Roller lifting and translation mechanism for sweeping robot

Abstract

The roller lifting and translation mechanism for the sweeping robot comprises a box body, a lifting driving mechanism and a translation driving mechanism are arranged in the box body, a roller support is arranged outside the box body, and a roller is rotationally arranged in the roller support; the lifting driving mechanism and the translation driving mechanism are respectively connected with the roller bracket, the lifting driving mechanism can drive the roller bracket to lift up and down, and the translation driving mechanism can drive the roller bracket to horizontally translate, so that the roller can be lifted and translated; the lifting driving mechanism is in transmission connection with the translation driving mechanism, and bidirectional clutch mechanisms are arranged in the lifting driving mechanism and the translation driving mechanism respectively. The device is reasonable in structural design, two mechanisms with different movement directions and different movement distances are controlled through one motor at the same time, and therefore lifting and translation of the roller are controlled through one motor.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting and translating mechanisms, and in particular to a roller lifting and translating mechanism for a sweeping robot. Background Art

[0002] A sweeping robot can greatly improve the convenience of people's lives. However, if the drum of a current sweeping robot wants to perform up and down lifting and horizontal translation movements, it generally requires two motors to control them separately.

[0003] However, how to use one motor to simultaneously control two mechanisms with different movement directions and distances, so as to realize the lifting and translation of the drum controlled by one motor, and thus realize the compactness and simplicity of the sweeping robot, is a technical problem that needs to be solved. Summary of the invention

[0004] The object of the present invention is to provide a roller lifting and translation mechanism for a sweeping robot, so as to realize the lifting and translation of the roller controlled by a motor, thereby realizing a compact and simple sweeping robot.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides a roller lifting and translation mechanism for a sweeping robot, including a box body, a lifting drive mechanism and a translation drive mechanism are arranged inside the box body, a roller bracket is arranged outside the box body, a roller is rotatably arranged inside the roller bracket, the lifting drive mechanism and the translation drive mechanism are respectively connected to the roller bracket, the lifting drive mechanism can drive the roller bracket to lift up and down, and the translation drive mechanism can drive the roller bracket to translate horizontally, so that the roller can be lifted and translated; the lifting drive mechanism and the translation drive mechanism are transmission-connected so that the lifting drive mechanism and the translation drive mechanism can be driven by the same motor, and two-way clutch mechanisms are respectively arranged inside the lifting drive mechanism and the translation drive mechanism, and the two-way clutch mechanism of the lifting drive mechanism can produce an overtaking phenomenon, and the two-way clutch mechanism of the translation drive mechanism can produce an overtaking phenomenon, so that the lifting distance of the roller bracket driven by the lifting drive mechanism and the translation distance of the roller bracket driven by the translation drive mechanism can have a difference in size.

[0006] Furthermore, the lifting drive mechanism is connected to the roller bracket by a pull rope, and the lifting drive mechanism can realize the lifting and lowering of the roller bracket by retracting and releasing the pull rope; the translation drive mechanism is connected to the roller bracket by a pull rope or a rack, and the translation drive mechanism can realize the translation of the roller bracket by retracting and releasing the pull rope or translating the rack.

[0007] As a preferred embodiment, the lifting drive mechanism includes a vertically extending input shaft and a first screw rod, a first gear is fixed on the input shaft, a first screw rod nut and a second gear are connected to the first screw rod; the first gear is meshed with the second gear, and a two-way clutch mechanism is provided between the second gear and the first screw rod nut or the first screw rod, so that the rotation of the second gear can drive the lifting and lowering of the first screw rod or the first screw rod nut, and the first screw rod or the first screw rod nut is connected to the roller bracket by a pull rope.

[0008] As a preferred embodiment, the first screw nut passes through the middle part of the second gear, and the two-way clutch mechanism is provided between the first screw nut and the second gear. The second gear can drive the first screw nut to rotate through the two-way clutch mechanism, and the rotation of the first screw nut can drive the lifting and lowering of the first screw. The first screw is connected to the roller bracket by a pull rope, and the lifting and lowering of the first screw can realize the retraction and extension of the pull rope; first extreme position blocks are respectively provided on the upper and lower parts of the first screw, and when the first screw hits the first extreme position block during the lifting process, the two-way clutch mechanism between the first screw nut and the second gear can produce an overrunning phenomenon, so that the second gear and the first screw nut can rotate relative to each other.

[0009] As another preferred embodiment, the first screw nut is located below the second gear, and the two-way clutch mechanism is provided between the first screw and the second gear. The second gear can drive the first screw to rotate through the two-way clutch mechanism, and the rotation of the first screw can drive the lifting and lowering of the first screw nut. The first screw nut is connected to the roller bracket by a pull rope, and the lifting and lowering of the first screw nut can realize the retraction and release of the pull rope; when the first screw nut encounters resistance during the lifting process, the two-way clutch mechanism between the first screw and the second gear can produce an overrunning phenomenon, so that the second gear and the first screw can rotate relative to each other.

[0010] Furthermore, the side wall of the first screw rod or the first screw rod nut is provided with a vertically extending first limit slide groove, and the interior of the box body is provided with a first limit slide column, and the first limit slide column and the first limit slide groove are slidably cooperated up and down to limit the rotation of the first screw rod or the first screw rod nut; a lifting spring is provided between the roller bracket and the box body or the shell of the sweeping robot, and the pull rope of the first screw rod or the first screw rod nut can pull the roller bracket up, and the lifting spring can drive the roller bracket to descend and reset; a plurality of guide wheels or guide holes or guide grooves are provided between the roller bracket and the lifting drive mechanism, and the pull rope of the first screw rod or the first screw rod nut is wound around a plurality of the guide wheels or guide holes or guide grooves.

[0011] As a preferred embodiment: the translation drive mechanism includes a third gear, the third gear is connected to the input shaft, the third gear is located below the first gear, and a two-way clutch mechanism is provided between the third gear and the input shaft; a first rope winding wheel is provided at the bottom of the third gear, and the first rope winding wheel is connected to the drum bracket through a pull rope, and the rotation of the input shaft can drive the rotation of the third gear through the two-way clutch mechanism, and the third gear can drive the rotation of the first rope winding wheel, and the rotation of the first rope winding wheel can realize the retraction and release of the pull rope; when the third gear encounters resistance during rotation, the two-way clutch mechanism between the third gear and the input shaft can produce an overrunning phenomenon, so that the third gear and the input shaft can rotate relative to each other.

[0012] Furthermore, the translation drive mechanism also includes a sliding gear, which is meshed with the third gear. A second screw nut is provided in the middle of the sliding gear, and a second screw rod extending vertically is connected to the second screw nut. The sliding gear can drive the second screw nut to rotate, and the rotation of the second screw nut can drive the lifting and lowering of the second screw rod; second extreme position blocks are respectively provided above and below the second screw rod. When the second screw rod hits the second extreme position block during the lifting process, the two-way clutch mechanism between the third gear and the input shaft can produce an overrunning phenomenon, so that the third gear and the input shaft can rotate relative to each other.

[0013] Furthermore, a second limiting slide groove extending vertically is provided on the side wall of the second screw rod, and a second limiting slide column is provided inside the box body, and the second limiting slide column slides up and down with the second limiting slide groove to limit the rotation of the second screw rod; an anti-loosening spring is provided above the third gear, and the anti-loosening spring is sleeved on the second screw rod to increase the rotation damping of the third gear.

[0014] Furthermore, a translation spring is provided between one side of the drum bracket and the shell of the sweeping robot, and the translation spring can drive the drum bracket to translate and reset; a plurality of guide wheels or guide holes or guide grooves are provided between the drum bracket and the translation drive mechanism, and the pull rope of the first rope winding wheel is wound around the plurality of guide wheels or guide holes or guide grooves.

[0015] As another preferred embodiment: the translation drive mechanism includes a fourth gear, the fourth gear is fixedly connected to the input shaft, the fourth gear is located below the first gear, a two-way clutch mechanism is provided between the fourth gear and the input shaft, the input shaft can drive the fourth gear to rotate through the two-way clutch mechanism, the fourth gear is meshed with the rack, the rotation of the fourth gear can drive the rack to translate; the rack is connected to the roller bracket, the rack can drive the roller bracket to translate, third extreme position blocks are respectively provided on both sides of the rack, when the rack hits the third extreme position block during the translation process, the two-way clutch mechanism between the fourth gear and the input shaft can produce an overrunning phenomenon, so that the fourth gear and the input shaft can rotate relative to each other.

[0016] As another preferred embodiment: the lifting drive mechanism and the translation drive mechanism are respectively rotating shafts extending vertically, and the rotating shafts are provided with a fifth gear and a second rope winding wheel distributed from top to bottom, and the fifth gears of the two rotating shafts are meshed so that the two rotating shafts can be driven by the same motor; the second rope winding wheel is provided with two rope winding grooves distributed along the upper and lower sides, and the two rope winding grooves of one rotating shaft are respectively connected to the drum bracket by pull ropes to realize the lifting and lowering of the drum bracket, and the two rope winding grooves of the other rotating shaft are respectively connected to the drum bracket by pull ropes to realize the translation of the drum bracket; a two-way clutch mechanism is provided between the second rope winding wheel and the rotating shaft, and when the second rope winding wheel encounters resistance during rotation, the two-way clutch mechanism between the second rope winding wheel and the rotating shaft can produce an overrunning phenomenon, so that the second rope winding wheel and the rotating shaft can rotate relative to each other.

[0017] Furthermore, the bidirectional clutch mechanism includes a "3"-shaped clutch groove and a clutch column arranged in the clutch groove. The clutch column can be squeezed from one side of the clutch groove to the other side through friction force to form an overtaking phenomenon.

[0018] In summary, the technical solution of the present invention has the following beneficial effects: the structural design of the present invention is reasonable, (1) by including a box body, a lifting drive mechanism and a translation drive mechanism are arranged inside the box body, a roller bracket is arranged outside the box body, a roller is rotatably arranged inside the roller bracket, the lifting drive mechanism and the translation drive mechanism are respectively connected to the roller bracket, the lifting drive mechanism can drive the roller bracket to move up and down, and the translation drive mechanism can drive the roller bracket to move horizontally, so that the roller can be lifted and translated; thus, the box body can be set on the sweeping robot, and the lifting drive mechanism and the translation drive mechanism of the box body can be used to realize the lifting and translation of the roller. (2) Through the transmission connection between the lifting drive mechanism and the translation drive mechanism, the lifting drive mechanism and the translation drive mechanism can be driven by the same motor; thus, the lifting drive mechanism and the translation drive mechanism can be controlled by one motor at the same time, so that one motor can control the lifting and translation of the roller, thereby realizing the compactness and simplicity of the sweeping robot. (3) A two-way clutch mechanism is provided inside the lifting drive mechanism and the translation drive mechanism respectively. The two-way clutch mechanism of the lifting drive mechanism can produce an overrunning phenomenon, and the two-way clutch mechanism of the translation drive mechanism can produce an overrunning phenomenon, so that the lifting distance of the roller bracket driven by the lifting drive mechanism and the translation distance of the roller bracket driven by the translation drive mechanism can be different in size; therefore, when the lifting movement distance and the translation movement distance required by the roller are different (for example, the lifting movement distance is smaller than the translation movement distance, at this time the lifting drive mechanism does not need to continue the lifting movement, while the translation drive mechanism needs to continue the translation movement), the two-way clutch mechanism of the lifting drive mechanism can be used to produce an overrunning phenomenon, so that the transmission connection between the lifting drive mechanism and the motor is temporarily disconnected, and the two-way clutch mechanism of the translation drive mechanism does not produce an overrunning phenomenon at this time, so the transmission connection between the lifting drive mechanism and the motor is maintained, so the translation drive mechanism can complete the required translation movement distance. When the direction of the motor changes (for example, from forward to reverse), since the two-way clutch mechanism works in both directions, the lifting and translation of the drum can be realized and reset can be realized in the same way as the above working principle; and the two-way clutch mechanism of the translation drive mechanism can also be used when the lifting distance is greater than the translation distance. From the above analysis, it can be seen that the present invention can control two mechanisms with different movement directions and different movement distances by one motor at the same time, thereby realizing that one motor controls the lifting and translation of the drum, and further realizing the compactness and simplicity of the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of a lifting drive mechanism of embodiment 1 of the present invention;

[0020] Figure 2 is a schematic structural diagram of a translation drive mechanism according to Embodiment 1 of the present invention;

[0021] Figure 3 is a schematic diagram of the three-dimensional structure of embodiment 1 of the present invention;

[0022] Figure 4 is another schematic diagram of the three-dimensional structure of embodiment 1 of the present invention;

[0023] Figure 5 is a schematic diagram of the three-dimensional structure of the upper part of the box body of Example 1 of the present invention;

[0024] Figure 6 is a schematic diagram of the three-dimensional structure of embodiment 1 of the present invention without the upper part of the box body;

[0025] Figure 7 is another three-dimensional structural schematic diagram of embodiment 1 of the present invention without the upper part of the box body;

[0026] Figure 8 is a schematic diagram of the three-dimensional structure of the bidirectional clutch mechanism of Example 1 of the present invention;

[0027] Fig. 9 It is a schematic diagram of the three-dimensional structure of the limiting sliding groove and the limiting sliding column of Example 1 of the present invention;

[0028] Fig.10 is a schematic diagram of the three-dimensional structure of embodiment 2 of the present invention;

[0029] Fig.11 is a schematic structural diagram of a lifting drive mechanism of embodiment 3 of the present invention;

[0030] Fig.12 is a schematic structural diagram of a translation drive mechanism according to Embodiment 3 of the present invention;

[0031] Fig.13 is a schematic structural diagram of a bidirectional clutch mechanism according to Embodiment 3 of the present invention;

[0032] Fig.14 is a schematic diagram of the three-dimensional structure of embodiment 4 of the present invention;

[0033] Fig.15 is another schematic diagram of the three-dimensional structure of embodiment 4 of the present invention;

[0034] Fig.16 is a schematic diagram of the three-dimensional structure of embodiment 4 of the present invention without the box body;

[0035] Fig.17 is another three-dimensional structural schematic diagram of embodiment 4 of the present invention without the box body;

[0036] Fig.18 is a schematic diagram of the three-dimensional structure of a bidirectional clutch mechanism according to Embodiment 4 of the present invention;

[0037] Explanation of the reference numerals: 1-box, 2-lifting drive mechanism, 3-translation drive mechanism, 4-roller bracket, 5-roller, 6-bidirectional clutch mechanism, 7-pull rope, 8-rack, 9-lifting spring, 10-translation spring, 11-guide wheel, 12-motor, 13-rotating shaft.

[0038] 201-input shaft, 202-first screw, 203-first gear, 204-first screw nut, 205-second gear, 206-first limit position block, 207-first limiting slide groove, 208-first limiting slide column; 301-third gear, 302-first rope winding wheel, 303-sliding gear, 304-second screw nut, 305-second screw, 306-second limit position block, 307-second limiting slide groove, 308-second limiting slide column, 309-anti-loosening spring; 310-fourth gear, 311-third limit position block; 601-clutch groove, 602-clutch column; 1301-fifth gear, 1302-second rope winding wheel, 1303-rope winding groove. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention, but this does not constitute a limitation on the protection scope of the present invention.

[0040] In the present invention, for a clearer description, the following explanation is made: the observer faces the attached Figure 1 Observation is performed, the observer's upper side is set as upper, and the observer's lower side is set as lower. It should be noted that the terms "front end", "rear end", "left side", "right side", "middle", "upper side", "lower side" and the like in the text indicate directions or positional relationships based on directions or positional relationships set in the accompanying drawings, which are only for the convenience of clearly describing the present invention, and do not indicate or imply that the structure or component referred to must have a specific direction or be constructed in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are only used for the purpose of clarifying or simplifying the description, and cannot be understood as indicating or implying relative importance or quantity.

[0041] See also Figures 1 to 18The present embodiment provides a roller lifting and translation mechanism for a sweeping robot, comprising a box body 1, wherein a lifting drive mechanism 2 and a translation drive mechanism 3 are arranged inside the box body 1, and a roller bracket 4 is arranged outside the box body 1 (preferably, a roller bracket 4 is arranged below the box body 1, and of course other positions with the same function are also acceptable), a roller 5 is rotatably arranged inside the roller bracket 4, and the lifting drive mechanism 2 and the translation drive mechanism 3 are respectively connected to the roller bracket 4, the lifting drive mechanism 2 can drive the roller bracket 4 to lift up and down, and the translation drive mechanism 3 can drive the roller bracket 4 to move horizontally The lifting drive mechanism 2 and the translation drive mechanism 3 are connected by transmission so that the lifting drive mechanism 2 and the translation drive mechanism 3 can be driven by the same motor 12. The lifting drive mechanism 2 and the translation drive mechanism 3 are respectively provided with a two-way clutch mechanism 6. The two-way clutch mechanism 6 of the lifting drive mechanism 2 can produce an overtaking phenomenon, and the two-way clutch mechanism 6 of the translation drive mechanism 3 can produce an overtaking phenomenon, so that the lifting distance of the roller bracket 4 driven by the lifting drive mechanism 2 and the translation distance of the roller bracket 4 driven by the translation drive mechanism 3 can have a difference in size. Function: (1) By including a box body, the box body is provided with a lifting drive mechanism and a translation drive mechanism inside, the box body is provided with a roller bracket outside, and the roller is rotatably arranged inside the roller bracket, the lifting drive mechanism and the translation drive mechanism are respectively connected to the roller bracket, the lifting drive mechanism can drive the roller bracket to move up and down, and the translation drive mechanism can drive the roller bracket to move horizontally, so that the roller can be lifted and translated; thus, a box body can be set on the sweeping robot, and the lifting drive mechanism and the translation drive mechanism of the box body can be used to realize the lifting and translation of the roller. (2) The lifting drive mechanism and the translation drive mechanism are connected by a transmission so that the lifting drive mechanism and the translation drive mechanism can be driven by the same motor; thus, the lifting drive mechanism and the translation drive mechanism can be controlled by one motor at the same time, and the lifting and translation of the drum can be controlled by one motor, thereby realizing a compact and simple sweeping robot. (3) A two-way clutch mechanism is provided inside the lifting drive mechanism and the translation drive mechanism respectively. The two-way clutch mechanism of the lifting drive mechanism can produce an overrunning phenomenon, and the two-way clutch mechanism of the translation drive mechanism can produce an overrunning phenomenon, so that the lifting distance of the roller bracket driven by the lifting drive mechanism and the translation distance of the roller bracket driven by the translation drive mechanism can be different in size; therefore, when the lifting movement distance and the translation movement distance required by the roller are different (for example, the lifting movement distance is smaller than the translation movement distance, at this time the lifting drive mechanism does not need to continue the lifting movement, while the translation drive mechanism needs to continue the translation movement), the two-way clutch mechanism of the lifting drive mechanism can be used to produce an overrunning phenomenon, so that the transmission connection between the lifting drive mechanism and the motor is temporarily disconnected, and the two-way clutch mechanism of the translation drive mechanism does not produce an overrunning phenomenon at this time, so the transmission connection between the lifting drive mechanism and the motor is maintained, so the translation drive mechanism can complete the required translation movement distance.When the direction of the motor changes (for example, from forward to reverse), since the two-way clutch mechanism works in both directions, the lifting and translation of the drum can be realized and reset can be realized in the same way as the above working principle; and the two-way clutch mechanism of the translation drive mechanism can also be used when the lifting distance is greater than the translation distance. From the above analysis, it can be seen that the present invention can control two mechanisms with different movement directions and different movement distances by one motor at the same time, thereby realizing that one motor controls the lifting and translation of the drum, and further realizing the compactness and simplicity of the sweeping robot.

[0042] The lifting drive mechanism and translation drive mechanism of embodiments 1, 2, 3, and 4 can be found in Figure 1 / 2 / 11 / 12: The lifting drive mechanism 2 is connected to the roller bracket 4 through the pull rope 7, and the lifting drive mechanism 2 can realize the lifting and lowering of the roller bracket 4 by retracting and releasing the pull rope 7; the translation drive mechanism 3 is connected to the roller bracket 4 through the pull rope 7 or the rack 8, and the translation drive mechanism 3 can realize the translation of the roller bracket 4 by retracting and releasing the pull rope 7 or the translation of the rack 8. Function: The lifting drive mechanism 2 can drive the roller bracket 4 and the roller to move up and down only by retracting and releasing the pull rope, which is very flexible and convenient; and the translation drive mechanism 3 can drive the roller bracket 4 and the roller to move left and right only by retracting and releasing the pull rope or driving the rack 8 to translate horizontally, which is very flexible and convenient, and also facilitates the specific structural design and coordination of the lifting drive mechanism 2 and the translation drive mechanism 3.

[0043] The lifting drive mechanism of embodiments 1, 2, and 3 can be found in Figure 1 / 10: The lifting drive mechanism 2 includes a vertically extending input shaft 201 and a first screw rod 202, a first gear 203 is fixed on the input shaft 201, and the first screw rod 202 is connected to a first screw rod nut 204 and a second gear 205; the first gear 203 is meshed with the second gear 205, and a two-way clutch mechanism 6 is provided between the second gear 205 and the first screw rod nut 204 or the first screw rod 202, so that the rotation of the second gear 205 can drive the first screw rod 202 or the first screw rod nut 204 to rise and fall, and the first screw rod 202 or the first screw rod nut 204 is connected to the roller bracket 4 by a pull rope 7. Function: The input shaft 201 is driven by the motor, and then the input shaft 201 is used to drive the rotation of the first gear 203 and the second gear 205 in turn, and then the connection and cooperation of the two-way clutch mechanism 6 is used to drive the first screw nut 204 or the first screw 202 to rotate, so that the first screw nut 204 or the first screw nut 204 can be driven to rise and fall by the rotation of the first screw nut 204 or the first screw nut 202, and finally the first screw 202 or the first screw nut 204 drives the pull rope 7 to be retracted and released. With such a design, the lifting and lowering accuracy of the drum can be controlled to be high. Reminder: the input shaft 201, the first gear 203, and the second gear 205 only rotate relative to the box body and do not move up and down.

[0044] The lifting drive mechanism of Example 1 can be found in Figure 1: The first screw nut 204 passes through the middle part of the second gear 205, and a two-way clutch mechanism 6 is provided between the first screw nut 204 and the second gear 205. The second gear 205 can drive the first screw nut 204 to rotate through the two-way clutch mechanism 6. The rotation of the first screw nut 204 can drive the lifting and lowering of the first screw 202. The first screw 202 is connected to the roller bracket 4 by a pull rope 7. The lifting and lowering of the first screw 202 can realize the retraction and release of the pull rope 7; the first limit position blocks 206 are respectively provided on the upper and lower parts of the first screw 202. When the first screw 202 hits the first limit position block 206 during the lifting process, the two-way clutch mechanism 6 between the first screw nut 204 and the second gear 205 can produce an overrunning phenomenon, so that the second gear 205 and the first screw nut 204 can rotate relative to each other. Function: The input shaft 201 is driven by the motor, and then the input shaft 201 is used to drive the rotation of the first gear 203 and the second gear 205 in turn, and then the connection and cooperation of the two-way clutch mechanism 6 is used to drive the first screw nut 204 to rotate, so that the first screw 202 can be driven to rise and fall by the rotation of the first screw nut 204, and finally the first screw 202 is used to drive the pull rope 7 to be retracted. Among them, when the two-way clutch mechanism 6 between the first screw nut 204 and the second gear 205 should produce the overtaking phenomenon during the lifting process, so as to avoid affecting the continued translation while completing the lifting distance is a difficult point. Therefore, after careful design, the present invention is provided with a first limit position block 206 on the upper and lower sides of the first screw 202, so that when the first screw 202 hits the first limit position block 206 during the lifting process, because the first screw 202 is blocked from continuing to rise or fall, the first screw nut 204 will not be able to continue to rotate at this time, but the second gear 205 needs to continue to rotate, so that the overtaking phenomenon of the two-way clutch mechanism 6 in the positive and negative directions can be accurately completed. Regarding Example 1, it is reminded as follows: the first screw nut 204 only rotates relative to the box body and does not move up and down, and the first screw 202 only moves up and down relative to the box body and does not rotate.

[0045] The lifting drive mechanism of Example 2 can be found in Fig.10: The first screw nut 204 is located below the second gear 205, and a two-way clutch mechanism 6 is provided between the first screw 202 and the second gear 205. The second gear 205 can drive the first screw 202 to rotate through the two-way clutch mechanism 6, and the rotation of the first screw 202 can drive the lifting and lowering of the first screw nut 204. The first screw nut 204 is connected to the roller bracket 4 through a pull rope 7, and the lifting and lowering of the first screw nut 204 can realize the retraction and release of the pull rope 7; when the first screw nut 204 encounters resistance during the lifting process, the two-way clutch mechanism 6 between the first screw 202 and the second gear 205 can produce an overtaking phenomenon, so that the second gear 205 and the first screw 202 can rotate relative to each other. Function: The input shaft 201 is driven by the motor, and then the input shaft 201 is used to drive the rotation of the first gear 203 and the second gear 205 in turn, and then the connection and cooperation of the two-way clutch mechanism 6 are used to drive the first screw rod 202 to rotate, so that the first screw rod nut 204 can be driven to rise and fall by the rotation of the first screw rod 202, and finally the first screw rod nut 204 is used to drive the pull rope 7 to be retracted. Similar to Example 1, extreme position blocks can be respectively provided on the upper and lower sides of the first screw rod nut 204 (of course, a damping device can also be provided to provide damping when in place), so that the first screw rod nut 204 is blocked from continuing to rise or fall during the lifting process, and at this time the first screw rod 202 will not be able to continue to rotate, but the second gear 205 needs to continue to rotate, so that the overtaking phenomenon of the forward and reverse directions of the two-way clutch mechanism 6 can be accurately completed. Regarding Example 2, the following reminders are given: the first screw rod 202 only rotates relative to the box body and does not move up and down, while the first screw rod nut 204 only moves up and down relative to the box body and does not rotate. That is, Example 1 is just the opposite of Example 2.

[0046] The lifting drive mechanism of embodiments 1 and 2 can be found in Figure 7-10: A first limiting slide groove 207 extending vertically is provided on the side wall of the first screw rod 202 or the first screw rod nut 204, and a first limiting slide column 208 is provided inside the box body 1. The first limiting slide column 208 and the first limiting slide groove 207 slide up and down to limit the rotation of the first screw rod 202 or the first screw rod nut 204; a lifting spring 9 is provided between the drum bracket 4 and the box body 1 or the shell of the sweeping robot, and the pull rope 7 of the first screw rod 202 or the first screw rod nut 204 can pull the drum bracket 4 up, and the lifting spring 9 can drive the drum bracket 4 to descend and reset; a plurality of guide wheels 11 or guide holes or guide grooves are provided between the drum bracket 4 and the lifting drive mechanism 2, and the pull rope 7 of the first screw rod 202 or the first screw rod nut 204 is wound around a plurality of guide wheels 11 or guide holes or guide grooves. Function: The first limit slide 208 and a limit slide groove 207 slide up and down to ensure that the first screw 202 or the first screw nut 204 can only perform up and down lifting actions and cannot rotate, thereby achieving the timely occurrence of the overtaking phenomenon. The setting of the lifting spring 9 can conveniently use the pull rope 7 of the first screw 202 or the first screw nut 204 to pull the roller bracket 4 up, and then use the lifting spring 9 to push the roller bracket 4 down and reset, avoiding relying solely on gravity to fall; the setting of the guide wheel 11 or the guide hole or the guide groove can cleverly cooperate with the pull rope to guide the direction of the pull rope. Reminder: The setting of the lifting spring 9 can be set at the corresponding position as long as it can achieve the up and down reset of the roller bracket. The guide wheel can also be replaced with a winding wheel or a retracting wheel according to actual needs.

[0047] The translation drive mechanism of Example 1 can be found in Figure 1 , 2: The translation driving mechanism 3 includes a third gear 301, which is connected to the input shaft 201. The third gear 301 is located below the first gear 203, and a two-way clutch mechanism 6 is provided between the third gear 301 and the input shaft 201; a first rope winding wheel 302 is provided at the bottom of the third gear 301, and the first rope winding wheel 302 is connected to the drum bracket 4 through a pull rope 7. The rotation of the input shaft 201 can drive the rotation of the third gear 301 through the two-way clutch mechanism 6, and the third gear 301 can drive the rotation of the first rope winding wheel 302, and the rotation of the first rope winding wheel 302 can realize the retraction and release of the pull rope 7; when the third gear 301 encounters resistance during rotation, the two-way clutch mechanism 6 between the third gear 301 and the input shaft 201 can produce an overrunning phenomenon, so that the third gear 301 and the input shaft 201 can rotate relative to each other. Function: The input shaft 201 rotates, and then the input shaft 201 drives the third gear 301 through the connection and cooperation of the two-way clutch mechanism 6, and the third gear 301 then drives the first rope winding wheel 302 to rotate and the pull rope 7 to be retracted and released. By limiting the rotation of the third gear 301 (such as encountering resistance after a certain number of turns), since the third gear 301 no longer rotates, while the input shaft 201 continues to rotate, the two-way clutch mechanism 6 between the third gear 301 and the input shaft 201 can accurately produce the overtaking phenomenon. Regarding Example 1, the following reminders are made: the third gear 301 and the first rope winding wheel 302 only rotate relative to the box body and do not move up and down.

[0048] The translation drive mechanism of Example 1 can be found in Figure 1 / 2: The translation drive mechanism 3 also includes a sliding gear 303, which is meshed with the third gear 301. A second screw nut 304 is provided in the middle of the sliding gear 303. A second screw nut 304 extending vertically is connected to the second screw nut 304. The sliding gear 303 can drive the second screw nut 304 to rotate, and the rotation of the second screw nut 304 can drive the second screw 305 to rise and fall. Second extreme position blocks 306 are respectively provided above and below the second screw 305. When the second screw 305 hits the second extreme position block 306 during the lifting process, the two-way clutch mechanism 6 between the third gear 301 and the input shaft 201 can produce an overrunning phenomenon, so that the third gear 301 and the input shaft 201 can rotate relative to each other. Function: The sliding gear 303 is driven to rotate by the third gear 301, and then the second screw nut 304 is driven to rotate by the connection and cooperation of the two-way clutch mechanism 6, so that the second screw nut 304 can be driven to rise and fall. Among them, when the second screw 305 encounters the second limit position block 306 during the lifting process, the second screw 305 is blocked from continuing to rise or fall. At this time, the second screw nut 304, the sliding gear 303, and the third gear 301 no longer rotate, while the input shaft 201 continues to rotate, so that the two-way clutch mechanism 6 between the third gear 301 and the input shaft 201 can accurately produce the overtaking phenomenon. Regarding Example 1, the following reminders are given: the sliding gear 303 and the second screw nut 304 only rotate relative to the box body and do not move up and down, and the second screw 305 only moves up and down relative to the box body and does not rotate.

[0049] The translation drive mechanism of Example 1 can be found in Figure 6 :The side wall of the second screw rod 305 is provided with a second limiting slide groove 307 extending vertically, and the interior of the box body 1 is provided with a second limiting slide column 308, which slides up and down with the second limiting slide groove 307 to limit the rotation of the second screw rod 305; an anti-loosening spring 309 is provided above the third gear 301, and the anti-loosening spring 309 is sleeved on the second screw rod 305 to increase the rotation damping of the third gear 301. Function: The second limiting slide column 308 slides up and down with the second limiting slide groove 307 to ensure that the second screw rod 305 can only perform up and down lifting actions but cannot rotate, thereby achieving the timely generation of the overtaking phenomenon. The setting of the anti-loosening spring 309 can increase the rotation damping of the third gear 301 (because the anti-loosening spring 309 presses down the second screw rod nut 304 or the sliding gear 303, and then affects the third gear 301), to prevent the gravity of the drum bracket and the drum from pulling the pull rope down carefully, thereby improving stability. Regarding Example 1, the following reminder is given: the top of the anti-loosening spring 309 can be matched with the inner top of the box body 1 to achieve compression of the anti-loosening spring 309. Of course, other matching positions are also possible.

[0050] The translation drive mechanism of Example 1 can be found in Figure 2 : A translation spring 10 is provided between one side of the drum bracket 4 and the shell of the sweeping robot, and the translation spring 10 can drive the drum bracket 4 to translate and reset; a plurality of guide wheels 11 or guide holes or guide grooves are provided between the drum bracket 4 and the translation drive mechanism 3, and the pull rope 7 of the first rope winding wheel 302 is wound around the plurality of guide wheels 11 or guide holes or guide grooves. Function: The setting of the translation spring 10 enables the drum bracket 4 to automatically reset with the drum when the pull rope is loosened. The guide wheel 11 can guide the direction of the pull rope 7. Regarding Example 1, the following reminders are given: The setting of the translation spring 10 can be set at the corresponding position as long as it can achieve the horizontal reset of the drum bracket. The guide wheel can also be replaced with a winding wheel or a retractable wheel according to actual needs.

[0051] The translation drive mechanism of Example 3 can be found in Fig.11 , 12 : The translation drive mechanism 3 includes a fourth gear 310, which is fixedly connected to the input shaft 201. The fourth gear 310 is located below the first gear 203. A two-way clutch mechanism 6 is provided between the fourth gear 310 and the input shaft 201. The input shaft 201 can drive the fourth gear 310 to rotate through the two-way clutch mechanism 6. The fourth gear 310 is meshed with the rack 8. The rotation of the fourth gear 310 can drive the rack 8 to translate; the rack 8 is connected to the roller bracket 4. The rack 8 can drive the roller bracket 4 to translate. Third limit position blocks 311 are provided on both sides of the rack 8. When the rack 8 hits the third limit position block 311 during the translation process, the two-way clutch mechanism 6 between the fourth gear 310 and the input shaft 201 can produce an overrunning phenomenon, so that the fourth gear 310 and the input shaft 201 can rotate relative to each other. Function: Driven by the input shaft 201, the input shaft 201 drives the fourth gear 310 to rotate through the connection and cooperation of the two-way clutch mechanism 6, and then the rotation of the fourth gear 310 drives the rack 8 to translate, and when the rack 8 hits the third limit position block 311, the fourth gear 310 cannot continue to rotate, while the input shaft 201 continues to rotate, and at this time the two-way clutch mechanism 6 achieves the overtaking phenomenon. Regarding Example 3, the following reminders are given: the fourth gear 310 only rotates relative to the housing and does not move up and down, while the rack 8 only moves horizontally relative to the housing and does not move up and down.

[0052] The translation drive mechanism of Example 4 can be found in Fig.16 / 17: The lifting drive mechanism 2 and the translation drive mechanism 3 are respectively a rotating shaft 13 extending vertically, on which a fifth gear 1301 and a second rope winding wheel 1302 are arranged from top to bottom, and the fifth gears 1301 of the two rotating shafts 13 are meshed so that the two rotating shafts 13 can be driven by the same motor 12; the second rope winding wheel 1302 is provided with two rope winding grooves 1303 distributed up and down, wherein the two rope winding grooves 1303 of one rotating shaft 13 are respectively connected to the drum bracket 4 through the pull rope 7 to realize the lifting and lowering of the drum bracket 4, and the two rope winding grooves 1303 of the other rotating shaft 13 are respectively connected to the drum bracket 4 through the pull rope 7 to realize the translation of the drum bracket 4; a two-way clutch mechanism 6 is arranged between the second rope winding wheel 1302 and the rotating shaft 13, and when the second rope winding wheel 1302 encounters resistance during rotation, the two-way clutch mechanism 6 between the second rope winding wheel 1302 and the rotating shaft 13 can produce an overrunning phenomenon, so that the second rope winding wheel 1302 and the rotating shaft 13 can rotate relative to each other. Function: With such a configuration, the rotating shaft 13 of either the lifting drive mechanism 2 or the translation drive mechanism 3 can be a driving shaft. Then, the rotating shaft 13 drives the second rope winding wheel 1302 to rotate using the two-way clutch mechanism 6. One of the rope winding grooves 1303 on the second rope winding wheel 1302 is responsible for lowering the pull rope, and the other rope winding groove 1303 is responsible for tightening the pull rope, thereby also realizing lifting and lowering and left and right movement. When the lifting distance and the translation distance are different, the two-way clutch mechanism 6 between the second rope winding wheel 1302 and the rotating shaft 13 will produce an overtaking phenomenon, thereby realizing the lifting and translation of the drum at different distances. Regarding Example 4, the following reminders are given: the rotating shaft 13, the fifth gear 1301, and the second rope winding wheel 1302 only rotate the box body and do not move up and down.

[0053] The two-way clutch mechanism of embodiments 1, 2, 3, and 4 can be found in Figure 8:The two-way clutch mechanism 6 includes a clutch groove 601 in the shape of a "3" and a clutch column 602 arranged in the clutch groove 601. The clutch column 602 can squeeze from one side of the clutch groove 601 into the other side through the friction force, forming an overtaking phenomenon. Function: With such a configuration, when the two-way clutch mechanism 6 is located between two mechanisms, the two-way clutch mechanism 6 is taken as an example between the first screw nut 204 and the second gear 205: when the second gear 205 rotates forward, due to the existence of friction, the clutch column 602 will squeeze and fit toward the middle of the clutch groove 601, thereby making the first screw nut 204 and the second gear 205 relatively fixed, and when the first screw nut 204 cannot rotate, the friction force of the clutch column 602 increases, and then squeezes from the left notch of the clutch groove 601 into the right notch, forming an overtaking phenomenon (because the width of the two side grooves is greater than the clutch column 602, the clutch column 602 does not have a connection and fit effect at this time). When the second gear 205 reverses, due to the existence of friction, the clutch column 602 will be squeezed into the middle of the clutch groove 601 again, thereby fixing the first screw nut 204 and the second gear 205 relatively. When the first screw nut 204 cannot rotate, the friction of the clutch column 602 increases (because the static friction force is converted into dynamic friction force), and then it squeezes from the right notch of the clutch groove 601 back into the left notch, forming an overtaking phenomenon (because the width of the grooves on both sides is greater than that of the clutch column 602, the clutch column 602 does not have a connecting and fitting effect at this time).

[0054] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A roller lifting and translation mechanism for a sweeping robot, comprising a box (1), characterized in that: The box (1) is provided with a lifting drive mechanism (2) and a translation drive mechanism (3) inside, and a roller bracket (4) is provided outside the box (1). A roller (5) is rotatably arranged inside the roller bracket (4). The lifting drive mechanism (2) and the translation drive mechanism (3) are respectively connected to the roller bracket (4). The lifting drive mechanism (2) can drive the roller bracket (4) to move up and down, and the translation drive mechanism (3) can drive the roller bracket (4) to move horizontally, so that the roller (5) can be lifted and lowered and translated. The lifting drive mechanism (2) and the translation drive mechanism (3) are connected to each other. ) are connected by transmission so that the lifting drive mechanism (2) and the translation drive mechanism (3) can be driven by the same motor (12); the lifting drive mechanism (2) and the translation drive mechanism (3) are respectively provided with a two-way clutch mechanism (6); the two-way clutch mechanism (6) of the lifting drive mechanism (2) can produce an overrunning phenomenon; the two-way clutch mechanism (6) of the translation drive mechanism (3) can produce an overrunning phenomenon, so that the lifting distance of the roller support (4) driven by the lifting drive mechanism (2) and the translation distance of the roller support (4) driven by the translation drive mechanism (3) can have a difference in size.

2. According to claim 1, the roller lifting and translation mechanism for a sweeping robot is characterized by: The lifting drive mechanism (2) is connected to the roller bracket (4) via a pull rope (7), and the lifting drive mechanism (2) can achieve the lifting and lowering of the roller bracket (4) by retracting and extending the pull rope (7); the translation drive mechanism (3) is connected to the roller bracket (4) via a pull rope (7) or a rack (8), and the translation drive mechanism (3) can achieve the translation of the roller bracket (4) by retracting and extending the pull rope (7) or the translation of the rack (8).

3. According to claim 2, the roller lifting and translation mechanism for a sweeping robot is characterized in that: The lifting drive mechanism (2) comprises a vertically extending input shaft (201) and a first screw rod (202); a first gear (203) is fixed on the input shaft (201); a first screw rod nut (204) and a second gear (205) are connected to the first screw rod (202); the first gear (203) is meshed with the second gear (205); a two-way clutch mechanism (6) is provided between the second gear (205) and the first screw rod nut (204) or the first screw rod (202), so that the rotation of the second gear (205) can drive the first screw rod (202) or the first screw rod nut (204) to be lifted or lowered; the first screw rod (202) or the first screw rod nut (204) is connected to the roller bracket (4) via a pull rope (7).

4. The roller lifting and translation mechanism for a sweeping robot according to claim 3, characterized in that: The first screw nut (204) passes through the middle of the second gear (205); the bidirectional clutch mechanism (6) is provided between the first screw nut (204) and the second gear (205); the second gear (205) can drive the first screw nut (204) to rotate through the bidirectional clutch mechanism (6); the rotation of the first screw nut (204) can drive the first screw (202) to rise and fall; the first screw (202) is connected to the roller bracket (4) via a pull rope (7). The lifting and lowering of the first screw rod (202) can realize the retraction and extension of the pull rope (7); the first limit position blocks (206) are respectively provided above and below the first screw rod (202); when the first screw rod (202) hits the first limit position blocks (206) during the lifting and lowering process, the two-way clutch mechanism (6) between the first screw rod nut (204) and the second gear (205) can produce an overrunning phenomenon, so that the second gear (205) and the first screw rod nut (204) can rotate relative to each other.

5. According to claim 3, the roller lifting and translation mechanism for a sweeping robot is characterized in that: The first screw nut (204) is located below the second gear (205); the bidirectional clutch mechanism (6) is provided between the first screw (202) and the second gear (205); the second gear (205) can drive the first screw (202) to rotate through the bidirectional clutch mechanism (6); the rotation of the first screw (202) can drive the first screw nut (204) to rise and fall; the first screw nut (204) is connected to the roller bracket (4) through a pull rope (7); the lifting and lowering of the first screw nut (204) can realize the retraction and extension of the pull rope (7); when the first screw nut (204) encounters resistance during the lifting and lowering process, the bidirectional clutch mechanism (6) between the first screw (202) and the second gear (205) can produce an overrunning phenomenon, so that the second gear (205) and the first screw (202) can rotate relative to each other.

6. The roller lifting and translation mechanism for a sweeping robot according to claim 3, characterized in that: A first limiting slide groove (207) extending vertically is provided on the side wall of the first screw rod (202) or the first screw rod nut (204); a first limiting slide column (208) is provided inside the box body (1); the first limiting slide column (208) and the first limiting slide groove (207) slide up and down to limit the rotation of the first screw rod (202) or the first screw rod nut (204); a lifting spring (9) is provided between the roller bracket (4) and the box body (1) or the shell of the sweeping robot. The pull rope (7) of the first screw rod (202) or the first screw rod nut (204) can pull the roller bracket (4) to rise, and the lifting spring (9) can drive the roller bracket (4) to descend and reset; a plurality of guide wheels (11) or guide holes or guide grooves are provided between the roller bracket (4) and the lifting drive mechanism (2), and the pull rope (7) of the first screw rod (202) or the first screw rod nut (204) is wound around the plurality of guide wheels (11) or guide holes or guide grooves.

7. The roller lifting and translation mechanism for a sweeping robot according to any one of claims 3 to 6, characterized in that: The translation driving mechanism (3) comprises a third gear (301), the third gear (301) is connected to the input shaft (201), the third gear (301) is located below the first gear (203), a two-way clutch mechanism (6) is provided between the third gear (301) and the input shaft (201); a first rope winding wheel (302) is provided at the bottom of the third gear (301), the first rope winding wheel (302) is connected to the roller bracket (4) via a pull rope (7), and the rotation of the input shaft (201) The bidirectional clutch mechanism (6) can drive the third gear (301) to rotate, and the third gear (301) can drive the first rope winding wheel (302) to rotate, and the rotation of the first rope winding wheel (302) can realize the retraction and release of the pull rope (7); when the third gear (301) encounters resistance during the rotation process, the bidirectional clutch mechanism (6) between the third gear (301) and the input shaft (201) can produce an overrunning phenomenon, so that the third gear (301) and the input shaft (201) can rotate relative to each other.

8. The roller lifting and translation mechanism for a sweeping robot according to claim 7, characterized in that: The translation drive mechanism (3) further comprises a sliding gear (303), wherein the sliding gear (303) is meshed with the third gear (301), a second screw nut (304) is provided in the middle of the sliding gear (303), a second screw nut (304) is connected to the second screw nut (304) extending vertically, the sliding gear (303) can drive the second screw nut (304) to rotate, and the rotation of the second screw nut (304) can drive the second screw (305) to rise and fall; second limit position blocks (306) are provided above and below the second screw (305), respectively, and when the second screw (305) hits the second limit position block (306) during the lifting process, the two-way clutch mechanism (6) between the third gear (301) and the input shaft (201) can produce an overrunning phenomenon, so that the third gear (301) and the input shaft (201) can rotate relative to each other.

9. The roller lifting and translation mechanism for a sweeping robot according to claim 8, characterized in that: A second limiting slide groove (307) extending vertically is provided on the side wall of the second screw rod (305), and a second limiting slide column (308) is provided inside the box body (1). The second limiting slide column (308) and the second limiting slide groove (307) slide up and down to cooperate to limit the rotation of the second screw rod (305); an anti-loosening spring (309) is provided above the third gear (301), and the anti-loosening spring (309) is sleeved on the second screw rod (305) to increase the rotation damping of the third gear (301).

10. The roller lifting and translation mechanism for a sweeping robot according to claim 7, characterized in that: A translation spring (10) is provided between one side of the roller bracket (4) and the shell of the sweeping robot, and the translation spring (10) can drive the roller bracket (4) to translate and reset; a plurality of guide wheels (11) or guide holes or guide grooves are provided between the roller bracket (4) and the translation drive mechanism (3), and the pull rope (7) of the first rope winding wheel (302) is wound around the plurality of guide wheels (11) or guide holes or guide grooves.

11. The roller lifting and translation mechanism for a sweeping robot according to any one of claims 3 to 6, characterized in that: The translation driving mechanism (3) comprises a fourth gear (310), the fourth gear (310) being fixedly connected to the input shaft (201), the fourth gear (310) being located below the first gear (203), a two-way clutch mechanism (6) being provided between the fourth gear (310) and the input shaft (201), the input shaft (201) being able to drive the fourth gear (310) to rotate via the two-way clutch mechanism (6), the fourth gear (310) being meshed with the rack (8), the fourth gear (310) being arranged on the first gear (203) and the second gear (310) being arranged on the second gear (310). The rotation can drive the rack (8) to translate; the rack (8) is connected to the roller bracket (4), and the rack (8) can drive the roller bracket (4) to translate; third limit position blocks (311) are respectively provided on both sides of the rack (8); when the rack (8) hits the third limit position blocks (311) during the translation process, the two-way clutch mechanism (6) between the fourth gear (310) and the input shaft (201) can produce an overrunning phenomenon, so that the fourth gear (310) and the input shaft (201) can rotate relative to each other.

12. The roller lifting and translation mechanism for a sweeping robot according to claim 2, characterized in that: The lifting drive mechanism (2) and the translation drive mechanism (3) are respectively vertically extending rotating shafts (13), and the rotating shafts (13) are provided with a fifth gear (1301) and a second rope winding wheel (1302) distributed from top to bottom. The fifth gears (1301) of the two rotating shafts (13) are meshed so that the two rotating shafts (13) can be driven by the same motor (12); the second rope winding wheel (1302) is provided with two rope winding grooves (1303) distributed along the upper and lower sides, and the two rope winding grooves (1303) of one of the rotating shafts (13) are respectively connected to the roller bracket (4) through a pull rope (7). In order to realize the lifting and lowering of the drum bracket (4), the two rope winding grooves (1303) of the other rotating shaft (13) are respectively connected to the drum bracket (4) through pull ropes (7) to realize the translation of the drum bracket (4); a two-way clutch mechanism (6) is provided between the second rope winding wheel (1302) and the rotating shaft (13); when the second rope winding wheel (1302) encounters resistance during the rotation process, the two-way clutch mechanism (6) between the second rope winding wheel (1302) and the rotating shaft (13) can produce an overrunning phenomenon, so that the second rope winding wheel (1302) and the rotating shaft (13) can rotate relative to each other.

13. A roller lifting and translation mechanism for a sweeping robot according to any one of claims 1 to 6, 8 to 10, and 12, characterized in that: The bidirectional clutch mechanism (6) comprises a clutch groove (601) in the shape of a letter "3" and a clutch column (602) arranged in the clutch groove (601). The clutch column (602) can be squeezed from one side of the clutch groove (601) into the other side through the action of friction force, thereby forming an overrunning phenomenon.

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