Lifting device, cleaning robot and cleaning system

Abstract

The invention discloses a lifting device, a cleaning robot and a cleaning system.The lifting device comprises a transmission shaft, a shaft sleeve, an elastic piece and a driving assembly, the transmission shaft comprises an external thread section, a transmission section and a mounting section which are sequentially arranged in the axial direction of the transmission shaft, and the shaft sleeve is rotationally arranged and is in threaded connection with the external thread section; the first end, close to the cleaning assembly, of the shaft sleeve is provided with a first limiting part, the elastic piece elastically abuts against the shaft sleeve, so that the shaft sleeve keeps still under the acting force of the elastic piece, and the driving assembly is in transmission connection with the transmission section to drive the transmission shaft to rotate, so that the transmission shaft moves back and forth relative to the shaft sleeve under the interaction of the shaft sleeve and the external thread section. When the transmission shaft rotates in the first direction and the tail end of the external thread section moves to the first limiting part, the tail end of the external thread section abuts against the first limiting part in a transmission mode so as to synchronously drive the shaft sleeve to rotate in the first direction. According to the technical scheme, the lifting operation of the cleaning assembly can be driven only through the driving assembly, and the cleaning assembly can be driven to rotate.

Description

Technical Field

[0001] This application relates to the technical field of cleaning equipment, and particularly to a lifting device, a cleaning robot, and a cleaning system. Background Art

[0002] A cleaning robot is a common cleaning device in scenarios such as homes and offices. In actual applications, the ground may be covered with carpets or other coverings, or there may be uneven areas. To prevent the cleaning components (such as mops) on the cleaning robot from rubbing against the coverings and / or the ground, affecting the normal movement of the cleaning robot, the cleaning robot needs to have the function of lifting the cleaning components.

[0003] In the prior art, a cleaning robot usually has two sets of independent driving components: a rotation driving component directly drives the cleaning component to rotate, and a lifting driving component needs to connect the whole of the rotation driving component and the cleaning component to achieve lifting.

[0004] Although the solutions in the prior art can meet the functional requirements of lifting the cleaning components, due to the need for two sets of independent driving systems, the structure is redundant, and problems such as heavy weight and large body size make it difficult to enter narrow spaces for operation. In addition, the load burden of the lifting driving component is increased, and the control process also becomes more complex. Summary of the Invention

[0005] The main purpose of this application is to provide a lifting device, aiming to improve the problem that the redundant structure of the existing cleaning robot for driving the cleaning component to lift makes it difficult for the cleaning robot to enter narrow spaces for operation.

[0006] To achieve the above purpose, the lifting device proposed in this application is applied to a cleaning robot, and is characterized in that the lifting device includes:

[0007] A transmission shaft, which includes an external thread section, a transmission section, and an installation section arranged in sequence along its axial direction, and the installation section is used to connect with the cleaning component of the cleaning robot;

[0008] A shaft sleeve, which is rotatably arranged and threadedly connected with the external thread section, and a first limiting portion is provided at the first end of the shaft sleeve close to the cleaning component;

[0009] An elastic member, which elastically abuts against the shaft sleeve, so that the shaft sleeve remains stationary under the action of the elastic member;

[0010] A driving assembly is drivingly connected to the transmission section to drive the transmission shaft to rotate in a first direction or a second direction, so that the transmission shaft moves back and forth relative to the shaft sleeve under the interaction of the shaft sleeve and the external thread section. When the transmission shaft rotates in the first direction and the end of the external thread section moves to the first limiting part, the end of the external thread section is drivingly abutted against the first limiting part to synchronously drive the shaft sleeve to rotate in the first direction.

[0011] In some embodiments of the present application, the driving assembly includes a driving member and a transmission member. The driving member is fixedly arranged, the transmission member is rotatably arranged, the transmission member is drivingly connected to the driving member, and the transmission member is also drivingly abutted against the transmission section to transmit the power of the driving member to the transmission shaft, and the transmission section can slide axially relative to the transmission member.

[0012] In some embodiments of the present application, the transmission member includes a transmission ring. The outer side of the transmission ring is drivingly connected to the driving member, a transmission hole is arranged on the inner side of the transmission ring, the transmission section includes a prism body adapted to the transmission hole, and the prism body is inserted and matched with the transmission hole.

[0013] In some embodiments of the present application, the transmission ring is rotatably arranged through a bearing.

[0014] In some embodiments of the present application, a plurality of racks are arranged at intervals on the circumferential side of the transmission section, and each rack extends along the axial direction of the transmission shaft;

[0015] The transmission member includes a gear. The gear is drivingly connected to the driving member, and the gear is also meshed with the rack on the transmission section.

[0016] In some embodiments of the present application, an abutting part protrudes from the circumferential side of the shaft sleeve. The elastic member includes a sleeve spring. One end of the sleeve spring is fixedly arranged, and the other end of the sleeve spring is elastically abutted against the abutting part.

[0017] In some embodiments of the present application, the inner diameter of the sleeve spring is larger than the outer diameter of the shaft sleeve, and the sleeve spring is also sleeved on the circumferential side of the shaft sleeve.

[0018] In some embodiments of the present application, the lifting device further includes a housing. The housing is provided with an installation cavity and an installation hole communicating with the installation cavity. The transmission shaft, the shaft sleeve, the elastic member and the driving assembly are all installed in the installation cavity, and the transmission shaft also extends out of the installation cavity through the installation hole.

[0019] The present application also provides a cleaning robot, including:

[0020] A body;

[0021] The lifting device according to any one of the above, the lifting device is installed on one side of the body; and

[0022] A cleaning assembly, detachably installed on the installation section.

[0023] In some embodiments of the present application, a locking member is slidably provided along the axial direction of the second end of the bushing away from the cleaning assembly. The lifting device is also fixedly provided with a mating member and a second limiting portion respectively. The cleaning assembly is provided with a slot that is inserted and mated with the installation section;

[0024] Wherein, when the transmission shaft rotates in the second direction and the external thread section moves to the second end to abut against the locking member and slide, so that the locking member is locked and mated with the mating member, the bushing is restricted by the locking and mating of the locking member and the mating member and remains stationary. The notch of the slot abuts against the second limiting portion so that the installation section disengages from the slot.

[0025] In some embodiments of the present application, a chute is opened on the peripheral wall of the second end, and the chute also extends along the axial direction of the bushing. The locking member protrudes with a sliding block, and the sliding block is slidably mated with the chute

[0026] And / or, the peripheral wall of the second end protrudes with a guiding rib, and the guiding rib also extends along the axial direction of the bushing. The locking member is recessed with a notch, and the guiding rib is slidably mated with the notch.

[0027] In some embodiments of the present application, the locking member is provided with a locking hole, and the mating member includes a mating block, and the mating block is inserted and mated with the locking hole;

[0028] Or, the locking member is provided with a locking block, and the mating member is provided with a mating hole, and the locking block is inserted and mated with the mating hole.

[0029] In some embodiments of the present application, the installation section is provided with a first magnetic member, and the bottom wall of the slot is provided with a second magnetic member. When the installation section is inserted and mated with the slot, the first magnetic member and the second magnetic member are magnetically attracted to each other.

[0030] In some embodiments of the present application, the cleaning assembly includes a cleaning member and an installation member, the cleaning member is detachably connected to the installation member, and the installation member is detachably connected to the installation section.

[0031] The present application also proposes a cleaning system, the cleaning system includes the cleaning robot and the base station according to any one of the above. The base station is provided with a docking platform for docking the cleaning robot, and the docking platform is provided with a cleaning tank to carry the cleaning assembly.

[0032] In the lifting device provided by the embodiment of the present application, through the above structural arrangement, when the driving component drives the transmission shaft to rotate, the external force that drives the sleeve to rotate is less than the static friction force provided by the elastic member, so that the sleeve remains stationary. The external thread section of the transmission shaft rotates along the internal thread of the sleeve and moves axially along the sleeve, that is, moves back and forth relative to the sleeve, realizing that the cleaning component moves back and forth along the sleeve to complete the lifting operation. When the driving component drives the transmission shaft to rotate in the first direction and the end of the external thread section is in transmission contact with the first limiting portion, the external thread section is restricted by the first limiting portion and cannot rotate relative to the sleeve. At the same time, the external thread section transmits power to the sleeve through the first limiting portion. At this time, the external force that drives the sleeve to rotate is greater than the static friction force provided by the elastic member, and the sleeve can rotate synchronously with the rotation of the transmission shaft, so that the transmission shaft can continue to rotate to drive the cleaning component to rotate and clean. In this way, the technical solution of the present application can realize driving the lifting operation of the cleaning component to avoid laying objects and / or uneven areas, and realize driving the cleaning component to rotate to achieve the cleaning function only through one driving component. Such a structure is simple, reduces one driving component, reduces the overall mass and volume, and is beneficial for the cleaning robot to clean in a narrow space. In addition, the load of driving the cleaning component to lift by the driving component is also reduced, and the control process is simple, only need to control the transmission shaft to rotate in the first direction or the second direction.

[0033] In the cleaning robot provided by the embodiment of the present application, the cleaning component is detachably installed on the installation section. When the cleaning component is damaged or dirty and cannot be cleaned, etc., the old cleaning component can be disassembled to install a new cleaning component, and the specific type of the new cleaning component can be different from that of the old cleaning component. That is, the old cleaning component can be a floor brush, and the new cleaning component can be a floor brush, a mop, a rag, etc. In this way, the cleaning efficiency of the cleaning robot is improved. In addition, during the daily cleaning and maintenance of the cleaning robot, the cleaning component can also be disassembled to clean the cleaning component and the body of the cleaning robot, which is convenient for the user to operate, reduces the blind area of the cleaning operation, and improves the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0035] Figure 1 is an exploded view of an embodiment of the lifting device of the present application;

[0036] Figure 2 is Figure 1 a sectional view of the lifting device in

[0037] Figure 3 is Figure 1 a sectional view of the lifting device when it abuts against the mounting member in

[0038] Figure 4 is Figure 3 a sectional view of the lifting device and the mounting member in

[0039] Figure 5 is Figure 1 a schematic assembly diagram of the bushing and the locking member in

[0040] Figure 6 is Figure 1 a structural diagram of the locking member and the mating member when they are engaged in

[0041] Figure 7 is Figure 1 a schematic structural diagram of the transmission ring and the transmission shaft in

[0042] Figure 8 is a schematic structural diagram of the cleaning component of the cleaning robot of the present application.

[0043] Explanation of the reference numerals in the drawings:

[0044] 100, lifting device; 10, transmission shaft; 11, external thread section; 12, transmission section; 13, mounting section; 20, bushing; 21, first end; 211, first limiting portion; 22, abutting portion; 23, second end; 231, sliding groove; 30, elastic member; 40, driving assembly; 41, driving member; 42, transmission member; 421, transmission ring; 422, transmission hole; 43, bearing; 50, housing; 51, mounting cavity; 52, mounting hole; 53, second limiting portion; 60, locking member; 61, sliding block; 62, locking hole; 70, mating member; 200, cleaning component; 201, cleaning member; 202, mounting member; 203, slot.

[0045] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0047] In this application, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] In addition, in this application, descriptions such as "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] The present invention provides a cleaning robot. In some embodiments, the cleaning robot can be a floor sweeping robot, a mopping robot, a sweeping and mopping integrated robot, a window cleaning robot, or other cleaning robots, and no specific limitation is made here.

[0050] Specifically, the cleaning robot includes a body, a lifting device 100, and a cleaning component 200. When the cleaning robot is a floor sweeping robot, the cleaning component 200 can be a floor brush adapted to the cleaning robot. When the cleaning robot is a mopping robot, the cleaning component 200 can be a mop adapted to the cleaning robot. When the cleaning robot is a window cleaning robot, the cleaning component 200 can be a rag or paper cleaning supplies adapted to the window cleaning robot, etc.

[0051] The lifting device 100 is installed on one side of the body. The cleaning component 200 is detachably installed on the installation section 13 of the lifting device 100. The lifting device 100 is used to drive the cleaning component 200 to perform reciprocating motion and rotation back and forth. It should be noted that when the cleaning device is a floor sweeping robot, a mopping robot, or a sweeping and mopping integrated robot, the lifting device 100 is generally installed at the bottom of the body to drive the cleaning component 200 to move back and forth in the height direction of the body. When the cleaning device is a window cleaning robot, the lifting device 100 can be installed on the front side of the body to drive the cleaning component 200 to move back and forth in the front and back directions of the body. When the cleaning device cleans some objects (such as but not limited to beds, sofas, etc.) that are spaced on the ground and have a bottom cleaning requirement, the lifting device 100 can also be set on the top of the body, and no specific limitation is made here.

[0052] In some usage scenarios, when the cleaning robot detects that there are items such as carpets on its moving path that will interfere with the movement of the cleaning component 200, in order to prevent the stains carried on the cleaning component 200 from contaminating these items and to ensure the smooth movement of the body, the lifting device 100 can drive the cleaning component 200 to move towards the body, so that the cleaning component 200 is spaced apart from these items.

[0053] In other usage scenarios, when the cleaning device has completed the cleaning task, in order to prevent the stains carried on the cleaning component 200 from contaminating the cleaned ground, the lifting device 100 can drive the cleaning component 200 to move towards the body, so that the cleaning component 200 is spaced apart from the ground.

[0054] In the cleaning robot provided by the embodiment of the present application, the cleaning component 200 is detachably installed on the installation section 13. When the cleaning component 200 is damaged, dirty and cannot be cleaned, etc., the old cleaning component 200 can be disassembled to install a new cleaning component 200, and the specific type of the new cleaning component 200 can be different from the type of the old cleaning component 200. That is, the old cleaning component 200 can be a floor brush, and the new cleaning component 200 can be a floor brush, a mop, a rag, etc., so as to improve the cleaning efficiency of the cleaning robot. In addition, when performing daily cleaning and maintenance on the cleaning robot, the cleaning component 200 can also be disassembled to perform cleaning operations on the cleaning component 200 and the body of the cleaning robot, which is convenient for the user to operate, reduces the blind area of the cleaning operation, and improves the cleaning effect.

[0055] There are cleaning robots on the market with the function of lifting the cleaning component 200, but usually two sets of independent driving parts 41 are set on the market: the rotation driving part 41 directly drives the cleaning component 200 to rotate, and the lifting driving part 41 needs to connect the whole of the rotation driving part 41 and the cleaning component 200 to realize lifting. Although the scheme of the prior art can meet the functional requirements of lifting the cleaning component 200, due to the need for two sets of independent driving systems, the structure is redundant, and its large weight and body size make it difficult to enter narrow spaces for operation. In addition, the load burden of the lifting driving part 41 is increased, and the control process also tends to be complex.

[0056] To solve the above problems, the present invention proposes a lifting device 100 applied to a cleaning robot.

[0057] In the embodiment of the present application, as Figure 1 shown, the lifting device 100 includes a transmission shaft 10, a shaft sleeve 20, an elastic member 30, and a driving component 40. Specifically, in some embodiments, as Figures 1 to 4As shown, the lifting device 100 further includes a housing 50. The housing 50 is provided with an installation cavity 51 and an installation hole 52 communicating with the installation cavity 51. The transmission shaft 10, the shaft sleeve 20, the elastic member 30 and the driving assembly 40 are all installed in the installation cavity 51, and the transmission shaft 10 also extends out of the installation cavity 51 through the installation hole 52. Among them, the housing 50 can be installed on the body of the above-mentioned cleaning robot. Since the structural shape of the housing 50 can be adaptively modified according to actual use requirements, no specific limitation is made here; in some other embodiments, components such as the transmission shaft 10, the shaft sleeve 20, the elastic member 30 and the driving assembly 40 can also be directly installed on the body, and no specific limitation is made here. The preferred solution is the one where the lifting device 100 further includes the housing 50. In this way, each component of the lifting device 100 can be integrated through the housing 50 to form a whole module, which is convenient for the modular setting of the cleaning robot, improves the production and assembly efficiency of the cleaning robot. In addition, the housing 50 can also well protect each component of the lifting device 100.

[0058] The transmission shaft 10 includes an external thread section 11, a transmission section 12 and an installation section 13 arranged in sequence along its axial direction. The installation section 13 is used to connect with the cleaning component 200 of the cleaning robot. The transmission shaft 10 is integrally columnar. It can be made of metal material to ensure its rigidity and avoid damage to the cleaning component 200 when it is collided by external force. Of course, the transmission shaft 10 can also be made of hard plastic to reduce the manufacturing cost and weight. The transmission shaft 10 can also be made of composite materials, and no further description will be given here.

[0059] Among them, it has been recorded above that the cleaning component 200 is detachably connected to the installation section 13. Specifically, the cleaning component 200 can be connected to the installation section 13 by detachable connection methods such as snap connection, threaded connection, plug connection, etc. Of course, in some other embodiments, the cleaning component 200 can also be fixedly connected to the installation section 13 in a non-detachable manner, such as: bonding, welding, etc.

[0060] The shaft sleeve 20 is rotatably arranged and is threadedly connected to the external thread section 11. The first end 21 of the shaft sleeve 20 close to the cleaning component 200 is provided with a first limiting portion 211. In the solution where the lifting device 100 includes the housing 50, the shaft sleeve 20 can be directly slidably installed in the housing 50, or can be rotatably installed in the housing 50 through components such as bearings 43, and no further listing will be given here. In some exemplary solutions, as Figure 4 shown, the housing 50 is formed with a groove, and a flange is provided at the notch of the groove. The flange slidably abuts against a part of the structure of the shaft sleeve 20 and limits the axial movement of the shaft sleeve 20; in some other examples, a bearing can be arranged in the groove, and the shaft sleeve 20 is rotatably installed in the groove through the bearing.

[0061] Similarly, in the solution where the lifting device 100 does not include the housing 50, the bushing 20 can be arranged on the machine body by the above method.

[0062] It should be noted that the external thread section 11 on the transmission shaft 10 is an external thread, and the bushing 20 is threadedly connected to the external thread section 11. That is, the bushing 20 is provided with an internal thread for threaded connection with the external thread section 11. It can be understood that the bushing 20 must be sleeved on the transmission shaft 10, and the axis of the bushing 20 coincides with the axis of the transmission shaft 10, that is, the axial directions also coincide. Among them, the above-mentioned first limiting portion 211 is usually located at the end (starting end or terminating end) of the internal thread of the bushing 20. The first limiting portion 211 can abut against the end of the external thread section 11 to prevent the external thread section 11 from detaching from the bushing 20 and can also transmit power.

[0063] The elastic member 30 elastically abuts against the bushing 20, so that the bushing 20 remains stationary under the action of the elastic member 30. The force exerted by the elastic member 30 on the bushing 20 is a pre-pressure, that is, it provides a static friction force for the bushing 20, so that the bushing 20 will not rotate under the action of a slight external force and will rotate only when a force greater than the static friction force is applied.

[0064] The driving assembly 40 is in transmission connection with the transmission section 12 to drive the transmission shaft 10 to rotate in the first direction or the second direction, so that the transmission shaft 10 moves back and forth relative to the bushing 20 under the interaction of the bushing 20 and the external thread section 11. When the transmission shaft 10 rotates in the first direction and the end of the external thread section 11 moves to the first limiting portion 211, the end of the external thread section 11 is in transmission abutment with the first limiting portion 211 to synchronously drive the bushing 20 to rotate in the first direction.

[0065] It can be understood that when the first direction is the clockwise direction, the second direction is the counterclockwise direction. Similarly, when the first direction is the counterclockwise direction, the second direction is the clockwise direction.

[0066] The lifting device 100 provided by the embodiment of the present application, through the above structural arrangement, when the driving component 40 drives the transmission shaft 10 to rotate, the external force that drives the rotation of the bushing 20 is less than the static friction force provided by the elastic member 30, so that the bushing 20 remains stationary, and the external thread section 11 of the transmission shaft 10 rotates along the internal thread of the bushing 20 and will move axially along the bushing 20, that is, move back and forth relative to the bushing 20, so as to realize that the cleaning component 200 moves back and forth along the bushing 20 to complete the lifting operation. When the driving component 40 drives the transmission shaft 10 to rotate in the first direction and the end of the external thread section 11 is in transmission abutment with the first limiting portion 211, the external thread section 11 is restricted by the first limiting portion 211 and cannot rotate relative to the bushing 20. At the same time, the external thread section 11 transmits power to the bushing 20 through the first limiting portion 211. At this time, the external force that drives the rotation of the bushing 20 is greater than the static friction force provided by the elastic member 30, and the bushing 20 can rotate synchronously with the rotation of the transmission shaft 10, so that the transmission shaft 10 can continue to rotate to drive the cleaning component 200 to rotate and clean. In this way, the technical solution of the present application can realize the lifting operation of driving the cleaning component 200 to avoid laying objects and / or uneven areas, and realize driving the cleaning component 200 to rotate to achieve the cleaning function only through one driving component 40. In this way, the structure is simple, one driving component 40 is reduced, the overall mass is reduced and the overall volume is reduced, which is beneficial for the cleaning robot to clean in a narrow space. In addition, the load of the driving component 40 for driving the lifting of the cleaning component 200 is also reduced, and the control process is also simple, and only the transmission shaft 10 needs to be controlled to rotate in the first direction or the second direction.

[0067] In some examples, such as Figures 1 to 4 As shown, the driving component 40 includes a driving member 41 and a transmission member 42. The driving member 41 is fixedly arranged, the transmission member 42 is rotatably arranged, the transmission member 42 is in transmission connection with the driving member 41, and the transmission member 42 is also in transmission abutment with the transmission section 12 to transmit the power of the driving member 41 to the transmission shaft 10, and the transmission section 12 can slide axially relative to the transmission member 42.

[0068] In the solution where the lifting device 100 includes a housing 50, the driving member 41 can be fixed in the installation cavity 51 of the housing 50 by means of threaded connection, clamping, etc. The transmission member 42 can be directly slidably installed on the housing 50 or can be rotatably installed on the housing 50 through components such as a bearing 43. Similarly, in the solution where the lifting device 100 does not include a housing 50, the driving member 41 and the transmission member 42 can be arranged on the machine body by similar methods, which will not be listed one by one here. Among them, the transmission member 42 and the driving member 41 can be directly in transmission connection or can be indirectly in transmission connection through gears, belts, etc.

[0069] With such a setting, fixing the driving member 41 can ensure that the driving member 41 can stably output power. The transmission member 42 is rotatably arranged, and the power of the driving member 41 is transmitted to the transmission shaft 10 by using the transmission member 42, which can ensure that the power of the driving member 41 is stably transmitted to the transmission shaft 10. At the same time, when the cleaning assembly 200 is collided, it can avoid the transmission shaft 10 directly transmitting the kinetic energy of the collision to the driving member 41, causing damage to the driving member 41, and improving the reliability of the lifting device 100.

[0070] There are various ways to achieve the transmission member 42 being in transmission abutment with the transmission section 12 and the transmission section 12 being axially slidable relative to the transmission member 42. Two examples will be given below for illustration.

[0071] In some examples, such as Figures 1 to 4 and Figure 7 shown, the transmission member 42 includes a transmission ring 421. The outer side of the transmission ring 421 is in transmission connection with the driving member 41. A transmission hole 422 is provided on the inner side of the transmission ring 421. The transmission section 12 includes a prism body adapted to the transmission hole 422, and the prism body is in plug-in fit with the transmission hole 422.

[0072] It should be emphasized that the transmission ring 421 is rotatably arranged, and the prism body is in plug-in fit with the transmission hole 422, so the axis of rotation of the transmission ring 421 coincides with the axis of the transmission shaft 10. During the rotation of the prism body, its peripheral wall will abut against the hole wall of the transmission hole 422. Furthermore, the transmission ring 421 can transmit power to the prism body through the hole wall of the transmission hole 422, and the prism body can also slide axially relative to the transmission hole 422.

[0073] Considering that the transmission ring 421 is used to transmit power and is in plug-in fit with the prism body, the transmission ring 421 can be made of metal material. Among them, there are various ways for the outer side of the transmission ring 421 to be in transmission connection with the driving member 41. In some examples, a toothed ring is provided on the outer side of the transmission ring 421, and the driving member 41 can be meshed with the toothed ring on the outer side of the transmission ring 421 by means of gear meshing, or the driving member 41 can also be meshed with the toothed ring on the outer side of the transmission ring 421 by means of a gear set. In some other examples, a friction surface is provided on the outer side of the transmission ring 421, and the driving member 41 is in contact with the friction surface through a friction belt, a belt, etc. to achieve transmission connection with the transmission ring 421.

[0074] Considering that the main purpose of the plug-in fit between the prism body and the transmission hole 422 is to transmit power, preferably, the prism body is a hexagonal prism, and the transmission hole 422 is a hexagonal through hole, so that the power transmission is more stable, the processing is convenient, and it is beneficial to improve the processing efficiency. Of course, in other examples, the prism body can be a pentagonal prism, and the transmission hole 422 is a pentagonal through hole.

[0075] With such a setting, the assembly of the prism and the transmission hole 422 is simple by plugging and matching, and it ensures that the rotation axis of the transmission ring 421 coincides with the axis of the transmission shaft 10, which is beneficial to the stability of power transmission.

[0076] In some examples, such as Figures 1 to 4 shown, the transmission ring 421 is rotatably arranged through a bearing 43. With such a setting, it aims to improve the stability of the transmission ring 421 during rotation, so as to further improve the stability when transmitting power.

[0077] In some examples, a plurality of racks are arranged at intervals on the circumferential side of the transmission section 12, and each rack extends along the axial direction of the transmission shaft 10. The transmission member 42 includes a gear, the gear is in transmission connection with the driving member 41, and the gear is also engaged with the rack on the transmission section 12.

[0078] It should be noted that the length of the rack on the gear is shorter than the length of the rack on the transmission section 12. When the transmission shaft 10 moves axially, the rack on the transmission section 12 slides along the rack on the gear, but the rack on the transmission section 12 is always engaged with the rack on the gear to ensure the stability of power transmission.

[0079] In some examples, such as Figures 1 to 4 shown, a contact portion 22 protrudes from the circumferential side of the bushing 20. The elastic member 30 includes a sleeve spring, one end of the sleeve spring is fixedly arranged, and the other end of the sleeve spring is elastically abutted against the contact portion 22.

[0080] In the embodiment of the present application, the contact portion 22 also extends along the circumferential direction of the bushing 20 and forms a ring surrounding the circumferential side of the bushing 20. In other examples, the contact portion 22 may include a plurality of bumps and be spaced apart along the circumferential side of the bushing 20.

[0081] Among them, there are various fixing methods for the sleeve spring. In the scheme where the lifting device 100 includes a housing 50, one end of the sleeve spring is fixedly connected to the housing 50. In the scheme where the lifting device 100 does not include a housing 50, the sleeve spring is fixedly connected to the machine body, and specifically, clamping, bonding and other methods can be used for fixing.

[0082] With such a setting, the sleeve spring can not only stably apply a force to the bushing 20, but also maintain relative stability when the bushing 20 rotates.

[0083] In this example, the number of the sleeve springs is one, and the inner diameter of the sleeve spring is larger than the outer diameter of the bushing 20. The sleeve spring is also sleeved on the circumferential side of the bushing 20. With such a setting, the installation of the sleeve spring is convenient, and restricted by the circumferential side of the bushing 20, the sleeve spring is not easy to shift, disengage, etc., and has high stability. In some other examples, the number of the sleeve springs is multiple sets, and the multiple sets of sleeve springs are spaced apart along the circumferential side of the bushing 20.

[0084] It is understandable that the main function of the elastic member 30 is to keep the bushing 20 stationary. In this regard, the present application does not limit the direction in which the elastic member 30 applies a force to the bushing 20. In Figure 2 the illustrated embodiment, the force applied by the elastic member 30 to the bushing 20 is a pre-pressure from top to bottom. In other examples, the force applied by the elastic member 30 to the bushing 20 is a pre-pressure from bottom to top. Even in some examples, the elastic member 30 includes a resilient ball that abuts against the peripheral wall of the bushing 20 and applies a pre-pressure to the bushing 20 in the horizontal direction.

[0085] Please refer to the above description of the formation of the groove in the housing 50 and the above description of the abutting portion 22. In some examples, as Figure 4 shown, the side of the abutting portion 22 facing away from the sleeve spring slidably abuts against the flange on the groove.

[0086] Considering that existing cleaning robots cannot autonomously disassemble or replace the cleaning component 200 and require manual replacement by the user, while the main purpose of the cleaning robot is to replace manual labor and perform autonomous cleaning work, this goes against the original design intention of the cleaning robot and brings great inconvenience to the user.

[0087] To solve the above problems, in some embodiments of the present application, a function for the cleaning robot to autonomously disassemble and replace the cleaning component 200 is provided.

[0088] In some examples, as Figures 1 to 5 shown, a locking member 60 is slidably disposed along the axial direction of the second end 23 of the bushing 20 away from the cleaning component 200. The lifting device 100 is further fixedly provided with a mating member 70 and a second limiting portion 53 respectively. The cleaning component 200 is provided with a slot 203 that is inserted and mated with the installation section 13.

[0089] In the embodiment where the lifting device 100 includes the housing 50, the mating member 70 and the second limiting portion 53 are respectively fixed to the housing 50 or integrated on the housing 50. Specifically, the second limiting portion 53 is located on the periphery of the installation hole 52. In the embodiment where the lifting device 100 does not include the housing 50, the mating member 70 and the second limiting portion 53 are respectively fixed to the body or integrated on the body.

[0090] When the transmission shaft 10 rotates in the second direction and the external thread section 11 moves to the second end 23 to abut against the locking member 60 and slide, so that the locking member 60 is locked and mated with the mating member 70, the bushing 20 is restricted by the locking and mating of the locking member 60 and the mating member 70 and remains stationary, and the notch of the slot 203 abuts against the second limiting portion 53, so that the installation section 13 is disengaged from the slot 203.

[0091] It can be understood that the driving component 40 drives the transmission shaft 10 to rotate in the second direction, and the external thread section 11 moves towards the second end 23. During this process, the external thread section 11 abuts against the locking member 60 and slides towards the mating member 70, causing the locking member 60 and the mating member 70 to be locked and engaged. Since the locking member 60 is slidably arranged along the circumferential direction of the bushing 20, the locking member 60 cannot rotate relative to the bushing 20. When the locking member 60 and the mating member 70 are locked and engaged, the rotation of the locking member 60 is restricted, that is, the rotation of the bushing 20 is also restricted. In this way, even if the driving force for the bushing 20 to rotate by the external thread section 11 is greater than the static friction force provided by the elastic member 30, it cannot rotate. As the external thread section 11 continues to move towards the second end 23, it can drive the cleaning component 200 on the mounting section 13 to move towards the second end 23. When the cleaning component 200 moves a certain distance, the notch of the slot 203 abuts against the second limiting portion 53, and the cleaning component 200 is restricted and stops moving towards the second end 23. The mounting section 13 gradually disengages from the slot 203 under the influence of the continuous movement of the external thread section 11, and finally the cleaning robot realizes the automatic disassembly of the cleaning component 200. Similarly, when the transmission shaft 10 rotates in the first direction, the mounting section 13 moves away from the bushing 20, and the mounting section 13 can be inserted into the slot 203 to achieve the automatic installation of the cleaning component 200 by the cleaning robot.

[0092] Through the above structural settings, the cleaning robot provided by the embodiment of the present application realizes both the automatic disassembly of the cleaning component 200 by the cleaning robot and the automatic installation of the cleaning component 200 by the cleaning robot, enabling the cleaning robot to replace different types of cleaning components 200 to clean the ground, improving the practicability of the cleaning robot. At the same time, replacing the new cleaning component 200 for the cleaning robot can also improve the cleaning efficiency of the cleaning robot, bringing greater convenience to users.

[0093] There are various ways to realize the sliding setting of the locking member 60 along the axial direction of the bushing 20, and examples will be given below for illustration.

[0094] In some examples, as Figure 5 and Figure 6 shown, a sliding groove 231 is formed on the circumferential wall of the second end 23, and the sliding groove 231 also extends along the axial direction of the bushing 20. The locking member 60 is protruded with a sliding block 61, and the sliding block 61 is slidably engaged with the sliding groove 231. Such a setting aims to improve the stability of the locking member 60 during the sliding process.

[0095] The circumferential wall of the second end 23 is protruded with a guiding rib, and the guiding rib also extends along the axial direction of the bushing 20. The locking member 60 is recessed with a notch, and the guiding rib is slidably engaged with the notch. Such a setting aims to improve the stability of the locking member 60 during the sliding process.

[0096] In the above two examples, the circumferential side of the locking member 60 can also be in sliding contact with the inside of the shaft sleeve 20 to further improve the stability of the locking member 60.

[0097] In some examples, such as Figure 6 As shown, the locking member 60 is provided with a locking hole 62, and the cooperating member 70 includes a cooperating block, and the cooperating block is inserted and cooperated with the locking hole 62. It should be noted that the number of the locking holes 62 can be multiple, and the number of the locking holes 62 corresponds to the number of the cooperating blocks. With such a setting, the insertion and cooperation between the cooperating block and the locking hole 62 are simple and reliable.

[0098] The locking member 60 is provided with a locking block, and the cooperating member 70 is provided with a cooperating hole, and the locking block is inserted and cooperated with the cooperating hole. This solution is similar to the above solution of the cooperating block and the locking hole 62, and will not be elaborated one by one.

[0099] In some examples, the installation section 13 is provided with a first magnetic member, and the bottom wall of the slot 203 is provided with a second magnetic member. When the installation section 13 is inserted and cooperated with the slot 203, the first magnetic member and the second magnetic member are magnetically attracted to each other. With such a setting, it is intended to improve the connection reliability between the installation section 13 and the cleaning assembly 200.

[0100] In some examples, such as Figure 8 As shown, the cleaning assembly 200 includes a cleaning member 201 and an installation member 202. The cleaning member 201 is detachably connected to the installation member 202, and the installation member 202 is detachably connected to the installation section 13. With such a setting, it is intended to facilitate the replacement of the cleaning member 201, reduce consumables, and save resources.

[0101] The present application also proposes a cleaning system. The cleaning system includes the cleaning robot and the base station of any one of the above. The specific structure of the cleaning robot refers to the above embodiments. Since this cleaning system adopts all the technical solutions of the above all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated one by one here. Among them, the base station is provided with a docking platform for docking the cleaning robot, and the docking platform is provided with a cleaning tank to carry the cleaning assembly 200.

[0102] In some examples, a cleaning mechanism for cleaning the cleaning assembly 200 can also be provided in the cleaning tank to realize the automatic cleaning of the cleaning assembly 200.

[0103] In some examples, a third magnetic member can also be provided in the cleaning tank. When the cleaning robot disassembles the cleaning assembly 200, the second magnetic member on the cleaning assembly 200 can be controlled to be aligned with the third magnetic member. When the cleaning assembly 200 is separated from the installation section 13 or is being separated from the installation section 13, the second magnetic member and the third magnetic member are magnetically attracted to each other.

[0104] The above are only alternative embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the inventive concept of the present application, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A lifting device, applied to a cleaning robot, characterized in that: include: A transmission shaft, comprising an external thread section, a transmission section and a mounting section arranged in sequence along its axial direction, wherein the mounting section is used to be connected to a cleaning component of the cleaning robot; A shaft sleeve is rotatably arranged and threadedly connected with the external thread section, and a first limiting portion is provided at a first end of the shaft sleeve close to the cleaning component; An elastic member elastically abuts against the shaft sleeve so that the shaft sleeve is kept stationary by the force of the elastic member; A driving assembly is connected to the transmission section to drive the transmission shaft to rotate in a first direction or a second direction, so that the transmission shaft moves back and forth relative to the sleeve under the interaction between the sleeve and the external thread section, and when the transmission shaft rotates in the first direction and the end of the external thread section moves to the first limiting portion, the end of the external thread section abuts against the first limiting portion to synchronously drive the sleeve to rotate in the first direction.

2. The lifting device according to claim 1, characterized in that: The driving assembly includes a driving member and a transmission member, the driving member is fixedly arranged, the transmission member is rotatably arranged, the transmission member is transmission-connected to the driving member, and the transmission member is also transmission-abutted to the transmission section to transmit the power of the driving member to the transmission shaft, and the transmission section can slide along its axial direction relative to the transmission member.

3. The lifting device according to claim 2, characterized in that: The transmission member comprises a transmission ring, the outer side of the transmission ring is in transmission connection with the driving member, the inner side of the transmission ring is provided with a transmission hole, and the transmission section comprises a prism body matched with the transmission hole, and the prism body is plug-fitted with the transmission hole.

4. The lifting device according to claim 3, characterized in that: The transmission ring is rotatably arranged via a bearing.

5. The lifting device according to claim 2, characterized in that: A plurality of racks are arranged at intervals on the circumference of the transmission section, and each of the racks is extended along the axial direction of the transmission shaft; The transmission member comprises a gear, which is in transmission connection with the driving member and is also meshed with the rack on the transmission section.

6. The lifting device according to claim 1, characterized in that: An abutment portion is convexly provided on the circumferential side of the shaft sleeve, and the elastic member comprises a sleeve spring, one end of the sleeve spring is fixedly arranged, and the other end of the sleeve spring elastically abuts against the abutment portion.

7. The lifting device according to claim 6, characterized in that: The inner diameter of the sleeve spring is greater than the outer diameter of the shaft sleeve, and the sleeve spring is also sleeved on the circumferential side of the shaft sleeve.

8. The lifting device according to any one of claims 1 to 7, characterized in that: The lifting device also includes a shell, which is provided with an installation cavity and a installation hole connected to the installation cavity. The transmission shaft, the bushing, the elastic member and the drive assembly are all installed in the installation cavity, and the transmission shaft also extends out of the installation cavity through the installation hole.

9. A cleaning robot, characterized in that: include: Body; The lifting device according to any one of claims 1 to 8, wherein the lifting device is installed on one side of the machine body; as well as The cleaning component is detachably mounted on the mounting section.

10. The cleaning robot according to claim 9, characterized in that: The second end of the sleeve away from the cleaning component is provided with a locking piece along its axial sliding, the lifting device is also fixedly provided with a matching piece and a second limiting part, and the cleaning component is provided with a slot that is plugged and matched with the mounting section; Among them, when the transmission shaft rotates along the second direction, the external thread section moves to the second end to abut against the locking piece to slide, so that when the locking piece and the mating piece are locked and matched, the sleeve is restricted by the locking and matching of the locking piece and the mating piece and remains stationary, and the notch of the slot abuts against the second limiting portion, so that the installation section is disengaged from the slot.

11. The cleaning robot according to claim 10, characterized in that: The peripheral wall of the second end is provided with a slide groove, and the slide groove is also extended along the axial direction of the sleeve. The locking member is convexly provided with a sliding block, and the sliding block is slidably matched with the slide groove. And / or, the peripheral wall of the second end is convexly provided with a guide rib, the guide rib is also extended along the axial direction of the sleeve, the locking member is concavely provided with a notch, and the guide rib is slidably matched with the notch.

12. The cleaning robot according to claim 10, characterized in that: The locking member is provided with a locking hole, and the matching member comprises a matching block, and the matching block is plugged and matched with the locking hole; Alternatively, the locking member is provided with a locking block, the matching member is provided with a matching hole, and the locking block is plug-fitted into the matching hole.

13. The cleaning robot according to claim 10, characterized in that: The installation section is provided with a first magnetic component, and the bottom wall of the slot is provided with a second magnetic component. When the installation section is plugged into the slot, the first magnetic component and the second magnetic component are magnetically attracted to each other.

14. The cleaning robot according to claim 9, characterized in that: The cleaning assembly comprises a cleaning member and a mounting member, wherein the cleaning member is detachably connected to the mounting member, and the mounting member is detachably connected to the mounting section.

15. A cleaning system, characterized in that: The cleaning system comprises the cleaning robot according to any one of claims 1 to 14 and a base station, wherein the base station is provided with a docking platform for docking the cleaning robot, and the docking platform is provided with a cleaning groove for carrying the cleaning component.

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