Lifting device and cleaning robot

Abstract

This application relates to the field of cleaning robot technology, and more particularly to a lifting device and a cleaning robot. The lifting device includes: a housing; a drive unit disposed within the housing; a first transmission member, drively connected to the drive unit and capable of rotating around a first axis under the drive of the drive unit, the first axis extending vertically; a second transmission member, one of which, and the first transmission member, is provided with a guide rail, and the other with a first mating part, the guide rail including an inclined section extending vertically, the first mating part slidingly engaging with the guide rail; and an anti-rotation member disposed within the housing and disengagingly engaging with the second transmission member to prevent rotation. When the anti-rotation member engages with the second transmission member, the second transmission member slides vertically with the housing via the anti-rotation member and engages with the housing in a circumferential direction around the first axis to prevent rotation, thereby enabling the second transmission member to move vertically under the drive of the first transmission member. This application is beneficial for improving the endurance of cleaning robots.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more particularly to a lifting device and a cleaning robot. Background Technology

[0002] Currently, cleaning robots, as devices that reduce the cleaning burden on users, are increasingly widely used in daily life, especially in home settings. To avoid collisions between cleaning robots and obstacles, they are usually equipped with lifting devices; when the cleaning robot needs to avoid obstacles, this device can lift the cleaning parts, thereby preventing them from hitting the obstacles.

[0003] To simplify the structure of cleaning robots, related technologies incorporate a transmission mechanism within the lifting device, enabling the lifting and rotation of the cleaning components using a single drive unit. However, in practice, the battery life of these cleaning robots is less than ideal. Summary of the Invention

[0004] This application discloses a lifting device and a cleaning robot, which helps to improve the battery life of the cleaning robot using the lifting device.

[0005] To achieve the above objectives, in a first aspect, embodiments of this application disclose a lifting device applied to a cleaning robot, the lifting device comprising: chassis; The drive unit is located in the housing; The first transmission component is connected to the drive unit and is able to rotate around a first axis under the drive of the drive unit, the first axis extending vertically. The second transmission member has a docking portion for connecting with the cleaning component. One of the second transmission member and the first transmission member is provided with a guide rail, and the other is provided with a first mating portion. The guide rail includes an inclined section extending vertically. The first mating portion is slidably engaged with the guide rail. An anti-rotation component is provided on the housing and engages with the second transmission component in a disengaging manner to prevent rotation. When the anti-rotation component engages with the second transmission component, the second transmission component slides vertically with the housing through the anti-rotation component and engages with the housing in a circumferential direction around the first axis to prevent rotation, so that the second transmission component can move vertically under the drive of the first transmission component.

[0006] In one optional embodiment, the second transmission member is capable of moving between an upper limit position and a lower limit position under the drive of the first transmission member; The anti-rotation member is provided with an anti-rotation part, and the second transmission member is provided with a second mating part for anti-rotation engagement with the anti-rotation part. The anti-rotation part and the second mating part are respectively equidistant from the first axis. At the lower limit position, the second mating part is positioned below the anti-rotation part, and the anti-rotation part is separated from the second mating part; when the second transmission member is raised to the middle position and the second mating part and the anti-rotation part are vertically opposite each other, the second mating part and the anti-rotation part engage in anti-rotation engagement, wherein the middle position is located between the upper limit position and the lower limit position.

[0007] In one alternative embodiment, the guide rail and the first mating part are configured such that the second transmission member is lifted when the first transmission member rotates in the first rotation direction; The lifting device further includes an elastic friction element, which is disposed between the second transmission element and the housing; The elastic friction element is configured to provide a force to the second transmission element that restricts the rotation of the second transmission element along the first rotation direction when the second transmission element is located between the intermediate position and the lower limit position. The inclined segment includes a first inclined segment and a second inclined segment distributed sequentially along the first rotation direction, wherein the minimum angle between the first inclined segment and the vertical direction is greater than the minimum angle between the second inclined segment and the vertical direction. When the first mating part is located at the end of the first inclined segment away from the second inclined segment, the second transmission member is in the lower limit position; when the first mating part is located at the end of the second inclined segment close to the first inclined segment, the second transmission member is in the middle position.

[0008] In one optional embodiment, the minimum angle between the first inclined segment and the vertical is 85°~89°, and the minimum angle between the second inclined segment and the vertical is 30°~75°.

[0009] In one optional embodiment, the travel of the second transmission member between the intermediate position and the upper limit position is the first travel, and the travel of the second transmission member between the intermediate position and the lower limit position is the second travel, wherein the second travel is less than the first travel.

[0010] In one alternative embodiment, the guide track further includes a straight section connected to one end of the second inclined section opposite to the first inclined section, the straight section being perpendicular to the vertical. When the first mating part is located in the straight section, the second transmission member is in the upper limit position.

[0011] In an alternative embodiment, the elastic friction member is further configured to allow the second transmission member to rotate along the first rotation direction when the second transmission member is in the intermediate position, so that the second mating portion and the anti-rotation portion are vertically opposite each other.

[0012] In one alternative embodiment, one of the second mating portion and the anti-rotation portion is an anti-rotation protrusion and the other is an anti-rotation recess. The anti-rotation member slides vertically with the housing, and the anti-rotation member and the housing are anti-rotationally engaged in a circumferential direction around the first axis. The housing is provided with a limiting part, which is located below the anti-rotation member. The limiting part can stop and limit the anti-rotation member in the downward direction to limit the lowest position of the anti-rotation member. The second transmission member includes a first stop portion located below the anti-rotation member. At the lower limit position, the first stop portion and the anti-rotation member are vertically separated. At the intermediate position, when the second mating portion and the anti-rotation member are vertically misaligned, the second transmission member lifts the anti-rotation member so that the anti-rotation member is located at a first position, which is higher than the lowest position. At the intermediate position, when the second mating portion and the anti-rotation member are vertically opposite each other, the anti-rotation protrusion is located within the anti-rotation recess so that the position of the anti-rotation member is lower than the first position, and the anti-rotation member is supported by the first stop portion.

[0013] In an optional embodiment, the lifting device further includes a first elastic element disposed between the anti-rotation member and the housing, the first elastic element being used to drive the anti-rotation member to reset to the lowest position.

[0014] In an optional embodiment, at least one of the anti-rotation protrusion and the anti-rotation recess is provided with a guide surface, the guide surface gradually rising along the first rotation direction, and the guide surface is configured to guide the anti-rotation protrusion into the anti-rotation recess when the second transmission member is in the intermediate position and rotates along the first rotation direction. The first elastic member is further configured to restrict the second transmission member from lifting the anti-rotation member through the guide surface when the anti-rotation protrusion is located within the anti-rotation recess and the first transmission member rotates in the opposite direction to the first rotation direction.

[0015] In one optional embodiment, the second transmission member is provided with a first stop, the elastic friction member includes a friction member and a second elastic member, the friction member is located below the first stop and the friction member slides vertically with the housing, and the second elastic member is disposed between the friction member and the housing to press the friction member against the first stop.

[0016] In an alternative embodiment, the second elastic member is configured to press the friction member against the first stop when the second transmission member is located between the lower limit position and the upper limit position.

[0017] In one optional embodiment, the first stop extends circumferentially along the second transmission member, and the lower end face of the first stop is provided with friction ribs, which are used to make frictional contact with the friction member.

[0018] Secondly, this application provides a cleaning robot, comprising: The lifting device described in any of the above embodiments; The cleaning component is connected to the docking part.

[0019] Compared with related technologies, the beneficial effects of this application are: In this application, the anti-rotation component and the second transmission component adopt a disengageable anti-rotation engagement. When it is necessary to raise and lower the cleaning component, the anti-rotation component engages with the second transmission component to restrict the circumferential rotation of the second transmission component. When cleaning operations are required, the anti-rotation component separates from the second transmission component, and the anti-rotation component does not apply friction to the second transmission component, that is, the anti-rotation component does not apply a load to the drive motor. Therefore, a low-torque, low-power drive unit can be selected to reduce the energy consumption of the cleaning robot, thereby improving its endurance. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an assembly diagram of the lifting device and cleaning component disclosed in the embodiments of this application; Figure 2 This is a schematic diagram of the lifting device disclosed in the embodiments of this application; Figure 3 This is a cross-sectional view of the lifting device disclosed in the embodiments of this application; Figure 4 This is a schematic diagram of the lifting device disclosed in the embodiments of this application with the housing hidden. Figure 5 This is a schematic diagram of the structure of the first transmission component disclosed in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the second transmission component disclosed in an embodiment of this application; Figure 7 This is a schematic diagram of the guide track disclosed in the embodiments of this application; Figure 8 This is a schematic diagram of the anti-rotation component disclosed in the embodiments of this application; Figure 9 This is an assembly diagram of the housing and anti-rotation component disclosed in an embodiment of this application; Figure 10 This is an assembly diagram of the first mating part, the second transmission member, and the anti-rotation member disclosed in the embodiments of this application; Figure 11 This is a schematic diagram of the lifting process of the lifting device disclosed in the embodiments of this application; Figure 12 This is a schematic diagram of the movement process of the first mating part during the lifting process of the lifting device disclosed in the embodiments of this application; Figure 13 This is a schematic diagram of the movement process of the anti-rotation component during the lifting process of the lifting device disclosed in the embodiments of this application. Figure 14 This is a schematic diagram of the structure of the cleaning robot disclosed in the embodiments of this application; Figure 15 This is a cross-sectional view of the cleaning robot disclosed in an embodiment of this application.

[0022] Explanation of reference numerals in the attached figures: 100. Housing; 110. Limiting part; 120. Guide rib; 210. Drive unit; 220. Transmission mechanism; 300. First transmission component; 310. First mating part; 400. Second transmission component; 410. Connecting part; 420. Guide rail; 421. Inclined section; 4211. First inclined section; 4212. Second inclined section; 422. Straight section; 430. Second mating part; 431. Guide surface; 440. First stop; 441. Friction rib; 500, anti-rotation component; 501, slide groove; 510, anti-rotation part; 600, elastic friction element; 610, friction element; 620, second elastic element; 700. First elastic element; 800. Cleaning parts. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0025] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0026] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0027] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0028] Currently, cleaning robots, as devices that reduce the cleaning burden on users, are increasingly widely used in daily life, especially in home settings. To avoid collisions between cleaning robots and obstacles, they are usually equipped with lifting devices; when the cleaning robot needs to avoid obstacles, this device can lift the cleaning parts, thereby preventing them from hitting the obstacles.

[0029] To simplify the structure of cleaning robots, related technologies incorporate a transmission mechanism within the lifting device, enabling the lifting and rotation of the cleaning components using a single drive unit. However, in practice, the battery life of these cleaning robots is less than ideal.

[0030] The inventors discovered that existing lifting devices generally include a housing, a motor, a first transmission component, and a second transmission component. The motor is installed inside the housing; the first transmission component is connected to the motor and can rotate around its own axis under the motor's drive. The first and second transmission components are engaged by a meshing transmission structure, specifically: one of them has a helical groove, and the other is fixed with a pin; and an elastic friction element is provided between the second transmission component and the housing. This elastic friction element continuously presses against the outer circumferential surface or end face of the second transmission component to restrict the second transmission component from rotating synchronously with the first transmission component, thereby ensuring that the second transmission component moves only vertically under the drive of the first transmission component.

[0031] The inventors further discovered that the slope of the spiral groove in the related technology is relatively large. In order to counteract the driving effect of the horizontal tangential force generated between the spiral groove and the pin during the rotation of the first transmission component, and to ensure that the second transmission component does not rotate circumferentially with the first transmission component, the elastic friction component needs to apply a large normal pressure to the second transmission component throughout its entire stroke range, so as to form sufficient friction between the two contact surfaces.

[0032] When the cleaning robot performs its cleaning task, the motor needs to drive the second transmission component to rotate, thereby rotating the cleaning robot. During this process, the torque output by the motor must first overcome the frictional torque exerted on the second transmission component by the elastic friction component. Because the frictional torque provided by the elastic friction component in related technologies is relatively large, a high-torque, high-power motor must be used. This design directly results in the cleaning robot's high energy consumption and significantly insufficient battery life.

[0033] This application discloses a lifting device and a cleaning robot, which helps to improve the battery life of the cleaning robot using the lifting device. The lifting device and cleaning robot provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios.

[0034] like Figures 1 to 6 As shown in the figure, this application discloses a lifting device applied to a cleaning robot. The lifting device includes: The housing 100 is the mounting carrier of the lifting device. It has an internal cavity for accommodating components such as the drive unit 210, the first transmission component 300, the second transmission component 400, and the anti-rotation component 500. The bottom of the housing 100 has an opening for the docking part 410 of the second transmission component 400 to pass through so as to connect with the cleaning component 800.

[0035] The drive unit 210, disposed in the housing 100, is capable of outputting forward and reverse directional power to cause the first transmission member 300 to rotate in the first rotation direction and the opposite direction of the first rotation direction, respectively. For example, the drive unit 210 can be a motor, and the output shaft of the motor can extend vertically or horizontally.

[0036] The first transmission component 300 is connected to the drive unit 210 and is able to rotate around the first axis (by the drive unit 210) under the drive of the drive unit 210. Figure 4 (As shown by the dotted line in the diagram) Rotation, the first axis extends vertically. For example, the first transmission member 300 can be cylindrical, and the first transmission member 300 can be directly connected to the drive unit 210, or it can be indirectly connected to the drive unit 210 through a transmission mechanism 220 such as a gear mechanism.

[0037] The second transmission member 400 has a mating portion 410 for connecting with the cleaning member 800. The mating portion 410 can be connected to the cleaning member 800 by means of plug-in, snap-fit, screw connection, etc. For example, the mating portion 410 can be a square insertion hole that plugs into the cleaning member 800. One of the second transmission member 400 and the first transmission member 300 is provided with a guide rail 420, and the other is provided with a first mating portion 310. The guide rail 420 includes an inclined section 421 extending vertically, for example, the inclined section 421 can be a spiral inclined section. The first mating portion 310 slides with the guide rail 420. Exemplarily, the second transmission member 400 can be rod-shaped and can be disposed within the cylindrical first transmission member 300.

[0038] For example, the guide rail 420 can be a guide groove, in which case the first mating part 310 can be a guide post, and the guide post slides in conjunction with the guide groove. Alternatively, the guide rail 420 can also be a slide rail, in which case the first mating part 310 can be a slide groove 501 that mates with the slide rail.

[0039] An anti-rotation component 500 is disposed on the housing 100 and engages with the second transmission component 400 in a disengaging anti-rotation engagement. When the anti-rotation component 500 and the second transmission component 400 are engaged in anti-rotation engagement, the second transmission component 400 slides vertically with the housing 100 through the anti-rotation component 500 and engages with the housing 100 in a circumferential direction around the first axis, so that the second transmission component 400 can move vertically under the drive of the first transmission component 300.

[0040] The specific working process of the cleaning robot using the drive device of this application is as follows: When the cleaning robot detects an obstacle in front, the control drive unit 210 starts and rotates in the forward direction. The drive unit 210 drives the first transmission member 300 to rotate around the first axis in the first rotation direction. At this time, the anti-rotation member 500 and the second transmission member 400 maintain anti-rotation cooperation. Under the restriction of the anti-rotation member 500, the second transmission member 400 cannot rotate circumferentially with the first transmission member 300.

[0041] Since the guide rail 420 includes a vertically inclined section 421, when the first mating part 310 slides along the inclined section 421, it is guided by the inclined section 421, which can convert the circumferential rotation of the first transmission member 300 into the vertical movement of the second transmission member 400, thereby driving the cleaning member 800 connected to the second transmission member 400 to lift upward, thereby avoiding obstacles and preventing the cleaning member 800 from colliding with obstacles.

[0042] When the cleaning robot avoids an obstacle, the drive unit 210 rotates in the opposite direction, the first transmission component 300 rotates in the opposite direction of the first rotation direction, and the first mating part 310 slides in the opposite direction along the inclined section 421, causing the second transmission component 400 to descend and the cleaning component 800 to reset, thus restoring the cleaning operation posture. When the cleaning robot does not need to avoid obstacles and needs to perform cleaning operations, the anti-rotation component 500 disengages from the anti-rotation component 400, and the second transmission component 400 is no longer restricted circumferentially by the anti-rotation component 500. The circumferential rotation of the first transmission component 300 is driven by the circumferential limiting engagement of the guide rail 420 and the first mating part 310, causing the second transmission component 400 to rotate synchronously around the first axis, thereby causing the cleaning component 800 to rotate and achieve the cleaning operation.

[0043] In this application, the anti-rotation component 500 and the second transmission component 400 adopt a disengageable anti-rotation engagement. That is, the anti-rotation component 500 and the second transmission component 400 can engage or disengage. When it is necessary to raise or lower the cleaning component 800, the anti-rotation component 500 engages with the second transmission component 400 to restrict the circumferential rotation of the second transmission component 400. When cleaning operations are required, the anti-rotation component 500 disengages from the second transmission component 400, and the anti-rotation component 500 does not apply friction to the second transmission component 400. That is, the anti-rotation component 500 does not apply a load to the drive motor. Therefore, a low-torque, low-power drive unit 210 can be selected to reduce the energy consumption of the cleaning robot, thereby improving its endurance.

[0044] In some embodiments, the lifting device may include a drive component, such as a linear motor. The drive component is housed within the housing 100 and connected to the anti-rotation component 500. The drive component can drive the anti-rotation component 500 to move between an anti-rotation position and a disengaged position. When the anti-rotation component 500 is in the anti-rotation position, it engages with the second transmission component 400 to prevent rotation, and the second transmission component 400 and the anti-rotation component 500 slide vertically together. When the anti-rotation component 500 is in the disengaged position, it disengages from the second transmission component 400. This embodiment can use the anti-rotation component 500 to prevent the second transmission component 400 from rotating throughout the entire process. When cleaning operations are required, the drive unit 210 does not need to overcome frictional torque, and a drive unit 210 with smaller torque and lower power can be selected, further improving the endurance of the cleaning robot.

[0045] In one optional embodiment, the second transmission member 400 can move between an upper limit position and a lower limit position under the drive of the first transmission member 300. It should be noted that the lower limit position is the position of the second transmission member 400 when the cleaning member 800 is in the working state, at which point the cleaning member 800 is in contact with the ground to perform cleaning operations. For details, please refer to [reference needed]. Figure 1 , Figure 2 , Figure 3 as well as Figure 11 The position shown in the first diagram is the upper limit position, which is the position of the second transmission component 400 when the cleaning component 800 is fully raised. At this point, the cleaning component 800 completely avoids obstacles and prevents collisions. For details, please refer to [reference needed]. Figure 11 The location is shown in the fourth sub-figure.

[0046] Please see Figure 6 and Figure 8 The anti-rotation component 500 is provided with an anti-rotation part 510, and the second transmission component 400 is provided with a second mating part 430 for anti-rotation engagement with the anti-rotation part 510. The anti-rotation part 510 and the second mating part 430 are respectively equidistant from the first axis to ensure that they can accurately align and achieve anti-rotation engagement when they are vertically opposite each other, thus avoiding jamming and anti-rotation failure due to radial distance deviation.

[0047] At the lower limit position, the second mating part 430 is positioned below the anti-rotation part 510, and the anti-rotation part 510 separates from the second mating part 430. For details, please refer to [reference needed]. Figure 12 The position is shown in the first figure. When the second transmission member 400 is raised to the middle position and the second mating part 430 and the anti-rotation part 510 are vertically opposite each other, the second mating part 430 and the anti-rotation part 510 are in anti-rotation engagement. For details, please refer to [reference needed]. Figure 12 The third sub-figure shows the position, where the middle position is located between the upper and lower extreme positions.

[0048] The specific working process is as follows: when the second transmission component 400 is in the lower limit position, the cleaning component 800 is in contact with the ground and is in a cleaning standby state. In this state, the second mating part 430 is set lower than the anti-rotation part 510, and the anti-rotation part 510 is separated from the second mating part 430. Therefore, the drive unit 210 can rotate in the opposite direction to drive the cleaning component 800 to rotate, so as to clean the ground.

[0049] When the cleaning robot detects an obstacle in front, the drive unit 210 rotates in the forward direction, driving the first transmission component 300 to rotate in the forward direction around the first axis. Since the cleaning component 800 has a spring inside, and the spring has pressure relative to the ground, there is friction between the cleaning component 800 and the ground, which stops the rotation of the cleaning component 800 and the second transmission component 400. In this way, the second transmission component 400 can be lifted from the lower limit position under the drive of the first transmission component 300.

[0050] As the second transmission component 400 is lifted upwards, the cleaning component 800 gradually detaches from the ground. The anti-rotation effect of the ground on the cleaning component 800 and the second transmission component 400 gradually weakens. In order to ensure that the second transmission component 400 can be lifted steadily, when the second transmission component 400 is lifted to the middle position and the second mating part 430 and the anti-rotation part 510 are vertically opposite each other, the anti-rotation part 500 engages with the second transmission component 400. At this time, under the restriction of the anti-rotation part 500, the second transmission component 400 cannot rotate circumferentially with the first transmission component 300. The circumferential rotation of the first transmission component 300 continues to drive the second transmission component 400 to move upwards from the middle position through the engagement of the guide rail 420 and the first mating part 310 until it reaches the upper limit position, at which point the cleaning component 800 is fully lifted, thus achieving obstacle avoidance.

[0051] After the cleaning robot avoids the obstacle, the control system controls the drive unit 210 to rotate in the opposite direction, causing the first transmission component 300 to rotate in the opposite direction of the first rotation direction, which in turn causes the second transmission component 400 to move downward from the upper limit position. When the second transmission component 400 descends to below the middle position, the second mating part 430 separates from the anti-rotation part 510, and the ground stops the cleaning component 800 and the second transmission component 400 from rotating again, so that the second transmission component 400 can continue to move downward under the drive of the first transmission component 300 until it returns to the lower limit position.

[0052] As can be seen, when the second transmission member 400 in this embodiment is raised from the lower limit position to the middle position, the anti-rotation member 500 automatically engages with the second transmission member 400 to prevent rotation. When the second transmission member 400 moves down from the upper limit position to below the middle position, the anti-rotation member 500 automatically separates from the second transmission member 400. Compared with the design of adding a driving member in the previous embodiment, this embodiment eliminates the driving member and related control structure, which can simplify the overall structure of the lifting device and reduce the assembly difficulty and manufacturing cost of the lifting device.

[0053] It should be noted that when the lifting device also includes the elastic friction element 600 described below, this embodiment may not use the cleaning element 800 with a spring. In this case, the elastic friction element 600 described below can be used to provide a force to restrict the rotation of the second transmission element 400 in the first rotation direction when the second transmission element 400 is between the intermediate position and the lower limit position, instead of relying on the spring in the cleaning element 800 to provide a force to restrict the rotation of the second transmission element 400 in the first rotation direction during this stage.

[0054] In an alternative embodiment, referring to 4, the guide rail 420 and the first mating portion 310 are configured such that: when the first transmission member 300 is in a first rotational direction ( Figure 4 When the second transmission member 400 rotates (in the direction indicated by the arrow m), it drives the second transmission member 400 to lift. The lifting device also includes an elastic friction member 600, which is disposed between the second transmission member 400 and the housing 100. The elastic friction member 600 is configured to provide a force to the second transmission member 400 that restricts the rotation of the second transmission member 400 in the first rotation direction when the second transmission member 400 is between the middle position and the lower limit position.

[0055] Please see Figure 6 and Figure 7 The inclined segment 421 includes a first inclined segment 4211 and a second inclined segment 4212 sequentially distributed along the first rotation direction. That is, during the rotation of the first transmission member 300 along the first rotation direction, the first mating part 310 sequentially engages with the first inclined segment 4211 and the second inclined segment 4212. The minimum included angle between the first inclined segment 4211 and the vertical direction ( Figure 7 The included angle shown in α1 is greater than the minimum included angle between the second inclined segment 4212 and the vertical. Figure 7 (The included angle shown in α2) means that, with the horizontal direction as a reference, the inclination of the first inclined segment 4211 is less than that of the second inclined segment 4212, and the first inclined segment 4211 is a relatively gentle segment.

[0056] It should be noted that when both the first inclined segment 4211 and the second inclined segment 4212 are spiral inclined segments 421, the minimum angle between the first inclined segment 4211 and the vertical is the minimum angle between any tangent of the first inclined segment 4211 and the vertical, which is the first angle. The minimum angle between the second inclined segment 4212 and the vertical is the minimum angle between any tangent of the second inclined segment 4212 and the vertical, which is the second angle. The largest of the multiple first angles is smaller than the smallest of the multiple second angles.

[0057] When the first mating part 310 is located at the end of the first inclined section 4211 that is away from the second inclined section 4212, the second transmission member 400 is in the lower limit position, as detailed in [reference needed]. Figure 12 The position is shown in the first figure. When the first mating part 310 is located at one end of the second inclined section 4212 near the first inclined section 4211, the second transmission member 400 is in the middle position. See the attached diagram for details. Figure 12 The locations are shown in the second and third images.

[0058] The specific working process is as follows: when the second transmission component 400 is in the lower limit position, the first mating part 310 is located at the end of the first inclined section 4211 away from the second inclined section 4212. At this time, the cleaning component 800 is in contact with the ground, and the elastic friction component 600 is pressed against the second transmission component 400. The elastic friction component 600 will apply frictional resistance to the second transmission component 400. The drive unit 210 needs to overcome the frictional torque applied by the elastic friction component 600 in order to drive the cleaning component 800 to rotate in order to clean the ground.

[0059] When obstacle avoidance is required, the drive unit 210 drives the first transmission member 300 to rotate in the first rotation direction. Due to the restriction of the elastic friction member 600, the second transmission member 400 cannot be driven by the first transmission member 300 to rotate in the first rotation direction. This causes the first mating part 310 to slide along the first inclined section 4211 towards the second inclined section 4212, and the second transmission member 400 is gradually lifted. Because the angle between the first inclined section 4211 and the vertical is large, the horizontal tangential force generated when the first transmission member 300 rotates is small. A detailed analysis follows; please refer to [link / reference]. Figure 7 The horizontal tangential force generated in the first inclined segment 4211 is F1 = Fn × cosα1, and the horizontal tangential force generated in the second inclined segment 4212 is F1 = Fn × cosα2. Since α2 is less than α1, the horizontal tangential force generated in the first inclined segment 4211 is smaller.

[0060] Since the horizontal tangential force generated in the first inclined section 4211 is smaller, the maximum static friction force required by the elastic friction element 600 is also reduced. In other words, the elastic friction element 600 does not need to apply excessive pressure to restrict the rotation of the second transmission element 400, thereby greatly reducing the frictional resistance. Therefore, when the second transmission element 400 is in the lower limit position, the drive unit 210 only needs to overcome a small frictional resistance to drive the cleaning element 800 to rotate for cleaning operations.

[0061] When the first mating part 310 slides from the first inclined section 4211 into the second inclined section 4212, the second transmission member 400 is lifted to the middle position. The second inclined section 4212 has a larger degree of inclination. When the first transmission member 300 rotates by the same angle, the vertical displacement of the second transmission member 400 is greater and the rising speed is faster. This allows the second transmission member 400 to be quickly lifted to the upper limit position, thereby improving obstacle avoidance efficiency.

[0062] As can be seen, this embodiment can improve the obstacle avoidance efficiency of the cleaning robot while reducing the power of the drive unit 210 and improving the battery life of the cleaning robot.

[0063] It should be noted that, Figure 11 This is a schematic diagram of the lifting process of the lifting device of this application. Figure 11 The first image in the diagram shows the structure of the lifting device when the second transmission component 400 is in the lower limit position. Figure 11 The second figure is a structural diagram of the lifting device when the second transmission component 400 is in the middle position and the second mating part 430 is misaligned with the anti-rotation part 510. Figure 11 The third figure is a structural diagram of the lifting device when the second transmission component 400 is in the middle position and the second mating part 430 is mated with the anti-rotation part 510. Figure 11 The fourth figure is a structural diagram of the lifting device when the second transmission component 400 is in the upper limit position.

[0064] Figure 12 This is a schematic diagram of the movement process of the first mating part during the lifting process of the lifting device disclosed in the embodiments of this application. Figure 12 The first figure in the figure is a schematic diagram of the engagement of the first mating part 310, the second transmission part 400 and the anti-rotation part 500 when the second transmission part 400 is in the lower limit position; Figure 12 The second figure is a schematic diagram of the engagement of the first mating part 310, the second transmission part 400, and the anti-rotation part 500 when the second transmission member 400 is in the middle position and the second mating part 430 is misaligned with the anti-rotation part 510. Figure 12 The third figure is a schematic diagram of the engagement of the first engagement part 310, the second transmission part 400, and the anti-rotation part 500 when the second transmission member 400 is in the middle position and the second engagement part 430 is engaged with the anti-rotation part 510. Figure 12 The fourth figure is a schematic diagram of the engagement of the first mating part 310, the second transmission part 400, and the anti-rotation part 500 when the second transmission part 400 is in the upper limit position.

[0065] Figure 13 This is a schematic diagram of the movement process of the anti-rotation member 500 during the lifting process of the lifting device disclosed in the embodiments of this application. Figure 13The first figure in the diagram shows the positional relationship between the limiting part 110 and the anti-rotation part 500 when the second transmission component 400 is in the lower limit position. Figure 13 The second figure shows the positional relationship between the limiting part 110 and the anti-rotation part 500 when the second transmission member 400 is in the middle position and the second mating part 430 is misaligned with the anti-rotation part 510. Figure 13 The third figure is a diagram showing the positional relationship between the limiting part 110 and the anti-rotation part 500 when the second transmission member 400 is in the middle position and the second mating part 430 is mated with the anti-rotation part 510. Figure 13 The fourth figure shows the positional relationship between the limiting part 110 and the anti-rotation part 500 when the second transmission member 400 is in the upper limit position.

[0066] In one optional embodiment, the minimum angle between the first inclined segment 4211 and the vertical is 85°~89°, and the minimum angle between the second inclined segment 4212 and the vertical is 30°~75°. For example, the minimum angle between the first inclined segment 4211 and the vertical can be 86°, 87°, 88°, etc.; the minimum angle between the second inclined segment 4212 and the vertical can be 35°, 38°, 40°, 42°, 46°, 49°, 51°, 57°, 60°, 63°, 66°, 68°, 70°, 72°, 74°, etc.

[0067] If the included angle of the first inclined segment 4211 is less than 85°, the smoothness of the first inclined segment 4211 is insufficient, the horizontal tangential force increases, and low-resistance lifting cannot be achieved, thus limiting the reduction in power of the drive unit 210. If the included angle of the first inclined segment 4211 is greater than 89°, it is close to lateral and cannot effectively drive the second transmission component 400 to lift. If the included angle of the second inclined segment 4212 is less than 30°, the vertical force generated when the first transmission component 300 rotates is too small, and the first mating part 310 is prone to jamming when sliding in the second inclined segment 4212. If the included angle of the second inclined segment 4212 is greater than 75°, the rapid lifting effect is poor.

[0068] Therefore, by controlling the minimum angle between the first inclined section 4211 and the vertical direction to 85°~89°, the horizontal tangential force can be minimized, thus reducing the elastic force requirement of the elastic friction member 600 to a minimum, while ensuring that the second transmission member 400 is lifted upwards. By controlling the minimum angle between the second inclined section 4212 and the vertical direction to 30°~75°, the first mating part 310 can slide smoothly within the second inclined section 4212, while the second transmission member 400 drives the cleaning member 800 to lift rapidly.

[0069] In one optional embodiment, the travel of the second transmission member 400 between the intermediate position and the upper limit position is the first travel, and the travel of the second transmission member 400 between the intermediate position and the lower limit position is the second travel, wherein the second travel is less than the first travel. For example, the first travel can be 8~15mm, such as 8.5mm, 9mm, 9.2mm, 11mm, 12mm, 13mm, 14mm, etc.; the second travel can be 0.4~1mm, such as 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, etc.

[0070] In this embodiment, the second stroke is designed to be shorter, meaning the distance the second transmission member 400 moves from the lower limit position to the middle position is shorter. This allows the second transmission member 400 to quickly engage with the anti-rotation member 500, thereby increasing the vertical displacement of the second transmission member 400 when the first transmission member 300 rotates one revolution, thanks to the large-angle second inclined section 4212. This results in the second transmission member 400 rising more rapidly and improving obstacle avoidance efficiency. Of course, the second stroke can also be greater than or equal to the first stroke; this application does not impose any limitation on this.

[0071] In one alternative embodiment, please refer to Figure 6 and Figure 7 The guide rail 420 also includes a straight section 422, which is connected to one end of the second inclined section 4212 away from the first inclined section 4211. The straight section 422 is perpendicular to the vertical. When the first mating part 310 is located in the straight section 422, the second transmission member 400 is in the upper limit position.

[0072] When the cleaning robot avoids obstacles, the cleaning component 800 needs to remain stable after being raised to its highest position to prevent accidental descent due to vibration or movement of the cleaning robot, which could lead to a collision between the cleaning component 800 and the obstacle. Therefore, this embodiment provides a straight section 422 perpendicular to the vertical direction. The extension direction of the straight section 422 is perpendicular to the lifting direction of the second transmission component 400. When the first mating part 310 slides into the straight section 422, the direction of the supporting force of the straight section 422 on the first mating part 310 is exactly opposite to the gravity of the second transmission component 400. The second transmission component 400 cannot make the first mating part 310 slide relative to the straight section 422 by gravity alone, thereby making the cleaning component 800 remain stable after being raised to its highest position.

[0073] Of course, in some other embodiments, the guide rail 420 may not include the straight section 422. In this case, when the first mating part 310 is located at one end of the second inclined section 4212 away from the first inclined section 4211, the second transmission member 400 is in the upper limit position.

[0074] During the cleaning process, the second transmission member 400 may stop at any position. If the position where the second transmission member 400 stops happens to make the second mating part 430 and the anti-rotation part 510 vertically opposite each other, the first transmission member 300 can be directly controlled to rotate forward. In this way, when the second transmission member 400 rises to the middle position, the second mating part 430 will engage with the anti-rotation part 510. However, if the position where the second transmission member 400 stops happens to make the second mating part 430 and the anti-rotation part 510 vertically misaligned, in order to make the second mating part 430 and the anti-rotation part 510 vertically opposite each other, the first transmission member 300 can be controlled to rotate in the opposite direction when the second transmission member 400 is at the lower limit position, so as to drive the second transmission member 400 to rotate in the opposite direction of the first rotation direction until the second mating part 430 and the anti-rotation part 510 are vertically opposite each other. However, the control logic of this operation method is more complicated.

[0075] In one alternative embodiment, please refer to Figure 12 The elastic friction member 600 is also configured to allow the second transmission member 400 to rotate in the first rotation direction when the second transmission member 400 is in the middle position, so that the second mating part 430 and the anti-rotation part 510 are vertically opposite each other.

[0076] It should be noted that as the second transmission member 400 is lifted upwards, the deformation of the elastic friction member 600 gradually decreases, the normal pressure between the elastic friction member 600 and the second transmission member 400 gradually decreases, and the friction between them also gradually decreases. Consequently, the anti-rotation effect of the elastic friction member 600 on the second transmission member 400 gradually decreases. Therefore, in this embodiment, the elasticity of the elastic friction member 600 is configured so that when the second transmission member 400 is just in the middle position, the friction between the elastic friction member 600 and the second transmission member 400 is unable to prevent the second transmission member 400 from rotating in the first rotation direction.

[0077] If, during cleaning operations, the second transmission member 400 stops at a position that causes the second mating part 430 and the anti-rotation part 510 to be vertically misaligned, the technical solution of this embodiment can still control the first transmission member 300 to rotate in the forward direction, thereby driving the second transmission member 400 to lift. When the second transmission member 400 just reaches the middle position, the second mating part 430 and the anti-rotation part 510 are vertically misaligned (see details...). Figure 12 (See the second figure in the original text). At this point, the elastic friction element 600 releases the restriction on the rotation of the second transmission element 400 along the first rotation direction, allowing the second transmission element 400 to rotate forward along the first rotation direction with the first transmission element 300. During this process, the second mating part 430 rotates synchronously forward until it is precisely aligned vertically with the anti-rotation part 510 (see the second figure in the original text for details). Figure 12 (The third diagram in the diagram) allows for automatic alignment and calibration, enabling rapid lifting without the need for reverse rotation at the lower limit position, thus simplifying the control logic.

[0078] In some embodiments, the anti-rotation member 500 is integrally formed with the housing 100. In this case, the second mating part 430 can be an anti-rotation protrusion, and the anti-rotation part 510 can be an anti-rotation recess extending vertically. The anti-rotation protrusion is elastic. In the middle position, the anti-rotation protrusion is squeezed by the anti-rotation member 500 to undergo elastic deformation. When the second transmission member 400 rotates to the position where the anti-rotation protrusion and the anti-rotation recess are opposite, the anti-rotation protrusion restores its elastic deformation and enters into the anti-rotation recess to engage with it in anti-rotation cooperation. However, the anti-rotation effect of the elastic anti-rotation protrusion is not ideal.

[0079] In one alternative embodiment, please refer to Figure 9 and Figure 10 One of the second mating part 430 and the anti-rotation part 510 is an anti-rotation protrusion, and the other is an anti-rotation recess. The anti-rotation member 500 slides vertically with the housing 100, and the anti-rotation member 500 and the housing 100 are anti-rotationally engaged in the circumferential direction formed around the first axis. That is, the anti-rotation member 500 can only move vertically and cannot rotate circumferentially around the first axis. For example, a guide rib 120 extending vertically can be provided on the inner wall of the housing 100, and a sliding groove 501 can be provided on the outer periphery of the anti-rotation member 500. The sliding groove 501 slides with the guide rib 120.

[0080] The housing 100 is provided with a limiting part 110, which is located below the anti-rotation member 500. The limiting part 110 can stop and limit the anti-rotation member 500 in the downward direction, thereby limiting the lowest position of the anti-rotation member 500 (see details). Figure 13 (See the first diagram in the image) to prevent the anti-rotation component 500 from moving excessively downwards and disengaging from its engagement range with the second transmission component 400.

[0081] The second transmission member 400 includes a first stop 440, which is located below the anti-rotation member 500. At the lower limit position, the first stop 440 and the anti-rotation member 500 are vertically separated and do not contact each other, so as not to affect the circumferential rotation of the second transmission member 400. At this time, the anti-rotation member 500 is in the lowest position.

[0082] When the second mating part 430 and the anti-rotation part 510 are vertically misaligned in the middle position, the second transmission member 400 lifts the anti-rotation member 500, that is, the second transmission member 400 lifts the anti-rotation member 500 through the anti-rotation protrusion, so that the anti-rotation member 500 is in the first position (see details). Figure 13 (The second image in the image), the first position is higher than the lowest position.

[0083] When the second mating part 430 and the anti-rotation part 510 are vertically aligned, the anti-rotation protrusion is located inside the anti-rotation recess, so that the position of the anti-rotation member 500 is lower than the first position. At this time, the position of the anti-rotation member 500 can be either the lowest position or higher than the lowest position, and the anti-rotation member 500 is supported by the first stop part 440. For details, please refer to [reference needed]. Figure 13 The third image in the series.

[0084] The specific working process is as follows: when the second transmission component 400 is in the lower limit position, the first stop 440 is vertically separated from the anti-rotation component 500, and the anti-rotation component 500 is in the lowest position under the stop of the limiting part 110 (see details). Figure 13 (See the first image in the document). When obstacle avoidance is required, the first transmission component 300 is controlled to rotate forward, driving the second transmission component 400 to move upward. If the second transmission component 400 stops at a certain position, causing the second mating part 430 and the anti-rotation part 510 to be vertically misaligned, when reaching the middle position, the second transmission component 400 first lifts the anti-rotation part 500, causing the anti-rotation part 500 to rise to the first position (see the first image for details). Figure 13 (See the second figure in the text). At this time, the elastic friction member 600 allows the second transmission member 400 to rotate in the first rotation direction. The second transmission member 400 drives the second mating part 430 to deflect circumferentially until it is vertically opposite to the anti-rotation part 510 (see the second figure in the text for details). Figure 13 (The third picture in the series).

[0085] After alignment, the anti-rotation protrusion enters the anti-rotation recess, the anti-rotation member 500 loses its lifting force, falls back to a position lower than the first position, and is supported by the first stop 440. Since the anti-rotation member 500 and the housing 100 are circumferentially anti-rotating, the second transmission member 400 is reliably locked and cannot rotate circumferentially. Then it enters the second tilting section 4212 for rapid lifting. During this process, the anti-rotation member 500 is driven upward by the first stop 440 until the second transmission member 400 reaches the upper limit position and stops (see details). Figure 13 (The fourth picture in the series).

[0086] After obstacle avoidance is completed, the second transmission component 400 descends, the anti-rotation protrusion disengages from the anti-rotation recess, and the anti-rotation component 500 falls back to its lowest position under its own weight and is stopped by the limiting part 110; the second transmission component 400 continues to descend to the lower limit position, and the first stop part 440 and the anti-rotation component 500 are vertically separated again, and the cleaning operation resumes.

[0087] The anti-rotation member 500 in this embodiment can slide vertically, thereby allowing the anti-rotation protrusion in this embodiment to adopt a rigid structure. The anti-rotation protrusion will not undergo elastic deformation, which can more reliably limit the circumferential rotation of the second transmission member 400 along the first rotation direction.

[0088] In one alternative embodiment, please refer to Figure 3 and Figure 4 The lifting device also includes a first elastic element 700, which is disposed between the anti-rotation member 500 and the housing 100. The first elastic element 700 is used to drive the anti-rotation member 500 back to the lowest position. That is, the first elastic element 700 always applies a downward elastic force to the anti-rotation member 500. When the anti-rotation member 500 is lifted away from the lowest position by the second transmission member 400, the first elastic element 700 undergoes elastic deformation and stores elastic potential energy. When the anti-rotation member 500 loses the lifting force, the elastic potential energy is released, driving the anti-rotation member 500 to quickly fall back to the lowest position defined by the limiting part 110, completing the reset. For example, the first elastic element 700 can be a spring, elastic sleeve, spring sheet, or other components.

[0089] If the anti-rotation component 500 relies solely on its own weight for reset, problems such as reset delay or inability to reset to the lowest position may easily occur if there are assembly gaps, frictional resistance, or dust obstruction. Therefore, this embodiment provides an active downward reset force through the first elastic element 700, which works in conjunction with the weight of the anti-rotation component 500 to ensure that the anti-rotation component 500 can quickly and smoothly fall back to the lowest position after losing the supporting force, thus improving the timeliness and reliability of the reset of the anti-rotation component 500.

[0090] In one alternative embodiment, please refer to Figure 6 At least one of the anti-rotation protrusion and the anti-rotation recess is provided with a guide surface 431. The guide surface 431 gradually rises along the first rotation direction, that is, the vertical distance between the guide surface 431 and the horizontal plane below it gradually increases along the first rotation direction. Here, the guide surface 431 can be a plane, an arc surface, or a spiral surface. The guide surface 431 is configured to guide the anti-rotation protrusion into the anti-rotation recess when the second transmission member 400 is in the middle position and rotates along the first rotation direction.

[0091] The first elastic member 700 is further configured to: when the anti-rotation protrusion is located within the anti-rotation recess and the first transmission member 300 rotates in the opposite direction to the first rotation direction, restrict the second transmission member 400 from lifting the anti-rotation member 500 through the guide surface 431. That is, during the process of the first transmission member 300 reversing to drive the second transmission member 400 to prepare to descend, the guide surface 431 will generate an upward force to try to lift the anti-rotation member 500. The downward reset force applied by the first elastic member 700 can counteract the upward force, prevent the anti-rotation member 500 from being lifted, and ensure that the anti-rotation protrusion is stably located within the anti-rotation recess until the anti-rotation member 500 falls back to the lowest position under the action of the first elastic member 700. Then, the second transmission member 400 continues to move downward so that the anti-rotation protrusion actively stops the rotation of the recess.

[0092] Specifically, the first elastic element 700 applies downward pressure to the anti-rotation element 500, which is defined as the first vertical force. When the first transmission element 300 rotates in the opposite direction of the first rotation direction, the first transmission element 300 applies an upward force to the second transmission element 400 through the first mating part 310, the guide rail 420, and the guide surface 431, which is defined as the second vertical force. To achieve the purpose of restricting the second transmission element 400 from lifting the anti-rotation element 500 through the guide surface 431 when the anti-rotation protrusion is located within the anti-rotation recess and the first transmission element 300 rotates in the opposite direction of the first rotation direction, it is only necessary to ensure that the first vertical force is greater than or equal to the second vertical force when the anti-rotation element 500 is in its lowest position.

[0093] The specific working process of this embodiment is as follows: When the second transmission member 400 reaches the middle position and the anti-rotation protrusion and anti-rotation recess are misaligned, the second transmission member 400 lifts the anti-rotation member 500 to the first position, and the first elastic member 700 is compressed and stores elastic potential energy. Subsequently, the second transmission member 400 rotates and aligns along the first rotation direction, and the anti-rotation protrusion gradually approaches the anti-rotation recess. When the anti-rotation protrusion and anti-rotation recess come into contact through the guide surface 431, as the second transmission member 400 continues to rotate, the guide surface 431 accurately guides the anti-rotation protrusion into the anti-rotation recess. During this process, the anti-rotation member 500 loses its lifting force, and the first elastic member 700 releases its elastic potential energy, driving the anti-rotation member 500 to quickly fall back to the state supported by the first stop 440, thus completing the anti-rotation engagement.

[0094] Without the guide surface 431, when the anti-rotation protrusion and anti-rotation recess are aligned, misalignment is likely to occur at their entrances, preventing the anti-rotation protrusion from quickly sliding into the anti-rotation recess, or even causing jamming. This affects the timeliness of the anti-rotation engagement and prolongs obstacle avoidance time. In this embodiment, by adding the guide surface 431, its inclined structure provides a precise guide trajectory for the anti-rotation protrusion. When the second transmission component 400 rotates in the first rotation direction at the middle position, the guide surface 431 can guide the anti-rotation protrusion smoothly and accurately into the anti-rotation recess through its own inclination angle, avoiding misalignment and jamming problems, greatly improving alignment efficiency and smoothness, and ensuring that the anti-rotation engagement takes effect quickly.

[0095] In one alternative embodiment, please refer to Figure 3 and Figure 4 The second transmission member 400 is provided with a first stop 440. The elastic friction member 600 includes a friction member 610 and a second elastic member 620. The friction member 610 is located below the first stop 440 and slides vertically with the housing 100. The second elastic member 620 is disposed between the friction member 610 and the housing 100 to press the friction member 610 against the first stop 440.

[0096] The elastic friction member 600 in this embodiment includes a friction member 610 and a second elastic member 620. The friction member 610 is specifically responsible for generating frictional force, and the second elastic member 620 is specifically responsible for providing clamping force. Even if the friction member 610 experiences slight wear, the second elastic member 620 can compensate for the wear through its own elastic deformation, continuously clamping the friction member 610 against the first stop 440, ensuring that the frictional force remains stable and improving the reliability of the friction limit. Of course, the elastic friction member 600 may also include only the second elastic member 620, and this application does not limit this.

[0097] In an optional embodiment, the second elastic member 620 is configured to press the friction member 610 against the first stop 440 when the second transmission member 400 is between the lower limit position and the upper limit position. That is, throughout the entire movement of the second transmission member 400 from the lower limit to the upper limit, the second elastic member 620 applies an upward pressing force to the friction member 610, so that the friction member 610 is always in close contact with the first stop 440 on the second transmission member 400.

[0098] If the full-process clamping design of this embodiment is not adopted, in order to prevent the friction component 610 from disengaging from the first stop 440 and causing vertical displacement deviation during the lifting process, an independent upper limit structure needs to be set for the friction component 610. When the friction component 610 is installed into the housing 100 from top to bottom, the upper limit structure will form an obstruction, causing installation interference, which will prevent the friction component 610 from being assembled smoothly. To solve this interference problem, only a complex detachable or deformable upper limit structure can be used. Such a structure not only increases the number of parts, but also increases the assembly difficulty.

[0099] In this embodiment, the friction element 610 is always pressed against the first stop 440 by the full-process clamping of the second elastic element 620. The first stop 440 naturally forms the upper limit position of the friction element 610, without the need to add any additional upper limit position part 110, so as to avoid the installation interference problem caused by setting the upper limit position structure. Therefore, it is not necessary to use a complex detachable / deformable upper limit position, so as to reduce the number of parts and simplify the assembly process.

[0100] In one alternative embodiment, please refer to Figure 3 The first stop 440 extends circumferentially along the second transmission member 400. The lower end face of the first stop 440 is provided with friction ribs 441, which are used to make frictional contact with the friction member 610.

[0101] In this embodiment, by adding friction ribs 441, the friction area between the friction component 610 and the first stop 440 is reduced, thereby reducing the frictional force between the friction component 610 and the first stop 440. As a result, the drive unit 210 no longer needs to overcome the frictional resistance generated by the large-area planar contact, the load is significantly reduced, thereby reducing drive energy consumption and improving the endurance of the cleaning robot.

[0102] like Figure 14 and Figure 15 As shown in the illustration, this application also provides a cleaning robot, including: In any of the above embodiments, the lifting device and cleaning component 800 are connected to the docking part 410, thus enabling the cleaning robot to have the beneficial effects of the lifting device described above, which will not be elaborated further here. For example, the cleaning component 800 can be a mop or a sweeping plate.

[0103] The foregoing embodiments of this application focus on describing the differences between various embodiments. As long as the different optimization features between embodiments are not contradictory, they can be combined to form better embodiments. For the sake of brevity, these differences will not be elaborated upon here. The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art, under the guidance of this application, can make many modifications without departing from the spirit and scope of the claims, all of which fall within the protection scope of this application.

Claims

1. A lifting device applied to a cleaning robot, characterized in that, The lifting device includes: Casing (100); A drive unit (210) is disposed in the housing (100). The first transmission component (300) is connected to the drive unit (210) and can rotate around a first axis under the drive of the drive unit (210), the first axis extending vertically; The second transmission member (400) has a docking portion (410) for connecting with the cleaning member (800). One of the second transmission member (400) and the first transmission member (300) is provided with a guide rail (420), and the other is provided with a first mating portion (310). The guide rail (420) includes an inclined section (421) extending vertically. The first mating portion (310) is slidably engaged with the guide rail (420). An anti-rotation component (500) is disposed on the housing (100) and engages with the second transmission component (400) in a disengaging manner to prevent rotation. When the anti-rotation component (500) engages with the second transmission component (400), the second transmission component (400) slides vertically with the housing (100) through the anti-rotation component (500) and engages with the housing (100) in a circumferential direction around the first axis to prevent rotation, so that the second transmission component (400) can move vertically under the drive of the first transmission component (300).

2. The lifting device according to claim 1, characterized in that, The second transmission member (400) can move between the upper limit position and the lower limit position under the drive of the first transmission member (300); The anti-rotation member (500) is provided with an anti-rotation part (510), and the second transmission member (400) is provided with a second mating part (430) for anti-rotation engagement with the anti-rotation part (510). The anti-rotation part (510) and the second mating part (430) are respectively equidistant from the first axis. At the lower limit position, the second mating part (430) is positioned below the anti-rotation part (510), and the anti-rotation part (510) is separated from the second mating part (430); when the second transmission member (400) is raised to the middle position and the second mating part (430) and the anti-rotation part (510) are vertically opposite each other, the second mating part (430) and the anti-rotation part (510) are anti-rotation engaged, wherein the middle position is located between the upper limit position and the lower limit position.

3. The lifting device according to claim 2, characterized in that, The guide rail (420) and the first mating part (310) are configured such that when the first transmission member (300) rotates in the first rotation direction, it drives the second transmission member (400) to lift. The lifting device further includes an elastic friction element (600), which is disposed between the second transmission element (400) and the housing (100); The elastic friction element (600) is configured to provide a force to the second transmission element (400) that restricts the rotation of the second transmission element (400) along the first rotation direction when the second transmission element (400) is located between the intermediate position and the lower limit position; The inclined segment (421) includes a first inclined segment (4211) and a second inclined segment (4212) distributed sequentially along the first rotation direction. The minimum angle between the first inclined segment (4211) and the vertical direction is greater than the minimum angle between the second inclined segment (4212) and the vertical direction. When the first mating part (310) is located at the end of the first inclined section (4211) away from the second inclined section (4212), the second transmission member (400) is in the lower limit position; when the first mating part (310) is located at the end of the second inclined section (4212) close to the first inclined section (4211), the second transmission member (400) is in the middle position.

4. The lifting device according to claim 3, characterized in that, The minimum angle between the first inclined segment (4211) and the vertical is 85°~89°, and the minimum angle between the second inclined segment (4212) and the vertical is 30°~75°; and / or, The travel of the second transmission member (400) between the intermediate position and the upper limit position is the first travel, and the travel of the second transmission member (400) between the intermediate position and the lower limit position is the second travel, wherein the second travel is less than the first travel; and / or, The guide rail (420) further includes a straight section (422), which is connected to the end of the second inclined section (4212) away from the first inclined section (4211). The straight section (422) is perpendicular to the vertical direction. When the first mating part (310) is located in the straight section (422), the second transmission member (400) is in the upper limit position.

5. The lifting device according to claim 3, characterized in that, The elastic friction member (600) is further configured to allow the second transmission member (400) to rotate in the first rotation direction when the second transmission member (400) is in the intermediate position, so that the second mating part (430) and the anti-rotation part (510) are vertically opposite each other.

6. The lifting device according to claim 5, characterized in that, One of the second mating part (430) and the anti-rotation part (510) is an anti-rotation protrusion and the other is an anti-rotation recess. The anti-rotation member (500) slides vertically with the housing (100), and the anti-rotation member (500) and the housing (100) are anti-rotationally engaged in the circumferential direction formed around the first axis. The housing (100) is provided with a limiting part (110), which is located below the anti-rotation member (500). The limiting part (110) can stop and limit the anti-rotation member (500) in the downward direction to limit the lowest position of the anti-rotation member (500). The second transmission member (400) includes a first stop (440) located below the anti-rotation member (500). At the lower limit position, the first stop (440) and the anti-rotation member (500) are vertically separated. At the intermediate position, when the second mating part (430) and the anti-rotation part (510) are vertically misaligned, the second transmission member (400) lifts the anti-rotation member (500) so that the anti-rotation member (500) is in a first position, which is higher than the lowest position. At the intermediate position, when the second mating part (430) and the anti-rotation part (510) are vertically opposite each other, the anti-rotation protrusion is located in the anti-rotation recess so that the position of the anti-rotation member (500) is lower than the first position, and the anti-rotation member (500) is supported by the first stop (440). The lifting device further includes a first elastic element (700), which is disposed between the anti-rotation element (500) and the housing (100). The first elastic element (700) is used to drive the anti-rotation element (500) to reset to the lowest position.

7. The lifting device according to claim 6, characterized in that, At least one of the anti-rotation protrusion and the anti-rotation recess is provided with a guide surface (431), the guide surface (431) gradually rises along the first rotation direction, and the guide surface (431) is configured to guide the anti-rotation protrusion into the anti-rotation recess when the second transmission member (400) is in the middle position and rotates along the first rotation direction; The first elastic member (700) is further configured to restrict the second transmission member (400) from lifting the anti-rotation member (500) through the guide surface (431) when the anti-rotation protrusion is located within the anti-rotation recess and the first transmission member (300) rotates in the opposite direction to the first rotation direction.

8. The lifting device according to any one of claims 3 to 7, characterized in that, The second transmission member (400) is provided with a first stop (440). The elastic friction member (600) includes a friction member (610) and a second elastic member (620). The friction member (610) is located below the first stop (440), and the friction member (610) slides vertically with the housing (100). The second elastic member (620) is disposed between the friction member (610) and the housing (100) to press the friction member (610) against the first stop (440).

9. The lifting device according to claim 8, characterized in that, The second elastic member (620) is configured to: press the friction member (610) against the first stop (440) when the second transmission member (400) is located between the lower limit position and the upper limit position; and / or, The first stop (440) extends circumferentially along the second transmission member (400), and the lower end face of the first stop (440) is provided with friction ribs (441), which are used to make frictional contact with the friction member (610).

10. A cleaning robot, characterized in that, include: The lifting device as described in any one of claims 1 to 9; The cleaning component (800) is connected to the docking part (410).

Images