset direction.

[0015] In one embodiment, the lifting shaft assembly is connected to the rotating shaft through a one-way bearing, and the one-way bearing allows the lifting shaft assembly to be independent of the rotating shaft when the rotating shaft rotates along the first preset direction, and to be linked with the rotating shaft when the rotating shaft rotates along the second preset direction.

[0016] In one embodiment, the slide groove includes a first stop section, a second stop section and a connecting section, the first stop section and the second stop section are spaced apart on the circumferential side wall of the shaft body or the circumferential side wall of the guide sleeve, the connection direction of the first stop section and the second stop section is inclined relative to the axial direction of the shaft body, the connecting section connects the first stop section and the second stop section, the first stop section is used for the slider to stop so that the shaft body remains in the highest preset position, the second stop section is used for the slider to stop so that the shaft body remains in the lowest preset position, and the connecting section is used for the slider to slide and switch between the first stop section and the second stop section.

[0017] In one embodiment, the lifting shaft assembly further includes a reset member, one end of which is connected to the shaft body, and the other end of which is connected to the housing.

[0018] The reset member provides an elastic thrust for the slider to slide from the first stop section to the second stop section along the connecting section. When the slider stops at the first stop section, the reset member generates elastic compression to generate an axial preload force on the shaft body.

[0019] Alternatively, the reset member provides an elastic thrust for the slider to slide from the second stop section to the first stop section along the connecting section. When the slider stops at the second stop section, the reset member generates elastic compression to generate an axial preload force on the shaft body.

[0020] In one embodiment, the lifting and rotating device also includes a detection sensor electrically connected to the motor, and the detection sensor is used to detect whether the shaft body rises to the highest preset position relative to the shell. If so, the motor stops rotating so that the slider stops in the first stop section.

[0021] In one embodiment, the lifting and rotating device also includes a detection sensor electrically connected to the motor, and the detection sensor is used to detect whether the shaft body has dropped to the lowest preset position relative to the shell. If so, the motor stops rotating so that the slider stops in the second stop section.

[0022] In one embodiment, the lifting and rotating device also includes a reduction gear assembly arranged in the accommodating cavity, and the reduction gear assembly includes a first transmission gear connected to the output end of the motor, a final transmission gear sleeved on the lifting shaft assembly, and several intermediate gears for connecting the first transmission gear and the final transmission gear.

[0023] In one embodiment, the lifting and rotating device further includes a cleaning member bracket assembly, and the cleaning room bracket assembly is connected to the rotating shaft.

[0024] In a second aspect, an embodiment of the present application further provides a cleaning robot comprising the above-mentioned lifting and rotating device.

[0025] Beneficial effects of the present invention: The cleaning robot provided by the present invention has the above-mentioned lifting and rotating device, and the overall volume of the cleaning robot is smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 A cross-sectional view of the lifting and rotating device provided by an embodiment of the present invention in a low cleaning position;

[0028] Figure 2 A cross-sectional view of the lifting and rotating device provided by an embodiment of the present invention in a high cleaning position;

[0029] Figure 3 An exploded view of the lifting and rotating device provided in an embodiment of the present invention;

[0030] Figure 4 A front view of the shaft body of the lifting and rotating device provided in an embodiment of the present invention;

[0031] Figure 5 A schematic structural diagram of a shaft body and a guide sleeve of a lifting and rotating device provided in an embodiment of the present invention simulating a lifting process;

[0032] Figure 6 Another structural schematic diagram of the shaft body and guide sleeve of the lifting and rotating device provided in an embodiment of the present invention simulating the lifting process.

[0033] Among them, the reference numerals in the figures are:

[0034] 100. Lifting and rotating device;

[0035] 10. Housing; 10a. Accommodating cavity;

[0036] 20. Motor;

[0037] 30. Lifting and rotating mechanism; 31. Rotating shaft; 32. Lifting shaft assembly; 321. Shaft body; 322. Guide sleeve; 32a. First guide portion; 32b. Second guide portion; 32a1. First stop section; 32a2. Second stop section; 32a3. Connecting section; 323. Resetting member; 3211. Convex edge; 33. One-way bearing;

[0038] 40. Speed reduction assembly; 41. First transmission gear; 42. Final transmission gear; 43. Intermediate gear; 431. First sub-gear; 432. Second sub-gear;

[0039] 50. Cleaning parts bracket assembly. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Please refer to Figure 1 and Figure 2 In the first aspect, the lifting and rotating device 100 of the embodiment of the present application is applied to a cleaning robot to drive a cleaning member to perform lifting motion and axial rotation. The lifting and rotating device 100 includes a housing 10, a motor 20, and a lifting and rotating mechanism 30. The housing 10 is connected to the body of the cleaning robot, serving as a load-bearing and connecting mechanism. The motor 20 is the power source for the lifting and rotating motion of the cleaning member. The lifting and rotating mechanism 30 is used to switch the cleaning member between lifting and rotating motions.

[0045] Specifically, the housing 10 has a housing cavity 10a; the motor 20 is mounted on the housing 10; and the lifting and rotating mechanism 30 is disposed within the housing cavity 10a. The lifting and rotating mechanism 30 includes a rotating shaft 31 and a lifting shaft assembly 32. The rotating shaft 31 is connected to the rotating shaft 31 of the cleaning member. The lifting shaft assembly 32 is coaxially disposed with the rotating shaft 31 and is connected to the rotating shaft 31.

[0046] The torque transmission between the rotating shaft 31 and the lifting shaft assembly 32 is not real-time, and needs to be determined based on the current rotation direction of the output end of the motor 20, as follows:

[0047] When the motor 20 drives the rotating shaft 31 to rotate in a first predetermined direction, which may be a clockwise rotation direction of the motor 20, the rotating shaft 31 and the lifting shaft assembly 32 are independent of each other, and no torque is transmitted between them. That is, the rotating shaft 31 rotates around its axis while the lifting shaft assembly remains stationary. The lifting shaft assembly 32 remains relatively stationary with respect to the housing 10. Then, the rotating shaft 31 drives the cleaning element to rotate, completing a normal cleaning action.

[0048] When the motor 20 drives the rotating shaft 31 to rotate along the second preset direction, here, the second preset direction can be the counterclockwise rotation direction of the motor 20. At this time, the rotating shaft 31 is linked with the lifting shaft assembly 32, and there is torque transmission between the two, that is, the rotating shaft 31 drives the lifting shaft assembly 32 to rotate around the axis along the second preset direction. At the same time, the lifting shaft assembly 32 is lifted and lowered relative to the shell 10 during the rotation process to drive the cleaning part to perform lifting and lowering movements. It is suitable for some scenarios where the cleaning part needs to be lifted, for example, when the cleaning robot encounters a target object that does not need to be cleaned, or when the cleaning robot returns to the base station to clean the cleaning part after completing the cleaning. The second preset direction is opposite to the first preset direction. Of course, the first preset direction can also be the counterclockwise rotation direction of the motor 20. Similarly, the second preset direction is the clockwise rotation direction of the motor 20, which can be determined according to actual usage needs.

[0049] It should be noted that the motor 20 can be a brushed motor or a brushless motor, and can be adjusted according to actual usage requirements.

[0050] The lifting and rotating device 100 provided by the present invention switches the lifting motion mode and the rotating cleaning mode of the cleaning member according to the rotation direction of the rotating shaft 31 driven by the motor 20, so as to determine whether there is torque transmission between the rotating shaft 31 and the lifting shaft assembly 32. Specifically, when the motor 20 drives the rotating shaft 31 to rotate along the first preset direction, here, the first preset direction can be the clockwise rotation direction of the motor 20, driving the rotating shaft 31 to rotate clockwise around the axis, thereby driving the cleaning element to perform a rotational motion to achieve normal cleaning of the ground. At this time, the lifting shaft assembly 32 and the shell 10 remain relatively stationary and do not rotate with the rotating shaft 31, that is, there is no torque transmission between the rotating shaft 31 and the lifting shaft assembly 32; and when the motor 20 drives the rotating shaft 31 to rotate along the second preset direction, here, the second preset direction can be the counterclockwise rotation direction of the motor 20, driving the rotating shaft to rotate counterclockwise around the axis. At this time, the lifting shaft assembly 32 rotates around the axis along the second preset direction with the rotating shaft 31, and during the rotation process, it rises and falls relative to the shell 10, that is, it can drive the rotating shaft 31 and the cleaning element to perform a lifting motion, so that the cleaning element obtains ground clearance. The lifting and rotating device of the present application can complete the rotation and lifting movements of the cleaning member using a motor 20. In this way, the overall volume of the lifting and rotating device is smaller, and the manufacturing cost is lower, which is more conducive to the miniaturization design of the cleaning robot.

[0051] Please refer to Figure 1 、 Figure 2 and Figure 4In one embodiment, the lifting shaft assembly 32 includes a shaft body 321 coaxially arranged with the rotating shaft 31, and a guide sleeve 322 that is sleeved on the outside of the shaft body 321 and fixed to the inner wall of the accommodating cavity 10a. The outer wall of the shaft body 321 is provided with a first guide portion 32a, and the guide sleeve 322 is provided with a second guide portion 32b that slidably engages with the first guide portion 32a.

[0052] Specifically, the first guide portion 32a is a chute, and the second guide portion 32b is a slider. The chute extends in an angled direction relative to the axial direction of the shaft body 321. When the shaft body 321 rotates about its axis in the second predetermined direction, the second guide portion 32b of the guide sleeve 322 cooperates with the first guide portion 32a of the shaft body 321, thereby guiding the shaft body 321 to move axially along its own axial direction. It can be understood that the chute on the shaft body 321 and the slider on the guide sleeve 322 cooperate in a manner similar to a screw structure. Because the slider on the guide sleeve 322 is positioned within the chute, it prevents the shaft body 321 from rotating about its axis along the second predetermined direction with the rotating shaft 31. Furthermore, the chute extends in an angled direction relative to the axial direction of the shaft body 321. Therefore, the shaft body 321, guided by the slider, moves axially along its own axial direction.

[0053] Of course, in other embodiments, the positions of the slider and the slide groove can be swapped, the first guide portion 32a is the slider, and the second guide portion 32b is the slide groove, that is, driven by the rotating shaft 31, the slider rotates around the axis along the second preset direction with the shaft body 321. Similarly, due to the limitation of the slide groove, the slider can only move along the extension direction of the slide groove. Then, the shaft body 321 moves axially along its own axial direction under the guidance of the slide groove.

[0054] It should be noted that the shape type of the chute is not limited here. For example, the chute can be an oblique straight chute opened on the outer wall of the shaft body 321, or the chute can be an oblique straight chute running through the inner and outer walls of the guide sleeve 322; or the chute can be a spiral groove opened on the outer wall of the shaft body 321, or the chute can be a spiral chute running through the inner and outer walls of the guide sleeve 322. At the same time, according to different chute types, the structural form of the slider can also be adjusted. For example, when the chute can be an oblique straight chute opened on the outer wall of the shaft body 321, the slider is a square slider, and its square structure is more adaptable to the groove wall of the oblique straight chute. When the chute can be a spiral chute running through the inner and outer walls of the guide sleeve 322, the slider is a spherical slider, and its arc shape has a smaller contact area with the spiral chute, which can better ensure the smoothness of the shaft body 321's lifting and lowering movement along its own axial direction.

[0055] Please refer to Figure 1 and Figure 2In one embodiment, the lifting shaft assembly 32 is connected to the rotating shaft 31 through a one-way bearing 33. Here, the one-way bearing 33 can be a bearing that can rotate in a single direction.

[0056] Specifically, when the one-way bearing 33 allows the rotating shaft 31 to rotate along the first preset direction, the lifting shaft assembly 32 is independent of the rotating shaft 31. At this time, the lifting shaft assembly 32 and the shell 10 remain relatively stationary, and there is no torque transmission between the lifting shaft assembly 32 and the rotating shaft 31, that is, the motor 20 only drives the rotating shaft 31 to rotate around the axis, and drives the cleaning element to complete the cleaning action.

[0057] When the rotating shaft 31 rotates along the second preset direction, which is opposite to the rotation direction of the one-way rotating shaft 31, at this time, the torque of the rotating shaft 31 is transmitted to the lifting shaft assembly 32 through the one-way bearing 33, that is, the lifting shaft assembly 32 is linked with the rotating shaft 31, and the lifting shaft assembly 32 rotates around the axis relative to the shell 10, and then performs a lifting movement, and finally drives the rotating shaft 31 and the cleaning part to perform a lifting movement together, thereby realizing the obstacle avoidance and other ground-lifting needs of the cleaning part.

[0058] Alternatively, in other embodiments, the rotating shaft 31 is connected to the lifting shaft assembly 32 via a structure similar to a ratchet and ratchet teeth. That is, when the motor 20 drives the rotating shaft 31 to rotate about its axis in a first predetermined direction, there is no interaction force between the ratchet and the ratchet teeth. At this time, the rotating shaft 31 drives the cleaning element to rotate and perform normal cleaning motion, while the lifting shaft assembly 32 remains stationary relative to the housing 10. However, when the motor 20 drives the rotating shaft 31 to rotate about its axis in a second predetermined direction, the ratchet engages with one or more of the ratchet teeth, achieving linkage between the rotating shaft 31 and the lifting shaft assembly 32. That is, torque is transmitted between the two. At this time, when the rotating shaft 31 and the lifting shaft assembly 32 rotate coaxially, the torque is transmitted to the lifting shaft assembly 32. Then, the lifting shaft assembly 32 drives the rotating shaft 31 and the cleaning element to move up and down along its own axial direction. Similarly, obstacle avoidance and other ground clearance requirements of the cleaning element are achieved.

[0059] Specifically, please refer to Figure 1 、 Figure 2 and Figure 4In this embodiment, the chute is an annular chute on the outer wall surrounding the shaft body 321. The annular chute is a closed-loop chute, that is, when the motor 20 drives the rotating shaft 31 to rotate around the axis along the second preset direction, the slider can continuously slide in a closed-loop groove to realize the reciprocating lifting and lowering motion of the shaft body 321 along its own axis, that is, the final rotating shaft 31 and the cleaning member perform reciprocating lifting and lowering motion. It can be understood that the above-mentioned annular chute is not a conventional planar chute. If the chute is unfolded in a plane, the chute presents an up and down undulating pattern. For example, the chute is serrated in the plane unfolded state, or presents a wavy pattern with peaks and troughs. In other embodiments, the chute may not be an annular chute, that is, the chute is a chute on the outer wall partially surrounding the shaft body 321.

[0060] Please refer to Figures 4 to 6 In some embodiments, the slide groove includes a first stop segment 32a1, a second stop segment 32a2 and a connecting segment 32a3. The first stop segment 32a1 and the second stop segment 32a2 are spaced apart on the peripheral side wall of the shaft body 321 or the peripheral side wall of the guide sleeve 322. The connection direction of the first stop segment 32a1 and the second stop segment 32a2 is inclined relative to the axial direction of the shaft body 321. The connecting segment connects the first stop segment 32a1 and the second stop segment 32a2. The first stop segment 32a1 is used for allowing the slider to stop so that the shaft body 321 remains at the highest preset position. The second stop segment 32a2 is used for allowing the slider to stop so that the shaft body 321 remains at the lowest preset position. The connecting segment 32a3 is used for allowing the slider to slide and switch between the first stop segment 32a1 and the second stop segment 32a2.

[0061] like Figure 5As shown, in some embodiments, the chute includes a first stop segment 32a1, a second stop segment 32a2, and two connecting segments 32a3. That is, the first stop segment 32a1 is connected to the second stop segment 32a2 via the two connecting segments 32a3 to form a closed annular chute. The first stop segment 32a1 and the second stop segment 32a2 are respectively provided on opposite outer side walls of the shaft body 321. The two connecting segments 32a3 connect the first stop segment 32a1 and the second stop segment 32a2. The extending directions of the two connecting segments 32a3 are both inclined relative to the axial direction of the shaft body 321. The first stop segment 32a1 is used for the slider to stop so that the shaft body 321 remains at the highest preset position, and the second stop segment 32a2 is used for the slider to stop so that the shaft body 321 remains at the lowest preset position. It is understood that when the motor 20 drives the rotating shaft 31 to rotate about the axis in the second preset direction, the lifting shaft assembly 32 and the rotating shaft 31 rotate coaxially, wherein the shaft body 321 rotates coaxially with the rotating shaft 31, while the guide sleeve 322 is connected to the inner wall of the housing 10 and remains stationary. The second guide portion 32b on the guide sleeve 322, i.e., the slider, slides within the annular groove, and its starting position can be anywhere within the annular groove. For example, when the slider is in the second stop section 32a2, the shaft body 321 is at the lowest preset position. At this time, the ground clearance between the rotating shaft 31 and the cleaning element and the floor to be cleaned is minimized, thereby satisfying the requirement that the rotating shaft 31 drives the cleaning element to rotate to clean the floor. Once the chute slides from the second stop section 32a2 to one of the connecting sections 32a3, the shaft body 321 rises axially, driving the rotating shaft 31 and the cleaning element upward axially. The cleaning element is elevated to achieve ground clearance until the slider slides to the first stop section 32a1. At this point, the shaft body 321 remains in the highest preset position, i.e., the cleaning element is elevated to achieve maximum ground clearance. Therefore, if the motor 20 continuously drives the rotating shaft 31 to rotate about its axis in the second preset direction, the slider will continue to slide within the annular chute. For example, the slider's sliding trajectory may be: second stop section 32a2 - one of the connecting sections 32a3 - first stop section 32a1 - another connecting section 32a3, and so on.

[0062] At the same time, as can be seen from the above, by controlling the output torque of the motor 20 to drive the rotating shaft 31 to rotate around the axis along the second preset direction, the slider can be stopped at any position of the annular sliding groove.

[0063] Preferably, the extension direction of the first stop segment 32a1 and the second stop segment 32a2 are the same as the radial direction of the shaft body 321. It can be understood that the first stop segment 32a1 and the second stop segment 32a2 are similar to platforms, that is, the slider can be parked on the platform more stably. At this time, the output torque of the motor 20 can be zero, thus avoiding the electric motor from always being in an overloaded or in-use state, and effectively extending the life of the motor 20.

[0064] Alternatively, in other embodiments, the chute is an annular chute surrounding the inner wall of the guide sleeve 322. In this case, the first and second stop sections 32a1, 32a2 of the annular chute are respectively provided on opposite inner walls of the guide sleeve 322. In this case, the slider is provided on the shaft body 321, which can also achieve the requirement of lifting the cleaning member off the ground. Of course, to facilitate the processing of the annular chute, the sliding chute extends through the inner and outer walls of the guide sleeve 322.

[0065] For example, when the output torque of the motor 10 is the same, the different inclination angles between the extension direction of the connecting section 32a3 and the axial direction of the shaft body 321 determine the different speeds at which the shaft body 321 is raised and lowered along its own axial direction, that is, the speed at which the cleaning element is lifted off the ground. For example, if the inclination angle between the extension direction of the connecting section 32a3 and the axial direction of the shaft body 321 is smaller, then the speed at which the shaft body 321 is raised and lowered along its own axial direction is slower, which is suitable for raising the cleaning element when the cleaning robot is traveling at a lower speed. Alternatively, for example, if the inclination angle between the extension direction of the connecting section 32a3 and the axial direction of the shaft body 321 is larger, then the speed at which the shaft body 321 is raised and lowered along its own axial direction is faster, which is suitable for raising the cleaning element when the cleaning robot is traveling at a higher speed.

[0066] like Figure 6 As shown, in other embodiments, the chute includes at least two first stop segments 32a1, at least two second stop segments 32a2, and at least four connecting segments 32a3, that is, at least two first stop segments 32a1, at least two second stop segments 32a2, and at least four connecting segments 32a3 to form a closed annular chute. The number of first stop segments 32a1 and the number of second stop segments 32a2 are the same, and can be 2, 3, or 4, etc.; the number of connecting segments 32a3 is the sum of the number of first stop segments 32a1 and the number of second stop segments 32a2; the number of sliders, the number of first stop segments 32a1, and the number of second stop segments 32a2 are the same, that is, at least two sliders are slidably engaged in the chute.

[0067] At least two first stopping sections 32a1 are located in the first preset plane, and at least two first stopping sections 32a1 are evenly distributed in the circumferential direction of the shaft body 321. The first preset plane is perpendicular to the axial direction of the shaft body.

[0068] The at least two second stopping segments 32a2 are located within a second predetermined plane and are evenly distributed along the circumference of the shaft body 321. The second predetermined plane is perpendicular to the axial direction of the shaft body and is spaced apart from the first predetermined plane in the axial direction of the shaft body 321. The projections of the at least two second stopping segments 32a2 onto the first predetermined plane are staggered relative to the at least two first stopping segments 32a1. The projection of each second stopping segment 32a2 onto the first predetermined plane is located between two adjacent first stopping segments 32a1.

[0069] The number of the connecting segments 32a3 is the sum of the number of the first stopping segments 32a1 and the number of the second stopping segments 32a2. Each connecting segment 32a3 connects adjacent first stopping segments 32a1 and second stopping segments 32a2.

[0070] At least two sliders are slidably fitted in the slide grooves. The at least two sliders are evenly distributed in the circumferential direction of the shaft body 321 to provide uniform support for the shaft body 321 and prevent the shaft body 321 from deflecting and getting stuck.

[0071] In one embodiment, in order to avoid the problem that the shaft body 321 is raised or lowered too quickly or too slowly along its own axial direction, thereby affecting the user experience, the tilt angle between the extension direction of the connecting section 32a3 and the axial direction of the shaft body 321 can be changed in sections, that is, the tilt angle between the extension direction of the entire connecting section 32a3 and the axial direction of the shaft body 321 does not remain unchanged.

[0072] For example, the connecting section 32a3 can be divided into multiple segments, wherein the extending direction of the segment near the first stopping section 32a1 is tilted at a smaller angle to the axial direction of the shaft body 321, while the extending direction of the segment near the second stopping section 32a2 is tilted at a larger angle to the axial direction of the shaft body 321. Therefore, when the slider enters the first stopping section 32a1 from the connecting section, the speed at which the shaft body 321 moves to the highest preset position is slower. That is, the cleaning element driven by the shaft body 321 rises more slowly as it reaches its maximum height above the ground, thereby avoiding unnecessary collisions between components. Furthermore, when the slider enters the second stopping section 32a2 from the connecting section 32a3, the speed at which the shaft body 321 moves to the lowest preset position is faster. That is, the cleaning element driven by the shaft body 321 descends more quickly as it reaches its lowest position close to the ground, enabling the cleaning element to quickly switch to cleaning mode and achieve a more responsive action. Of course, according to the usage requirements of other scenarios, the angle between the extension direction of the connecting section 32a3 and the axial direction of the shaft body 321 can first increase and then decrease, or first decrease and then increase, etc.

[0073] Please refer to Figures 1 to 3The lifting shaft assembly 32 further includes a reset member 323 , one end of the reset member 323 is connected to the shaft body 321 , and the other end is connected to the housing 10 .

[0074] The reset member 323 is used to provide an elastic thrust for the slider to slide from the first stop section 32a1 to the second stop section 32a2 along the connecting section 32a3. When the slider stops at the first stop section 32a1, the reset member 323 is elastically compressed to generate an axial preload force on the shaft body 321. It can be understood that the reset member 323 is in a relaxed state in the initial state. When the slider slides from the second stop section 32a2 to the first stop section 32a1, the reset member 323 is gradually compressed until the slider stops at the first stop section 32a1, at which point the reset member 323 generates the maximum elastic compression. In this way, when the slider slides from the first stop section 32a1 to the second stop section 32a2, the motor 20 stops outputting torque, and the elastic potential energy of the reset member 323 provides the driving force for the slider to slide, thereby reducing the loss of the motor 20 and extending the service life of the motor 20.

[0075] Preferably, please refer to Figure 3 The reset member 323 is a spring, and a convex edge is provided on the outer wall of the shaft body 321. One end of the spring abuts against the convex edge, and the other end abuts against the inner wall of the shell 10, and this end is away from the rotating shaft 31.

[0076] It should be noted that the reset member 323 is particularly suitable for the case where the slide groove is not closed, that is, the motor 20 drives the slider to perform a one-way sliding motion along the second stop section 32a2 to the first stop section 32a1, and when the slider slides from the first stop section 32a1 to the second stop section 32a2, the motor 20 is in a stopped state, and the driving force is provided by the reset member 323.

[0077] Alternatively, in other embodiments, the reset member 323 is used to provide an elastic thrust for the slider to slide from the second stop section 32a2 to the first stop section 32a1 along the connecting section 32a3. When the slider stops at the second stop section 32a2, the reset member 323 is elastically compressed to generate an axial preload force on the shaft body 321. Similarly, the reset member 323 is initially in a relaxed state. When the slider slides from the first stop section 32a1 to the second stop section 32a2, the reset member 323 is gradually compressed until the slider stops at the second stop section 32a2, at which point the reset member 323 generates the maximum elastic compression. In this way, when the slider slides from the second stop section 32a2 to the first stop section 32a1, the motor 20 stops outputting torque, and the elastic potential energy of the reset member 323 provides the driving force for the slider to slide, thereby reducing the loss of the motor 20 and extending the service life of the motor 20.

[0078] For example, the reset member 323 is a reset spring, which utilizes the elastic force released by the reset spring to reset the cleaning member. Of course, when the spatial structure allows, the reset member 323 can also be a telescopic cylinder, that is, utilizes its pushing force to reset the cleaning member.

[0079] In one embodiment, the lifting and rotating device 100 also includes a detection sensor electrically connected to the motor 20. Here, the detection sensor can be a touch switch, a Hall sensor, a photoelectric switch, a distance sensor, etc. The detection sensor is used to detect whether the shaft body 321 rises to the highest preset position relative to the shell 10. It can be understood that when the detection sensor is a touch switch or a photoelectric switch, such a detection sensor is set at a position where the central axis of the shaft body 321 extends to the inner wall of the shell 10. Then, when the shaft body 321 moves along its own axial direction toward the inner wall of the shell 10 until one end of the shaft body 321 makes actual contact with the touch switch or the photoelectric switch, the motor 20 is stopped to stop the slider in the first stop section 32a1. At this time, the cleaning member is kept at the maximum height from the ground. Alternatively, when the detection sensor is a Hall sensor or a distance sensor, such detection sensor is arranged at a position where the central axis of the shaft body 321 extends to the inner wall of the shell 10. Then, when the shaft body 321 moves along its own axial direction toward the inner wall of the shell 10 until one end of the shaft body 321 slides to the corresponding position, there is no need for actual contact with the Hall sensor or the distance sensor. Similarly, the motor 20 stops rotating so that the slider stops in the first stop section 32a1.

[0080] In one embodiment, the lifting and rotating device 100 also includes a detection sensor electrically connected to the motor 20. Here, the detection sensor can be a touch switch, a Hall sensor, a photoelectric switch, and a distance sensor. The detection sensor is used to detect whether the shaft body 321 has dropped to the lowest preset position relative to the shell 10. It can be understood that when the detection sensor is a touch switch or a photoelectric switch, such a detection sensor is set at a position where the central axis of the shaft body 321 extends to the inner wall of the shell 10. Then, when the shaft body 321 moves along its own axial direction toward the inner wall of the shell 10 until one end of the shaft body 321 makes actual contact with the touch switch or the photoelectric switch, the motor 20 is stopped to stop the rotation of the slider so that the slider stops in the second stop section 32a2. At this time, the clearance between the cleaning member and the ground is minimized, meeting its cleaning requirements. Alternatively, when the detection sensor is a Hall sensor or a distance sensor, such detection sensor is arranged at a position where the central axis of the shaft body 321 extends to the inner wall of the shell 10. Then, when the shaft body 321 moves along its own axial direction toward the inner wall of the shell 10 until one end of the shaft body 321 slides to the corresponding position, there is no need for actual contact with the Hall sensor or the distance sensor. Similarly, the motor 20 stops rotating so that the slider stops in the second stop section 32a2.

[0081] Preferably, two detection sensors are provided on the inner wall of the housing 10, with the line connecting the two detection sensors parallel to or coinciding with the central axis of the shaft body 321. Thus, when the shaft body 321 rises to its highest preset position relative to the housing 10, one of the detection sensors is triggered, causing the motor 20 to stop rotating and the slider to stop in the first stop section 32a1. When the shaft body 321 descends to its lowest preset position relative to the housing 10, the other detection sensor is triggered, causing the motor 20 to stop rotating and the slider to stop in the second stop section 32a2. This reduces wear and tear on the motor 20 and extends its service life.

[0082] Of course, in other embodiments, only one detection sensor may be provided on the inner wall of the housing 10 , that is, the motor 20 stops rotating only when the shaft body 321 is at the highest preset position or the lowest preset position.

[0083] Please refer to Figures 1 to 3 In one embodiment, the lifting and rotating device 100 further includes a reduction gear assembly 40 disposed within the accommodating cavity 10a. The reduction gear assembly 40 includes a first transmission gear 41 connected to the output end of the motor 2020, a final transmission gear 42 sleeved on the lifting shaft assembly 32, and a plurality of intermediate gears 43 connecting the first transmission gear 41 and the final transmission gear 42. It will be appreciated that the reduction gear assembly 40 is capable of adjusting the output speed of the motor 20 to ensure that the lifting shaft assembly 32, i.e., its rotating shaft 31, achieves a suitable speed.

[0084] Preferably, if Figure 3 As shown, in this embodiment, the number of the intermediate gear 43 is one, and the intermediate gear 43 includes a first sub-gear 431 for meshing and connecting with the first transmission gear 41 and a second sub-gear 432 for meshing and connecting with the final transmission gear 42, wherein the first sub-gear 431 and the second sub-gear 432 are coaxially arranged, and, in order to meet the requirements of the lifting and lowering of the rotating shaft 31, the height of the second sub-gear 432 is greater than the axial lifting and lowering stroke of the rotating shaft 31 to ensure that the second sub-gear 432 is always meshed with the final transmission gear 42.

[0085] Of course, in the embodiment, in order to obtain other transmission ratio parameters, the number of the intermediate gears 43 can be increased.

[0086] Please refer to Figure 1 and Figure 2 In one embodiment, the lifting and rotating device 100 further includes a cleaning member support assembly 50, which is connected to the rotating shaft 31. It can be understood that the cleaning member support assembly 50 is used to fix the cleaning member, which is usually a soft mop or sponge.

[0087] In a second aspect, an embodiment of the present application further provides a cleaning robot comprising the above-mentioned lifting and rotating device 100 .

[0088] The cleaning robot provided by the present invention, when equipped with the above-mentioned lifting and rotating device 100, has a smaller overall size. The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A lifting and rotating device, used in a cleaning robot to drive a cleaning member to perform lifting and rotating movements around an axis, characterized in that: include: A housing having a housing cavity; a motor, wherein the motor is arranged on the housing; A lifting and rotating mechanism, the lifting and rotating mechanism being arranged in the accommodating cavity, the lifting and rotating mechanism comprising a rotating shaft for connecting to the cleaning member and a lifting shaft assembly coaxially arranged with the rotating shaft, the motor driving the rotating shaft to rotate around the axis, and the lifting shaft assembly being connected to the rotating shaft; When the motor drives the rotating shaft to rotate along a first preset direction, the lifting shaft assembly is independent of the rotating shaft, the lifting shaft assembly and the housing remain relatively stationary, and the rotating shaft drives the cleaning element to rotate; When the motor drives the rotating shaft to rotate along the second preset direction, the lifting shaft assembly is linked with the rotating shaft, and the rotating shaft drives the lifting shaft assembly to rotate around the axis along the second preset direction. At the same time, the lifting shaft assembly is lifted and lowered relative to the shell during the rotation process to drive the rotating shaft and the cleaning member to perform lifting and lowering movements. The second preset direction is opposite to the first preset direction.

2. The lifting and rotating device according to claim 1, characterized in that: The lifting shaft assembly includes a shaft body coaxially arranged with the rotating shaft and a guide sleeve sleeved on the outside of the shaft body and fixed to the inner wall of the accommodating cavity; the outer wall of the shaft body is provided with a first guide portion, and the guide sleeve is provided with a second guide portion slidingly matched with the first guide portion, one of the first guide portion and the second guide portion is a slide groove, and the other is a slider, and the extension direction of the slide groove is inclined relative to the axial direction of the shaft body, and the guide sleeve is used to guide the shaft body to move axially along its own axial direction through the cooperation of the first guide portion and the second guide portion when the shaft body rotates around the axis along the second preset direction.

3. The lifting and rotating device according to claim 1, characterized in that: The lifting shaft assembly is connected to the rotating shaft through a one-way bearing. The one-way bearing allows the lifting shaft assembly to be independent of the rotating shaft when the rotating shaft rotates along the first preset direction, and to be linked to the rotating shaft when the rotating shaft rotates along the second preset direction.

4. The lifting and rotating device according to claim 2, characterized in that: The slide groove includes a first stop section, a second stop section and a connecting section. The first stop section and the second stop section are spaced apart on the peripheral side wall of the shaft body or the peripheral side wall of the guide sleeve. The connecting direction of the first stop section and the second stop section is inclined relative to the axial direction of the shaft body. The connecting section connects the first stop section and the second stop section. The first stop section is used for the slider to stop so that the shaft body is kept at the highest preset position. The second stop section is used for the slider to stop so that the shaft body is kept at the lowest preset position. The connecting section is used for the slider to slide and switch between the first stop section and the second stop section.

5. The lifting and rotating device according to claim 4, characterized in that: The lifting shaft assembly further includes a reset member, one end of which is connected to the shaft body and the other end is connected to the housing. The reset member provides an elastic thrust for the slider to slide from the first stop section to the second stop section along the connecting section. When the slider stops at the first stop section, the reset member generates elastic compression to generate an axial preload force on the shaft body. Alternatively, the reset member provides an elastic thrust for the slider to slide from the second stop section to the first stop section along the connecting section. When the slider stops at the second stop section, the reset member generates elastic compression to generate an axial preload force on the shaft body.

6. The lifting and rotating device according to claim 4, characterized in that: The lifting and rotating device also includes a detection sensor electrically connected to the motor, and the detection sensor is used to detect whether the shaft body rises to the highest preset position relative to the shell. If so, the motor stops rotating to allow the slider to stop in the first stopping section.

7. The lifting and rotating device according to claim 4, characterized in that: The lifting and rotating device also includes a detection sensor electrically connected to the motor, and the detection sensor is used to detect whether the shaft body has dropped to the lowest preset position relative to the shell. If so, the motor is stopped to allow the slider to stop in the second stopping section.

8. The lifting and rotating device according to any one of claims 1 to 7, characterized in that: The lifting and rotating device also includes a reduction gear assembly arranged in the accommodating cavity, and the reduction gear assembly includes a first transmission gear connected to the output end of the motor, a final transmission gear sleeved on the lifting shaft assembly, and a plurality of intermediate gears for connecting the first transmission gear and the final transmission gear.

9. The lifting and rotating device according to any one of claims 1 to 7, characterized in that: The lifting and rotating device further comprises a cleaning member support assembly, and the cleaning member support assembly is connected to the rotating shaft.

10. A cleaning robot, characterized in that: It comprises the lifting and rotating device according to any one of claims 1 to 9.

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