Lifting mechanism and self-moving robot with same
By setting up a lifting mechanism between the shell and the roller of the self-moving robot, the problem that the cleaning robot cannot overcome obstacles is solved, and the robot can move stably on the cleaning path and full-scene coverage are achieved.
Patent Information
- Application Number
- CN202311054839.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-21
- Publication Date
- 2025-02-28
AI Technical Summary
Existing cleaning robots cannot cross themselves when encountering obstacles such as steps, resulting in blockage of movement and being unable to cover and clean the entire scene.
A lifting mechanism is designed to achieve a stable rise or fall of the roller by providing a connecting assembly and a driving assembly between the housing and the roller, thereby enabling the self-moving robot to overcome obstacles.
It realizes that the self-mobile robot can cross by itself when encountering obstacles, ensuring the integrity of the cleaning path and the convenience of the user.
Smart Images
Figure CN119523359A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of self-propelled robots, and in particular to a lifting mechanism and a self-propelled robot having the lifting mechanism. Background Art
[0002] A cleaning robot is an automated device used to clean dust, dirt and debris from floor surfaces to reduce people's housework burden. However, when existing cleaning robots encounter obstacles on their cleaning paths, they are unable to cross the obstacles on their own, thus hindering their movement. For example, when a self-propelled robot encounters steps on its motion path, it will face difficulty in crossing the obstacles, and may even need to use auxiliary equipment such as climbing boards to solve the problem of step obstacles, resulting in the inability to cover all scenarios for home cleaning, which has brought inconvenience to the majority of users. Summary of the invention
[0003] Multiple aspects of the present application provide a lifting mechanism and a self-moving robot having the lifting mechanism, which solves one or more of the above-mentioned problems by arranging the lifting mechanism between the shell and the roller to maintain the stability of the roller during the rising or falling process.
[0004] The embodiment of the present application provides a self-moving robot, including a main machine and a lifting mechanism. The main machine includes a shell and a roller. The lifting mechanism includes a linkage assembly and a driving assembly, the linkage assembly is connected between the shell and the roller, and includes an active member and a driven member, the active member has a transmission shaft and a swing arm with the same axial direction, the swing arm is arranged on the outer peripheral surface of the transmission shaft, one side of the driven member is pivotally connected to the swing arm, and the other side is connected to the roller, the driving assembly is connected to the transmission shaft, and is used to drive the transmission shaft to rotate, so that the swing arm swings accordingly, and drives the driven member to move to an ascending position or a descending position, wherein the driven member pulls the roller close to the shell in the ascending position, and pushes the roller away from the shell in the descending position.
[0005] In some embodiments, the follower includes a main body and a first extension arm and a second extension arm respectively connected to opposite sides of the main body, the first extension arm is pivotally connected to the swing arm, the second extension arm is connected to the roller, the main body is close to the transmission shaft in the ascending position, and is separated from the transmission shaft in the descending position.
[0006] In some embodiments, the first extension arm and the second extension arm are respectively connected to the main body at an angle, and an avoidance zone is enclosed between the main body, the first extension arm and the second extension arm. When the follower is located in the ascending position, the transmission shaft is accommodated in the avoidance zone, and when the follower is located in the descending position, the transmission shaft is located outside the avoidance zone and overlaps with the avoidance zone in the projection direction of the avoidance zone.
[0007] In some embodiments, the lifting mechanism also includes a sleeve, and a first shaft portion is provided at one end of the first extension arm, and a second shaft portion is provided at one end of the second extension arm, the first shaft portion is pivotally connected to the swing arm, the second shaft portion is pivotally pulled in the sleeve, and the roller is connected to the bottom of the sleeve, wherein the follower pulls the sleeve around the active member in the ascending position, and pushes the sleeve to move downward relative to the active member and expose the active member in the descending position.
[0008] In some embodiments, the outer circumferential surface of the transmission shaft is further provided with a groove, and the groove is located on one side of the swing arm. The first shaft portion is pivotally connected to the swing arm and is at least partially accommodated in the groove.
[0009] In some embodiments, the linkage assembly also includes a rotating shaft, and a limiting groove and a positioning groove are also provided on the outer circumferential surface of the transmission shaft, which are respectively located on two opposite sides of the swing arm. The head end of the rotating shaft is accommodated in the positioning groove, and the tail end passes through the first shaft portion and the swing arm, and is accommodated in the limiting groove.
[0010] In some embodiments, on the vertical axis, the swing arm has a rotation angle of 0° to 180° relative to the transmission shaft, at 0°, the swing arm pulls the follower to move to the ascending position, and at 180°, the swing arm pushes the follower to move to the descending position, and in the ascending position and the descending position, the transmission shaft, the swing arm, the first shaft portion and the second shaft portion are located on the vertical axis.
[0011] In some embodiments, the lifting mechanism also includes a sleeve fixed on the shell, the transmission shaft is pivoted to the top of the sleeve, and the sleeve is slidably arranged in the sleeve from the bottom of the sleeve, wherein a stop portion is provided on one side of the sleeve connected to the roller, the outer diameter of the stop portion is larger than the inner diameter of the sleeve, and when the follower moves to the rising position, it abuts against the bottom of the sleeve.
[0012] In some embodiments, a mounting portion and a pivot groove are respectively disposed on opposite sides of the sliding sleeve, and an axial hole is disposed on the mounting portion and a limiting member is disposed on the pivot groove. The driving assembly is fixed on the mounting portion, one end of the transmission shaft is passed through the axial hole and is connected to the driving assembly, and the other end is pivotally disposed in the pivot groove, and the limiting member can detachably close the pivot groove to limit the other end in the pivot groove.
[0013] In some embodiments, the self-moving robot also includes a sensing device and a control unit, which are respectively arranged in the shell, and the sensing device is used to detect obstacles on the movement path of the host, and send a trigger signal when the obstacle is detected, and send a reset signal when passing the obstacle. The control unit is electrically connected to the driving component and the sensing device, respectively, to drive the driving component to rotate the rotating shaft according to the reset signal and the trigger signal, and drive the follower to move to the rising position and the falling position through the swing arm, so that the roller rises and falls relative to the shell.
[0014] The embodiment of the present application also provides a self-moving robot, including a main machine and a lifting mechanism. The main machine includes a shell and a roller. The lifting mechanism includes a linkage assembly and a driving assembly, the linkage assembly is connected between the shell and the roller, and includes an active member and a driven member, the active member has a transmission shaft and a swing arm, the swing arm is arranged on the outer peripheral surface of the transmission shaft, one side of the driven member is pivotally connected to the active member, and the other side is connected to the roller, the driving assembly is connected to the transmission shaft, and is used to drive the transmission shaft to rotate, so that the swing arm swings accordingly, and drives the driven member to move to an ascending position or a descending position, wherein the driven member pulls the roller close to the shell in the ascending position, and pushes the roller away from the shell in the descending position.
[0015] The embodiment of the present application also provides a lifting mechanism suitable for driving the roller to rise or fall, and the lifting mechanism includes a linkage assembly and a driving assembly. The linkage assembly includes an active member and a driven member, and the active member has a transmission shaft and a swing arm with the same axial direction, and the swing arm is arranged on the outer peripheral surface of the transmission shaft, and one side of the driven member is pivotally connected to the swing arm, and the other side is connected to the roller. The driving assembly is connected to the transmission shaft to drive the transmission shaft to rotate, so that the swing arm swings accordingly, and drives the driven member to move to an ascending position or a descending position, wherein the driven member pulls the roller to move toward the transmission shaft in the ascending position, and pushes the roller to move away from the transmission shaft in the descending position.
[0016] In an embodiment of the present application, the main machine includes a housing and a roller, and the lifting mechanism includes a linkage assembly and a drive assembly. The active member has a transmission shaft and a swing arm, and one side of the driven member is pivotally connected to the swing arm, and the other side is connected to the roller. The drive assembly is used to drive the transmission shaft to rotate so that the swing arm swings, and drive the driven member to move to an ascending position or a descending position, thereby pulling the roller to rise relative to the housing, or pushing the roller to descend relative to the housing. Among them, the driven member can be, but is not limited to, directly arranged between the housing and the roller, or in an embodiment where the lifting mechanism includes a sleeve, pivotally connected to the sleeve.
[0017] In addition, the self-propelled robot also includes a sensing device and a control unit. The sensing device is used to detect obstacles on the motion path of the host, and sends a trigger signal when an obstacle is detected, and sends a reset signal when the obstacle is passed. The control unit is used to drive the driving component to rotate the transmission shaft according to the reset signal and the trigger signal, and drive the follower to move to the rising position and the falling position through the swing arm, so that the roller can rise and fall relative to the shell, and the host can be lifted by descending to cross the obstacle, and after passing the obstacle, it rises relative to the shell, so that the host descends and resets. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
[0019] Figure 1 This is an exploded view of the self-moving robot according to an embodiment of the present application.
[0020] Figure 2 This is an exploded view of the linkage assembly of an embodiment of the present application.
[0021] Figure 3 It is a partial cross-sectional view of the lifting mechanism of the embodiment of the present application in the lowered position.
[0022] Figure 4 It is a partial cross-sectional view of the lifting mechanism of the embodiment of the present application in the raised position.
[0023] Figure 5 It is a schematic diagram of the lifting mechanism of the embodiment of the present application during the descending process.
[0024] Figure 6 This is a schematic diagram of the lifting mechanism of an embodiment of the present application in a raised position.
[0025] Figure 7 Schematic diagram of the lifting height of the roller according to an embodiment of the present application.
[0026] Figure 8 4 is a system block diagram of a self-moving robot according to an embodiment of the present application.
[0027] Fig. 9 This is a flowchart of the obstacle surmounting of the self-moving robot according to an embodiment of the present application. DETAILED DESCRIPTION
[0028] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.
[0029] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
[0030] See also Figures 1 to 9 The self-propelled robot 1 provided in the embodiment of the present application is a sweeping robot or a sweeping and mopping multifunctional machine, which is used to remove dust, dirt and debris on the ground. The self-propelled robot 1 includes a main body 100 and a lifting mechanism 200, wherein the main body 100 includes a shell 101 and a roller 102. In the figure of this embodiment, it is mainly used to show the lifting relationship between the lifting mechanism 200 and the roller 102, and to lift the front end of the base of the main body 100, so the bottom of the shell 101 is shown, and other parts are omitted.
[0031] Among them, a control unit 310 is arranged in the housing 101, and a walking mechanism is arranged at the bottom of the host 100. The control unit 310 can actively or passively execute one or more cleaning modes through built-in operation instructions or receive operation signals from the outside, and the corresponding driving walking mechanism and lifting mechanism 200 work. The roller 102 can be but is not limited to a universal wheel, which can allow the host 100 to flexibly turn during the working process. Whether it is straight driving or turning operation, the host 100 can easily control the direction to ensure smooth walking on the cleaning path.
[0032] The lifting mechanism 200 includes a linkage assembly 40 and a driving assembly 50. The linkage assembly 40 is connected between the housing 101 and the roller 102, and includes an active member 41 and a driven member 42. The active member 41 has a transmission shaft 411 and a swing arm 412 in the same axial direction. The transmission shaft 411 and the swing arm 412 can be, but are not limited to, an integral structure, and the swing arm 412 is arranged on the outer peripheral surface of the transmission shaft 411, so that the axes of the swing arm 412 and the transmission shaft 411 are parallel to each other. One side of the driven member 42 is pivotally connected to the swing arm 412, and the other side is connected to the roller 102.
[0033] The driving assembly 50 may be, but is not limited to, a rotary motor, and is connected to the transmission shaft 411 to generate a rotary power to drive the transmission shaft 411 to rotate. When the driving assembly 50 drives the transmission shaft 411 to rotate, the transmission shaft 411 drives the swing arm 412 to generate a corresponding swing, and drives the driven member 42 to move to the rising position P1 or the falling position P2 according to the direction of the swing. It can be understood that, through the linkage design of the active member 41 and the driven member 42, the rotary power of the driving assembly 50 can be converted into the lifting movement of the roller 102. When the driven member 42 moves to the rising position P1, the roller 102 can be pulled close to the housing 101 to achieve the rising movement (that is, the displacement in the direction of the transmission shaft 411), and when the driven member 42 moves to the falling position P2, the roller 102 can be pushed away from the housing 101 to achieve the falling movement (that is, the displacement in the direction away from the transmission shaft 411).
[0034] In some embodiments of the present application, the follower 42 includes a body 421, a first extension arm 422, and a second extension arm 423. The body 421, the first extension arm 422, and the second extension arm 423 may be, but are not limited to, an integral structure, the first extension arm 422 and the second extension arm 423 are respectively connected to two opposite sides of the body 421, and the first extension arm 422 is pivotally connected to the swing arm 412, and the second extension arm 423 is connected to the roller 102. When the active member 41 drives the follower 42 to move to the rising position P1, the body 421 can be close to the transmission shaft 411, and when the active member 41 drives the follower 42 to move to the descending position P2, the body 421 moves downward and is separated from the transmission shaft 411.
[0035] In some embodiments, the first extension arm 422 and the second extension arm 423 are connected to the opposite ends of the body 421 in an inclined manner on the same side of the body 421, so that the body 421, the first extension arm 422 and the second extension arm 423 form an escape zone 424. When the driven follower 42 is at the rising position P1, the transmission shaft 411 is received in the escape zone 424, so that the body 421 is close to the transmission shaft 411. At this time, the driven member 42 and the active member 41 form a folded state in parallel (such as Figure 4When the driven member 42 is at the descending position P2, the main body 421 moves downward and separates from the transmission shaft 411, so that the transmission shaft 411 is located outside the avoidance area 424 and overlaps with the avoidance area 424 in the projection direction of the avoidance area 424. At this time, the pivoting positions of the driving member 41 and the driven member 42 are connected in a straight line on the vertical axis L, forming an unfolded state connected up and down (as shown in FIG. Figure 3 shown).
[0036] In addition, in some embodiments of the present application, the lifting mechanism 200 further includes a sleeve 60. In this embodiment, a first shaft portion 4221 is provided at one end of the first extension arm 422 away from the body 421, a second shaft portion 4231 is provided at one end of the second extension arm 423 away from the body 421, the first shaft portion 4221 is pivotally connected to the swing arm 412, the second shaft portion 4231 is pivotally connected to the sleeve 60, and the roller 102 is connected to the bottom of the sleeve 60. It can be understood that the connection between the second extension arm 423 and the roller 102 is achieved by the provision of the sleeve 60 in this embodiment. When the driven member 42 is in the rising position P1, the second extension arm 423 can pull the sleeve 60 to rise relative to the active member 41 and surround the active member 41. When the driven member 42 is in the descending position P2, the second extension arm 423 can push the sleeve 60 to move downward relative to the active member 41 to expose the active member 41. It is understandable that in other embodiments of the present application, the first shaft portion 4221 may also be directly connected to the roller 102, and the shaft sleeve 60 is omitted in the lifting mechanism 200. Therefore, although the following embodiments are illustrated by taking the lifting mechanism 200 including the shaft sleeve 60 as an example, it is not limited thereto.
[0037] In addition, in order to maintain the stability of the linkage assembly 40 during the linkage process, in some embodiments, the outer circumferential surface of the transmission shaft 411 is further provided with a groove 4111. The groove 4111 is recessed at one side of the transmission shaft 411 connected to the swing arm 412. When the first shaft portion 4221 of the first extension arm 422 is pivotally connected to the swing arm 412, at least a portion of the structure of the first shaft portion 4221 is accommodated in the groove 4111, and axial sliding can be avoided, so as to ensure that the pivoting between the first shaft portion 4221 and the swing arm 412 can be kept smooth and stable.
[0038] Similarly, in order to further improve the stability of the linkage assembly 40 during the linkage process, in some embodiments, the linkage assembly 40 further includes a rotating shaft 43, and a limiting groove 4112 and a positioning groove 4113 are further provided on the outer circumference of the transmission shaft 411. The limiting groove 4112 and the positioning groove 4113 are respectively located on two opposite sides of the swing arm 412, the head end 431 of the rotating shaft 43 is accommodated in the positioning groove 4113, and the tail end 432 passes through the first shaft portion 4221 and the swing arm 412 and is accommodated in the limiting groove 4112, so that the driven member 42 can be pivotally arranged on the active member 41 through the rotating shaft 43, while maintaining a stable linkage relationship.
[0039] It should be noted that the embodiment of the present application can control the lifting and lowering of the roller 102, so the swing angle of the swing arm 412 of the active member 41 only needs to be 180° to drive the driven member 42 to move between the rising position P1 and the falling position P2, thereby achieving the lifting effect. For example, the linkage assembly 40 has a vertical axis L, and on this vertical axis L, the swing arm 412 has a rotation angle of 0° to 180° relative to the transmission shaft 411. At 0°, the swing arm 412 is located above the transmission shaft 411 and pulls the driven member 42 to move to the rising position P1. At 180°, the swing arm 412 rotates to the bottom of the transmission shaft 411 and pushes the driven member 42 to move to the falling position P2. It is worth mentioning that through the above design, whether in the rising position P1 or the falling position P2, the transmission shaft 411, the swing arm 412, the first shaft portion 4221 and the second shaft portion 4231 are located on the vertical axis L.
[0040] like Figure 7 As shown, it is assumed that the axial distance between the transmission shaft 411 and the swing arm 412 is the first length a, and the axial distance between the first shaft portion 4221 and the second shaft portion 4231 of the follower 42 is the second length b. When the swing arm 412 swings from 180° to 0°, the follower 42 moves from the lowered position P2 to the raised position P1, and its lifting height is two first lengths a (i.e. 2a). It can be understood that the lifting height of the roller 102 is completely determined by the first length a, and no complex linkage relationship is required, so the space occupied by the lifting mechanism 200 is relatively small. In addition, when the swing arm is at 0° or 180°, the follower 42 and the sleeve 60 are collinear, and a dead point position appears, so that the effective component force of the follower 42 and the roller 102 is zero (i.e., the rotational torque is zero), ensuring that the roller 102 is in a stable state.
[0041] In some embodiments of the present application, the lifting mechanism 200 further includes a sleeve 70. The sleeve 70 is fixed to the housing 101 of the host 100, the transmission shaft 411 of the active member 41 is pivotally connected to the top of the sleeve 70, and the sleeve 60 is slidably arranged in the sleeve 70 from the bottom of the sleeve 70. A stopper 61 is arranged on one side of the sleeve 60 connected to the roller 102, and the outer diameter of the stopper 61 is greater than the inner diameter of the sleeve 70. In this way, when the driven member 42 moves to the rising position P1, the stopper 61 can abut against the bottom of the sleeve 70. Thereby limiting the rising position of the sleeve 60 and the roller 102. It can be understood that by sliding the sleeve 60 in the sleeve 70, the sleeve 60 can be guided to maintain linear motion during the rising or falling process to maintain the stability of the roller 102 during the lifting process.
[0042] The two opposite sides of the sliding sleeve 70 are respectively provided with a mounting portion 71, a pivoting groove 72 and a stopper 73. The mounting portion 71 protrudes from the sliding sleeve 70 and is provided with an axial hole 711. The stopper 73 is detachably provided on the pivoting groove 72. During assembly, the driving assembly 50 is fixed on the mounting portion 71, and one end of the transmission shaft 411 is passed through the axial hole 711 of the mounting portion 71 and connected to the driving assembly 50, and the other end is pivotally provided in the pivoting groove 72. Next, the stopper 73 is assembled into the pivoting groove 72, so that the two ends of the transmission shaft 411 are respectively limited in the axial hole 711 and the transmission groove 72, so as to achieve the pivot connection with the sliding sleeve 70.
[0043] In more detail, during the lifting process of the swing arm 412 driving the follower 42 to move up and down, the swing arm 412 also pushes the body 421 of the follower 42, so that the follower 42 rotates on the transmission shaft 411 on the driving member 41. Therefore, in some embodiments, the same side of the sleeve 60 and the sliding sleeve 70 is further provided with a first hollow portion 65 and a second hollow portion 75, respectively, so that the swing path of the swing arm 412 and the follower 42 during the lifting process can pass through the first hollow portion 65 and the second hollow portion 75, so as to avoid mutual interference between the structures and keep the lifting process smooth and stable.
[0044] like Figure 8 As shown, in some other embodiments of the present application, the self-moving robot 1 further includes a sensing device 320. The sensing device 320 may be, but is not limited to, an infrared sensor or an ultrasonic sensor, which is disposed in the housing 101 to detect obstacles on the motion path of the host 100, and to send a trigger signal when an obstacle is detected, and to send a reset signal when the obstacle is passed. The control unit 310 is electrically connected to the driving component 50 and the sensing device 320, respectively, and can receive the trigger signal and the reset signal, and drive the driving component 50 to drive the transmission shaft 411 of the linkage component 40 to rotate according to the reset signal and the trigger signal, so as to drive the linkage component 40 to actuate. In addition, the sensing device 320 may also be a camera, which is used to capture real-time images on the motion path of the host 100, and to identify whether there are obstacles in the real-time images through the control unit 310, so as to control the actuation of the linkage component 40.
[0045] like Fig. 9As shown, when the sensing device 320 detects no obstacle, the host 100 continues to operate normally along the motion path, at which time the driven member is at the rising position P1, and the roller 102 is in contact with the ground. When the sensing device 320 detects an obstacle (such as a step), the control unit 310 controls the driving assembly 50 to rotate, and drives the transmission shaft 411 to reverse. At this time, the active member 41 drives the driven member 42 to rotate and move, and the swing arm 412 can drive the driven member 42 to move to the descending position P2, so that the roller 102 is lowered relative to the housing 10, and the front end of the base of the host 100 (i.e., the housing 101) can be lifted, so that the space between the front end of the host 100 and the ground is increased to cross the obstacle. When the host 100 passes the obstacle, the sensing device 320 does not detect the obstacle. At this time, the control unit 310 drives the transmission shaft 411 to rotate forward, and the swing arm 412 can drive the driven member 42 to move to the rising position P1, so that the roller 102 is raised relative to the housing 10, and the front end of the base of the host 100 can be lowered and reset.
[0046] The technical solution in the embodiments of the present application is described in detail below in conjunction with specific application scenarios.
[0047] Application scenario 1: When the self-moving robot 1 detects an obstacle through the sensing device 320, the linkage assembly 40 is controlled to drive the follower 42 to move to the descending position P2, so that the roller 102 descends relative to the housing 101 and lifts the front end of the host 100, so that the obstacle can be crossed. After passing the obstacle, the linkage assembly 40 is controlled to drive the follower 42 to move to the ascending position P1, so that the roller 102 rises relative to the housing 10 and the host 100 descends and resets.
[0048] Application scenario two: When the swing arm 412 drives the follower 42 to move, the sleeve 60 can slide in the sliding sleeve 70 to guide the sleeve 60 to maintain linear motion during the rising or falling process, so as to maintain the stability of the roller 102 during the lifting process.
[0049] In summary, the embodiment of the present application provides a linkage between the housing and the roller through the active member and the driven member in the linkage assembly, and under the drive of the driving assembly, the self-propelled robot can achieve stable lifting of the roller. When the sensing device detects an obstacle, the roller is controlled to descend and the front end of the base of the host is raised, so that the obstacle can be crossed, and after passing the obstacle, the roller is controlled to descend so that the host returns to a normal height.
[0050] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims
1. A self-propelled robot, characterized in that: include: A host, including a housing and a roller; and The lifting mechanism includes a linkage assembly and a driving assembly, wherein the linkage assembly is connected between the shell and the roller, and includes an active member and a driven member, wherein the active member has a transmission shaft and a swing arm with the same axial direction, wherein the swing arm is arranged on the outer peripheral surface of the transmission shaft, one side of the driven member is pivotally connected to the swing arm, and the other side is connected to the roller, and the driving assembly is connected to the transmission shaft to drive the transmission shaft to rotate, so that the swing arm swings accordingly, and drives the driven member to move to an ascending position or a descending position, wherein the driven member pulls the roller close to the shell in the ascending position, and pushes the roller away from the shell in the descending position.
2. The self-moving robot according to claim 1, characterized in that: The follower includes a main body and a first extension arm and a second extension arm respectively connected to opposite sides of the main body, the first extension arm is pivotally connected to the swing arm, the second extension arm is connected to the roller, the main body is close to the transmission shaft in the ascending position, and is separated from the transmission shaft in the descending position.
3. The self-moving robot according to claim 2, characterized in that: The first extension arm and the second extension arm are respectively connected to the main body at an angle, and an escape zone is enclosed between the main body, the first extension arm and the second extension arm. When the follower is located in the ascending position, the transmission shaft is accommodated in the escape zone, and when the follower is located in the descending position, the transmission shaft is located outside the escape zone and overlaps with the escape zone in the projection direction of the escape zone.
4. The self-moving robot according to claim 2, characterized in that: The lifting mechanism also includes a sleeve, and a first shaft portion is arranged at one end of the first extension arm, and a second shaft portion is arranged at one end of the second extension arm, the first shaft portion is pivotally connected to the swing arm, the second shaft portion is pivotally pulled in the sleeve, and the roller is connected to the bottom of the sleeve, wherein the follower pulls the sleeve around the active member in the ascending position, and pushes the sleeve to move downward relative to the active member in the descending position to expose the active member.
5. The self-moving robot according to claim 4, characterized in that: The outer circumferential surface of the transmission shaft is further provided with a groove, and the groove is located on one side of the swing arm. The first shaft portion is pivotally connected to the swing arm and is at least partially accommodated in the groove.
6. The self-moving robot according to claim 5, characterized in that: The linkage assembly also includes a rotating shaft, and a limiting groove and a positioning groove are provided on the outer circumferential surface of the transmission shaft, which are respectively located on two opposite sides of the swing arm. The head end of the rotating shaft is accommodated in the positioning groove, and the tail end passes through the first shaft portion and the swing arm and is accommodated in the limiting groove.
7. The self-moving robot according to claim 4, characterized in that: On the vertical axis, the swing arm has a rotation angle of 0° to 180° relative to the transmission shaft. At 0°, the swing arm pulls the follower to move to the ascending position, and at 180°, the swing arm pushes the follower to move to the descending position, and in the ascending position and the descending position, the transmission shaft, the swing arm, the first shaft portion and the second shaft portion are located on the vertical axis.
8. The self-moving robot according to claim 4, characterized in that: The lifting mechanism also includes a sliding sleeve fixed on the shell, the transmission shaft is pivotally connected to the top of the sliding sleeve, and the sleeve is slidably arranged in the sliding sleeve from the bottom of the sliding sleeve, wherein a stopper is arranged on one side of the sleeve connected to the roller, the outer diameter of the stopper is larger than the inner diameter of the sliding sleeve, and when the follower moves to the rising position, the stopper abuts against the bottom of the sliding sleeve.
9. The self-moving robot according to claim 8, characterized in that: A mounting portion and a pivot groove are respectively disposed on opposite sides of the sliding sleeve, and an axial hole is disposed on the mounting portion and a limiting member is disposed on the pivot groove. The driving assembly is fixed on the mounting portion, one end of the transmission shaft is passed through the axial hole and is connected to the driving assembly, and the other end is pivotally disposed in the pivot groove, and the limiting member can detachably close the pivot groove to limit the other end in the pivot groove.
10. The self-moving robot according to claim 1, characterized in that: It also includes a sensing device and a control unit, which are respectively arranged in the shell. The sensing device is used to detect obstacles on the action path of the host, and sends a trigger signal when the obstacle is detected, and sends a reset signal when passing through the obstacle. The control unit is electrically connected to the drive component and the sensing device, respectively, to drive the drive component to drive the transmission shaft to rotate according to the reset signal and the trigger signal, and drive the follower to move to the rising position and the falling position through the swing arm, so that the roller rises and falls relative to the shell.
11. A self-propelled robot, characterized in that: include: A host, including a housing and a roller; and The lifting mechanism includes a linkage assembly and a driving assembly, wherein the linkage assembly is connected between the shell and the roller, and includes an active member and a driven member, wherein the active member has a transmission shaft and a swing arm, wherein the swing arm is arranged on the outer peripheral surface of the transmission shaft, one side of the driven member is pivotally connected to the active member, and the other side is connected to the roller, and the driving assembly is connected to the transmission shaft to drive the transmission shaft to rotate, so that the swing arm swings accordingly, and drives the driven member to move to an ascending position or a descending position, wherein the driven member pulls the roller close to the shell in the ascending position, and pushes the roller away from the shell in the descending position.
12. A lifting mechanism, characterized in that: Suitable for driving the roller to rise or fall, the lifting mechanism includes: A linkage assembly, comprising a driving member and a driven member, wherein the driving member has a transmission shaft and a swing arm in the same axial direction, the swing arm is arranged on the outer peripheral surface of the transmission shaft, one side of the driven member is pivotally connected to the swing arm, and the other side is connected to the roller; and A driving assembly is connected to the transmission shaft, and is used to drive the transmission shaft to rotate, so that the swing arm swings accordingly, and drives the follower to move to an ascending position or a descending position, wherein the follower pulls the roller to move toward the transmission shaft in the ascending position, and pushes the roller to move away from the transmission shaft in the descending position.
13. The lifting mechanism according to claim 12, characterized in that: The follower includes a main body, a first extension arm and a second extension arm, wherein the first extension arm and the second extension arm are respectively obliquely connected to two opposite sides of the main body, wherein the first extension arm is pivotally connected to the swing arm, and the second extension arm is connected to the roller, and an escape zone is enclosed between the main body, the first extension arm and the second extension arm, when the follower is located in the ascending position, the transmission shaft is accommodated in the escape zone, and when the follower is located in the descending position, the transmission shaft is located outside the escape zone and overlaps with the escape zone in the projection direction of the escape zone.
14. The lifting mechanism according to claim 13, characterized in that: It also includes a sleeve, and a first shaft portion is arranged at one end of the first extension arm, and a second shaft portion is arranged at one end of the second extension arm, the first shaft portion is pivotally connected to the swing arm, the second shaft portion is pivotally pulled in the sleeve, and the roller is connected to the bottom of the sleeve, wherein the follower member pulls the sleeve around the active member in the ascending position, and pushes the sleeve to move downward relative to the active member in the descending position to expose the active member.
15. The lifting mechanism according to claim 14, characterized in that: On the vertical axis, the swing arm has a rotation angle of 0° to 180° relative to the transmission shaft. At 0°, the swing arm pulls the follower to move to the ascending position, and at 180°, the swing arm pushes the follower to move to the descending position, and in the ascending position and the descending position, the transmission shaft, the swing arm, the first shaft portion and the second shaft portion are located on the vertical axis.
16. The lifting mechanism according to claim 14, characterized in that: It also includes a sliding sleeve, the transmission shaft is pivotally connected to the top of the sliding sleeve, and the sleeve is slidably arranged in the sliding sleeve from the bottom of the sliding sleeve, wherein a stop portion is arranged on one side of the sleeve connected to the roller, the outer diameter of the stop portion is larger than the inner diameter of the sliding sleeve, and when the follower moves to the rising position, the stop portion abuts against the bottom of the sliding sleeve.