Stair climbing device and cleaning system

Abstract

The application relates to the technical field of self-moving devices, in particular to a stair climbing device and a cleaning system. The stair climbing device comprises a lifting assembly, a bearing platform and a supporting assembly. The lifting assembly comprises a support piece, a lifting piece and a lifting mechanism. The support piece and the lifting piece are connected with the lifting mechanism. The lifting mechanism is configured to drive the lifting piece to ascend relative to the support piece along a first direction. The lifting mechanism is also configured to drive the support piece to ascend relative to the lifting piece along the first direction. The bearing platform is in sliding connection with the lifting piece, and the bearing platform can slide relative to the lifting piece along a second direction. The first direction intersects with the second direction. The supporting assembly is connected with the lifting assembly. The supporting assembly is configured to extend and retract along the first direction to support the bearing platform, so that the stair climbing device can be prevented from falling off the steps, and the stair climbing device can stably climb the steps.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and more particularly to a stair-climbing device and a cleaning system. Background Technology

[0002] Self-moving devices refer to devices that can move autonomously and operate automatically within a work area without human control. With the continuous advancement of science and technology, more and more self-moving devices are appearing in people's daily lives. Stairs are a common obstacle in daily life, and stair-climbing devices with climbing capabilities have wide applications in daily life.

[0003] In related technologies, due to the narrowness of the stairs, some climbing devices may be suspended on the steps, making it easy for them to fall off the steps and hindering their ability to climb the stairs stably. Summary of the Invention

[0004] The purpose of this application is to provide a stair-climbing device and a cleaning system, which aims to solve the technical problem that the stair-climbing device cannot stably climb stairs.

[0005] To achieve the above objectives, the technical solution adopted in the first aspect of this application is: a stair climbing device, including a lifting component, a bearing platform, and a support component.

[0006] The lifting assembly includes a support member, a lifting member, and a lifting mechanism. Both the support member and the lifting member are connected to the lifting mechanism. The lifting mechanism is configured to drive the lifting member to rise relative to the support member along a first direction. The lifting mechanism is also configured to drive the support member to rise relative to the lifting member along the first direction. The carrying platform is slidably connected to the lifting member and is slidable relative to the lifting member along a second direction, where the first direction intersects the second direction. The support assembly is connected to the lifting assembly and is configured to extend and retract along the first direction to support the carrying platform.

[0007] The beneficial effects of the stair-climbing device provided in the first aspect of this application are as follows: the lifting mechanism can drive the lifting member and the carrying platform to rise relative to the support member in a first direction; the carrying platform can slide relative to the lifting member in a second direction, so that the carrying platform can move relative to the lifting member onto the step, thereby enabling the carrying platform to climb one step. The lifting mechanism can also drive the support member to rise relative to the lifting member in the first direction; the lifting member can slide relative to the carrying platform in the second direction, so that the lifting mechanism can move onto the aforementioned step, thereby enabling the lifting member to climb one step. Since the support member is configured to extend and retract in the first direction, the support member, by extending to a state in contact with the ground, relies on the connection between the support member and the lifting member and the connection between the lifting member and the carrying platform, thereby enabling the support member to support the carrying platform. Therefore, when the support member rises relative to the lifting member in the first direction, the support member can extend and support the carrying platform, preventing the stair-climbing device from tilting backward and falling off the step during the lifting member's ascent, which is beneficial for the stair-climbing device to climb the step stably.

[0008] In some embodiments, the lifting mechanism includes a first drive assembly and a first drive rod and a second drive rod rotatably connected. The first drive rod has a first end and a second end located on both sides of the rotation axis of the first drive rod and the second drive rod, and the second drive rod has a third end and a fourth end located on both sides of the rotation axis of the first drive rod and the second drive rod.

[0009] The first end is slidably and rotatably connected to one of the support member and the lifting member, and the second end is rotatably connected to the other of the support member and the lifting member. The first driving component is used to drive the first end to slide and rotate along a third direction, which intersects with the first direction.

[0010] The third end is slidably and rotatably connected to one of the support member and the lifting member along the third direction, and the fourth end is rotatably connected to the other of the support member and the lifting member.

[0011] In some embodiments, when the distance between the support member and the lifting member is minimized...

[0012] The position where the second end is rotatably connected to the other of the support member and the lifting member, and the position where the third end is slidably and rotatably connected to the other of the support member and the lifting member along the third direction, are respectively located at both ends of the lifting assembly in the second direction;

[0013] The position where the second end is rotatably connected to the other of the support member and the lifting member, and the position where the third end is slidably and rotatably connected to the other of the support member and the lifting member along the third direction, are respectively located at both ends of the lifting assembly in the second direction.

[0014] In some embodiments, the first driving component includes a first slider and a first driving member. The first slider is slidably disposed on one of the support member and the lifting member. The first end is rotatably connected to the first slider. The first driving member is used to drive the first slider to slide along the third direction.

[0015] In some embodiments, the lifting mechanism further includes a second slider, which is slidably disposed on one of the support member and the lifting member, and the third end is rotatably connected to the second slider.

[0016] In some embodiments, the support assembly is provided with a rolling element whose rotation axis is perpendicular to the second direction, and at least a portion of the outer surface of the rolling element protrudes from the support assembly in a direction opposite to the first direction.

[0017] In some embodiments, the support assembly includes a first telescopic member, a second telescopic member, and a second drive assembly. The first telescopic member is connected to the support member, and the first telescopic member and the second telescopic member are slidably connected. The second drive assembly is configured to drive the first telescopic member to rise relative to the second telescopic member in the first direction when the support member rises relative to the lifting member in the first direction.

[0018] In some embodiments, the second driving component includes a second driving member and a third slider, the third slider being connected to the second telescopic member, and the second driving member being used to drive the third slider to slide relative to the first telescopic member along the first direction.

[0019] In some embodiments, the support assembly further includes a third telescopic member slidably connected to the second telescopic member, and the second drive assembly is configured to drive the second telescopic member to rise relative to the third telescopic member in the first direction when the support member rises relative to the lifting member in the first direction.

[0020] In some embodiments, the second drive assembly includes a first gear, a second gear, and a transmission member. The first gear and the second gear are disposed at both ends of the second telescopic member in the first direction, and the rotation axes of the first gear and the second gear are both perpendicular to the first direction. The first gear and the second gear rotate synchronously through the transmission member. The first telescopic member is provided with a first rack, and the first gear meshes with the first rack. The third telescopic member is provided with a second rack, and the second gear meshes with the second rack.

[0021] In some embodiments, the stair-climbing device further includes a moving component disposed on the lifting component and / or the support platform, the moving component being configured to move the lifting component, the support platform, and the support component.

[0022] In some embodiments, the moving component includes a first moving component and a second moving component;

[0023] The first moving component is disposed on the bearing platform or the lifting component, and the first moving component is used to drive the bearing platform, the lifting component and the support component to move along the fourth direction;

[0024] The second moving component is disposed on the bearing platform or the lifting component, and the second moving component is used to drive the bearing platform, the lifting component and the support component to move along the fifth direction;

[0025] The fourth direction and the fifth direction intersect.

[0026] To achieve the above objectives, the technical solution adopted in the second aspect of this application is: a cleaning system, including a cleaning device and a stair-climbing device as described in the first aspect, wherein the stair-climbing device is configured to carry the cleaning device.

[0027] The beneficial effects of the cleaning system provided in the second aspect of this application are as follows: the stair-climbing device can carry the cleaning device to climb the steps, and can transport the cleaning device to the steps so that the cleaning device can clean the stairs; it can also transport the cleaning device to the upper floor so that the cleaning device can clean the floor, countertop, etc. on the upper floor. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art 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.

[0029] Figure 1 This is a schematic diagram of the stair-climbing device in one embodiment of this application;

[0030] Figure 2 yes Figure 1 The diagram shows a structural schematic of the stair-climbing device in one state during the stair-climbing process.

[0031] Figure 3 yes Figure 1 The diagram shows a structural schematic of the stair-climbing device in another state during the stair-climbing process.

[0032] Figure 4 yes Figure 3 A schematic diagram of the lifting component in the stair-climbing device;

[0033] Figure 5 yes Figure 4 The diagram shows a structural schematic of the lifting component from another perspective;

[0034] Figure 6 yes Figure 3 A schematic diagram of the structure of the support components in the stair-climbing device in the deployed state;

[0035] Figure 7 yes Figure 6 A schematic diagram of the support component in its unfolded state from another perspective;

[0036] Figure 8 This is a schematic diagram of the stair-climbing device in one embodiment of this application.

[0037] Figure label:

[0038] 1. Lifting assembly; 11. Support component; 12. Lifting component; 13. Lifting mechanism; 131. First drive assembly; 1311. First slider; 1312. First drive component; 13121. First motor; 13122. First lead screw; 132. First drive rod; 1321. First end; 1322. Second end; 133. Second drive rod; 1331. Third end; 1332. Fourth end; 134. Second slider;

[0039] 2. Supporting platform;

[0040] 3. Support assembly; 31. First telescopic component; 311. First rack; 32. Second telescopic component; 331. Second drive component; 3311. Second motor; 3312. Second lead screw; 332. Third slider; 333. First gear; 334. Second gear; 34. Third telescopic component; 341. Second rack;

[0041] 4. Rolling parts;

[0042] 5. Moving component; 51. First moving component; 52. Second moving component;

[0043] 61. The floor of the lower floor; 62. The first step; 63. The second step; 64. The third step; 65. The floor of the upper floor;

[0044] 7. Robotic vacuum cleaner. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0048] In this specification, references to "one embodiment," "some embodiments," or simply "embodiment" mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner.

[0049] The stair-climbing device's climbing process includes at least two steps: Step 1: The lifting component raises the supporting platform; then the supporting platform moves relative to the lifting component, causing it to move onto the step. Step 2: The lifting component rises; then the lifting component moves forward relative to the supporting platform, causing it to move onto the step, thus enabling the stair-climbing device to successfully climb one step. Repeating these steps allows the stair-climbing device to climb the stairs step by step.

[0050] The process of the stair-climbing device descending the stairs includes at least the following steps: Step 3: The lifting component moves relative to the supporting platform, causing the lifting component to be suspended above the step. Step 4: The lifting component extends downwards until it contacts the upper surface of the step. Step 5: The supporting platform moves relative to the lifting component, causing the supporting platform to be suspended above the step. Step 6: The lifting component retracts. Repeating the above steps allows the stair-climbing device to descend the stairs one step at a time.

[0051] Because the stairs are narrow, meaning the steps are insufficient to support the platform, in steps two and three, some of the climbing device will be suspended on the steps, making it easy for the climbing device to fall off the steps and hindering its stable climbing of the stairs.

[0052] In view of the above problems, this application provides a stair climbing device and a cleaning system, which aims to solve the technical problem that the stair climbing device cannot stably climb stairs.

[0053] To illustrate the technical solution of this application, the following description is provided in conjunction with specific accompanying drawings and embodiments.

[0054] Please refer to Figure 1 , Figure 2 and Figure 3 This application provides a stair-climbing device, including a lifting component 1, a support platform 2, and a support component 3.

[0055] The lifting assembly 1 includes a support member 11, a lifting member 12, and a lifting mechanism 13. Both the support member 11 and the lifting member 12 are connected to the lifting mechanism 13. The lifting mechanism 13 is configured to drive the lifting member 12 to rise relative to the support member 11 in a first direction. The lifting mechanism 13 is also configured to drive the support member 11 to rise relative to the lifting member 12 in the first direction. The carrying platform 2 is slidably connected to the lifting member 12 and can slide relative to the lifting member 12 in a second direction. The first direction and the second direction intersect. The support assembly 3 is connected to the lifting assembly 1 and is configured to extend and retract in the first direction. By extending to a state of contact with the ground, the support assembly 3 supports the carrying platform 2 through the connection between the support assembly 3 and the lifting assembly 1 and the connection between the lifting assembly 1 and the carrying platform 2.

[0056] In general, the first direction is parallel to the vertical direction, and in the diagram, the first direction is parallel to the Y direction; the second direction is parallel to the horizontal direction, and in the diagram, the second direction is parallel to the X direction.

[0057] The lifting mechanism 13 is used to drive the support member 11 and the lifting member 12 to move relative to each other in a first direction. When the stair-climbing device is located on the ground 61 of the lower floor, the lifting mechanism 13 drives the support member 11 and the lifting member 12 to move relative to each other. Since the support member 11 is supported on the ground 61 of the lower floor, its position in the first direction does not change, so the lifting member 12 will rise relative to the support member 11 in the first direction. When the carrying platform 2 is located on the step, the lifting mechanism 13 drives the support member 11 and the lifting member 12 to move relative to each other. Since the carrying platform 2 is supported on the upper surface of the step, its position in the first direction does not change, that is, the position of the lifting member 12 connected to the carrying platform 2 does not change in the first direction, so the support member 11 will rise relative to the lifting member 12 in the first direction.

[0058] Platform 2 is a platform used to carry items such as the robotic vacuum cleaner 7, express delivery, and food.

[0059] A linear drive is provided on the support platform 2 and / or the lifting member 12. The linear drive is used to drive the support platform 2 and the lifting member 12 to move relative to each other. The linear drive can be, but is not limited to, a synchronous belt type linear drive, a lead screw type linear drive, or a linear motor drive.

[0060] Support component 3 is a telescopic mechanism. During the stair-climbing process, when the stair-climbing device is on the ground 61 of the lower floor, support component 3 is also on the ground 61 of the lower floor. When support component 11 rises relative to lifting component 12 in the first direction, support component 3 extends, allowing it to support the suspended platform 2 and lifting component 1 on the first step 62, preventing the stair-climbing device from falling off the first step 62 and facilitating stable climbing. After the stair-climbing device climbs to the last step of the stairs, support component 3 retracts, rising to be flush with support component 11 in the vertical downward direction, so that support component 3 does not hinder the movement of the stair-climbing device on the ground 65 of the upper floor. During the descent of the stair-climbing device, when the device is on the ground 65 of the upper floor, the support component 3 is also on the ground 65 of the upper floor. Before the lifting component 1 moves relative to the support platform 2 above the second step 63, the support component 3 extends, allowing it to support the upper surface of the second step 63. When the lifting component 1 moves relative to the support platform 2 above the second step 63, the support component 3 can support the support platform 2 and the lifting component 1, which are suspended on the ground 65 of the upper floor, to prevent the stair-climbing device from falling off the ground 65 of the upper floor, thus facilitating the stability of the stair-climbing device on the underground staircase.

[0061] In the stair-climbing device provided in the first aspect embodiment of this application, the lifting mechanism 13 can drive the lifting member 12 and the carrying platform 2 to rise relative to the support member 11 in a first direction; the carrying platform 2 can slide relative to the lifting member 12 in a second direction, so that the carrying platform 2 can move relative to the lifting member 12 onto the step, thereby enabling the carrying platform 2 to climb one step. The lifting mechanism 13 can also drive the support member 11 to rise relative to the lifting member 12 in the first direction; the lifting member 12 can slide relative to the carrying platform 2 in the second direction, so that the lifting mechanism 13 can move onto the aforementioned step, thereby enabling the lifting component 1 to climb one step. Since the support component 3 is configured to extend and retract in the first direction to support the carrying platform 2, it can prevent the center of gravity of the stair-climbing device from changing during the lifting process of the lifting component 1, thus preventing it from falling off the step, which is beneficial for the stair-climbing device to climb the steps stably and for the stability of the underground staircase.

[0062] Please refer to Figure 2 and Figure 3 Taking the climbing device climbing a staircase with three steps as an example, the ground connected to the lower end of the staircase is the ground of the lower floor 61, the ground connected to the upper end of the staircase is the ground of the upper floor 65, and the three steps are the first step 62, the second step 63, and the third step 64.

[0063] The process of the stair-climbing device climbing the first step 62 is as follows: the stair-climbing device moves from the ground 61 of the lower floor to the staircase; the lifting mechanism 13 drives the lifting member 12 to rise, so that the height of the lifting member 12 and the supporting platform 2 relative to the ground 61 of the lower floor is greater than or equal to the height of the first step 62 relative to the ground 61 of the lower floor; the supporting platform 2 moves forward relative to the lifting member 12, so that the supporting platform 2 moves onto the first step 62; the lifting mechanism 13 drives the support member 11 to rise, and the support component 3 extends, so that the support component 3 and the support member 11... The end of the connection rises with the support member 11, and the support component 3 is always supported on the ground 61 of the lower floor, so that the support component 3 can support the support member 11; then the lifting member 12 drives the lifting mechanism 13 and the support member 11 to move forward to the first step 62, and at the same time the support component 3 also moves forward on the ground 61 of the lower floor under the drive of the lifting member 12. The support component 3 in the unfolded state can support the support member 11 suspended on the first step 62, so as to support the lifting component 1 and the bearing platform 2 suspended on the first step 62.

[0064] It should be noted that the support component 3 remains in the deployed state until the stair-climbing device continues to climb the steps and reaches the ground 65 of the upper floor.

[0065] The process of the stair-climbing device climbing the second step 63 is as follows: The lifting mechanism 13 drives the lifting member 12 to rise, so that the height of the lifting member 12 and the supporting platform 2 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor. In this step, the extended support component 3 is always supported on the ground 61 of the lower floor, which can support the support member 11 suspended on the first step 62 and prevent the support member 11 from falling off the first step 62. Then, the supporting platform 2 moves forward relative to the lifting member 12, so that the supporting platform 2 moves onto the second step 63. The lifting mechanism 13 drives the support member 11 and the extended support component 3 to rise, so that the height of the support member 11 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor, and the height of the support component 3 relative to the ground 61 of the lower floor is also greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor. The height is greater than or equal to the height of the first step 62 relative to the ground 61 of the lower floor (it should be noted that when the height of the first step 62 relative to the ground 61 of the lower floor and the height of the second step 63 relative to the first step 62 are inconsistent, the support component 3 can retract or extend, so that the height of the support component 3 relative to the ground 61 of the lower floor is greater than or equal to the height of the first step 62 relative to the ground 61 of the lower floor); finally, the lifting component 12 drives the lifting mechanism 13 and the support component 11 to move forward to the second step 63. At the same time, the support component 3, in the unfolded state, also moves forward to the first step 62 under the drive of the lifting component 12, so that the support component 3 can be supported on the first step 62, so that the support component 3 can support the support component 11 suspended on the second step 63, so as to support the lifting component 1 and the bearing platform 2 suspended on the second step 63.

[0066] The process of the stair-climbing device climbing the third step 64 is as follows: The lifting mechanism 13 drives the lifting member 12 to rise, so that the height of the lifting member 12 and the supporting platform 2 relative to the ground 61 of the lower floor is greater than or equal to the height of the third step 64 relative to the ground 61 of the lower floor. In this step, the extended support component 3 is always supported on the first step 62, which can support the support member 11 suspended on the second step 63, preventing the support member 11 from falling off the second step 63. Then, the supporting platform 2 moves forward relative to the lifting member 12, so that the supporting platform 2 moves onto the third step 64. The lifting mechanism 13 drives the support member 11 and the extended support component 3 to rise, so that the height of the support member 11 relative to the ground 61 of the lower floor is greater than or equal to the height of the third step 64 relative to the ground 61 of the lower floor, and the height of the support component 3 relative to the ground 61 of the lower floor is also greater than or equal to the height of the third step 64 relative to the ground 61 of the lower floor. The height is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor (it should be noted that when the height of the second step 63 relative to the first step 62 and the height of the third step 64 relative to the second step 63 are inconsistent, the support component 3 can retract or extend, so that the height of the support component 3 relative to the ground 61 of the lower floor is greater than or equal to the height of the second step 63 relative to the ground 61 of the lower floor); finally, the lifting component 12 drives the lifting mechanism 13 and the support component 11 to move forward to the third step 64. At the same time, the support component 3, in the unfolded state, also moves forward to the second step 63 under the drive of the lifting component 12, so that the support component 3 can be supported on the second step 63, so that the support component 3 can support the support component 11 suspended on the third step 64, so as to support the lifting component 1 and the bearing platform 2 suspended on the third step 64.

[0067] Finally, the support component 3 retracts, so that the overall height of the support component 3 is higher than or equal to the height of the third step 64, thus not affecting the movement of the stair climbing device on the ground 65 of the upper floor.

[0068] Please refer to Figure 2 and Figure 3 In some embodiments, the lifting assembly 1 is provided in multiple sets, which are spaced apart. When the lifting assembly 1 lifts the support platform 2, the lifting members 12 in the multiple sets of lifting assemblies 1 rise together relative to the support member 11, so that the support platform 2 can rise relatively stably. When the support member 11 rises relative to the lifting member 12, the support members 11 in the multiple lifting assemblies 1 rise sequentially, so that the last support member 11 to rise can support the support platform 2, which can prevent the support platform 2 from falling off the step.

[0069] Please refer to Figure 4 and Figure 5In some embodiments, the lifting mechanism 13 includes a drive rod and a first drive assembly 131. The drive rod is driven to the support member 11 and the lifting member 12 respectively; the first drive assembly 131 is driven to the drive rod, and the drive rod is configured to drive the lifting member 12 to rise relative to the support member 11 in a first direction under the drive action of the first drive assembly 131, or to drive the support member 11 to rise relative to the lifting member 12 in a first direction.

[0070] Please refer to Figure 4 and Figure 5 In some embodiments, the lifting mechanism includes a first drive assembly 131 and a first drive rod 132 and a second drive rod 133 rotatably connected. The first drive rod 132 has a first end 1321 and a second end 1322 located on both sides of the rotation axis of the first drive rod 132 and the second drive rod 133. The second drive rod 133 has a third end 1331 and a fourth end 1332 located on both sides of the rotation axis of the first drive rod 132 and the second drive rod 133. The first end 1321 is slidably and rotatably connected to one of the support member 11 and the lifting member 12, and the second end 1322 is rotatably connected to the other of the support member 11 and the lifting member 12. The first drive assembly 131 is used to drive the first end 1321 to slide and rotate along a third direction, which intersects with the first direction. The third end 1331 is slidably and rotatably connected to one of the support member 11 and the lifting member 12 along a third direction, and the fourth end 1332 is rotatably connected to the other of the support member 11 and the lifting member 12.

[0071] In the above embodiment, as the first end 1321 slides and rotates relative to either the support member 11 or the lifting member 12, the height of the first drive rod 132 in the first direction becomes variable, so that the distance between the support member 11 and the lifting member 12 in the first direction becomes variable, allowing the support member 11 and the lifting member 12 to move relative to each other in the first direction. Furthermore, since the first drive rod 132 and the second drive rod 133 are rotatably connected, the second drive rod 133 can move together with the first drive rod 132 under the drive of the first drive member 1312. The first drive rod 132 and the second drive rod 133 cooperate to support the lifting member 12 and the support member 11, allowing the lifting member 12 and the support member 11 to move relatively stably relative to each other, thereby enhancing the structural stability of the lifting assembly 1. Furthermore, in the above embodiments, the first drive rod 132 and the second drive rod 133 cooperate to limit the relative position of the lifting member 12 and the support member 11 in the third direction, so as to prevent the lifting member 12 and the support member 11 from moving relative to each other in the third direction, thereby enabling the lifting member 12 and the support member 11 to move relatively stably relative to each other in the first direction.

[0072] Please refer to Figure 5In one embodiment, the first end 1321 is slidably connected to the lifting member 12, and the second end 1322 is rotatably connected to the support member 11. The first end 1321 can reciprocate relative to the lifting member 12 in a third direction. The third end 1331 is slidably connected to the support member 11, and the fourth end 1332 is rotatably connected to the lifting member 12. When the first driving member 1312 drives the first slider 1311 to slide in a third direction, the third end 1331 can slide relative to the support member 11 in a third direction.

[0073] In the above embodiment, when the first end 1321 and the second end 1322 are relatively distributed in the first direction, the first drive rod 132 and the second drive rod 133 are vertically arranged, so that the distance between the lifting member 12 and the support member 11 in the first direction is maximized. When the first end 1321 slides relative to the lifting member 12 in a third direction and moves away from the rotational connection between the second end 1322 and the support member 11, the third end 1331 slides relative to the support member 11 in a third direction and moves away from the rotational connection between the fourth end 1332 and the lifting member 12. The first drive rod 132 rotates to an inclined position relative to the support member 11, and the second drive rod 133 rotates to an inclined position relative to the lifting member 12, so that the distance between the lifting member 12 and the support member 11 in the first direction decreases; and as the first end 1321 continues to slide, the first drive rod 132 ... decreases; and as the first end 1321 continues to slide, the first drive rod 1322 rotates to an inclined position relative to the lifting member 12, so that the distance between the lifting member 12 and the support member 11 decreases; and as the first end 1321 continues to slide, the first drive rod 1322 rotates to an inclined position relative to the lifting member 11, so that the distance between the lifting member 12 and the support member 11 decreases. As the first drive rod 132 rotates relative to the support member 11, the tilt angle of the first drive rod 132 relative to the first direction continuously increases, and the second drive rod 133 rotates relative to the lifting member 12, causing the tilt angle of the second drive rod 133 relative to the first direction to continuously increase, thus causing the distance between the lifting member 12 and the support member 11 in the first direction to continuously decrease; when the first drive rod 132 rotates relative to the support member 11 to a horizontal position, the second drive rod 133 rotates relative to the lifting member 12 to a horizontal position, and the distance between the lifting member 12 and the support member 11 in the first direction is minimized. When the first end 1321 slides relative to the lifting member 12 along a third direction and approaches the rotational connection between the second end 1322 and the support member 11, the third end 1331 slides relative to the support member 11 along a third direction and approaches the rotational connection between the fourth end 1332 and the lifting member 12. The first drive rod 132 rotates relative to the support member 11 until the tilt angle of the first drive rod 132 relative to the first direction decreases, and the second drive rod 133 rotates relative to the lifting member 12 until the tilt angle of the second drive rod 133 relative to the first direction decreases, thereby increasing the distance between the lifting member 12 and the support member 11 in the first direction. As the first end 1321 continues to slide, the tilt angle of the first drive rod 132 continues to decrease, and the tilt angle of the second drive rod 133 continues to decrease, thereby continuously increasing the distance between the lifting member 12 and the support member 11 in the first direction. When the first drive rod 132 rotates to a vertical position, the second drive rod 133 rotates to a vertical position, and the distance between the lifting member 12 and the support member 11 in the first direction is at its maximum.

[0074] Please refer to Figure 4 and Figure 5In some embodiments, when the distance between the support member 11 and the lifting member 12 is at its minimum, the position where the second end 1322 is rotatably connected to the other of the support member 11 and the lifting member 12, and the position where the third end 1331 is slidably and rotatably connected to the other of the support member 11 and the lifting member 12 along a third direction, are respectively located at both ends of the lifting assembly 1 in the second direction.

[0075] With the above settings, when the lifting component 1 is not deployed, such as when the stair climbing device is moving or stopped on the ground, the first drive rod 132 and the second drive rod 133 can evenly load the stair climbing machine in the first direction, making the stair climbing machine run more stably.

[0076] Please refer to Figure 4 and Figure 5 In some embodiments, the first end 1321 and the third end 1331 are located on one side of the rotatable connection between the first drive rod 132 and the second drive rod 133, and the second end 1322 and the fourth end 1332 are located on the other side of the rotatable connection between the first drive rod 132 and the second drive rod 133.

[0077] The above settings can reduce the space occupied by the lifting mechanism 13.

[0078] Please refer to Figure 5 In some implementations, the third direction is parallel to the second direction, that is, in the figure, the third direction is parallel to the X direction.

[0079] Please refer to Figure 5 In some embodiments, the first drive assembly 131 includes a first slider 1311 and a first drive member 1312. The first slider 1311 is slidably disposed on one of the support member 11 and the lifting member 12. The first end 1321 is rotatably connected to the first slider 1311. The first drive member 1312 is used to drive the first slider 1311 to slide in a third direction.

[0080] With the above configuration, the first end 1321 of the first drive rod 132 is rotatably connected to the first slider 1311, so that the first drive rod 132 can rotate stably when the first slider 1311 slides along a third direction.

[0081] It should be noted that the first driving component 1312 can be, but is not limited to, a synchronous belt type linear driver, a lead screw type linear driver, or a linear motor driver.

[0082] Please refer to Figure 5 In some embodiments, the first driving member 1312 is a lead screw type linear actuator. The first driving member 1312 includes a first motor 13121 and a first lead screw 13122. The first slider 1311 is sleeved on the first lead screw 13122, and the first lead screw 13122 and the first slider 1311 are threadedly connected. The first motor 13121 is used to drive the first lead screw 13122 to rotate around a third direction.

[0083] In the above embodiment, when the first motor 13121 drives the first lead screw 13122 to rotate clockwise around a third direction, the first slider 1311 slides along the third direction and moves away from the rotational connection between the second end 1322 and the support member 11; when the first motor 13121 drives the first lead screw 13122 to rotate counterclockwise around a third direction, the first slider 1311 slides along the third direction and moves closer to the rotational connection between the second end 1322 and the support member 11.

[0084] Please refer to Figure 4 In some embodiments, the lifting mechanism 13 further includes a second slider 134, which is slidably disposed on one of the support member 11 and the lifting member 12, and the third end 1331 is rotatably connected to the second slider 134.

[0085] With the above configuration, the third end 1331 on the second drive rod 133 is rotatably connected to the second slider 134, so that the second drive rod 133 can rotate stably.

[0086] Please refer to Figure 3 and Figure 6 In some embodiments, the support assembly 3 is provided with a rolling element 4, the rotation axis of the rolling element 4 is perpendicular to the second direction, and at least a portion of the outer surface of the rolling element 4 protrudes from the support assembly 3 in a direction opposite to the first direction.

[0087] With the above configuration, the rolling element 4 can contact the ground and the upper surface of the step. When the lifting element 12 slides relative to the bearing platform 2 in the second direction, the rolling element 4 can rotate relative to the ground or the upper surface of the step to reduce the friction between the support assembly 3 and the ground and the upper surface of the step.

[0088] Please refer to Figure 3 and Figure 6 In some embodiments, the support component 3 includes a first telescopic member 31, a second telescopic member 32, and a second drive component. The first telescopic member 31 is connected to the support member 11, and the first telescopic member 31 and the second telescopic member 32 are slidably connected. The second drive component is configured to drive the first telescopic member 31 to rise relative to the second telescopic member 32 in the first direction when the support member 11 rises relative to the lifting member 12 in the first direction.

[0089] In the above embodiment, when the support member 11 rises relative to the lifting member 12 in the first direction, the second driving component drives the first telescopic member 31 to rise relative to the second telescopic member 32 in the first direction, so that the support component 3 extends so that the support component 3 can support the suspended support member 11.

[0090] Please refer to Figure 6 In some embodiments, the second driving component includes a second driving member 331 and a third slider 332. The third slider 332 is connected to the second telescopic member 32. The second driving member 331 is used to drive the third slider 332 to slide relative to the first telescopic member 31 in a first direction.

[0091] In the above embodiment, when the support member 11 rises relative to the lifting member 12 in the first direction, the second driving member 331 drives the third slider 332 to slide downward relative to the first telescopic member 31 in the first direction, so that the second telescopic member 32 can slide downward relative to the first telescopic member 31, so that the first telescopic member 31 rises relative to the second telescopic member 32.

[0092] It should be noted that the second drive unit 331 can be, but is not limited to, a synchronous belt type linear drive, a lead screw type linear drive, or a linear motor drive.

[0093] Please refer to Figure 6 In some embodiments, the second driving member 331 is a lead screw type linear actuator. The second driving member 331 includes a second motor 3311 and a second lead screw 3312. A third slider 332 is sleeved on the second lead screw 3312, and the second lead screw 3312 and the third slider 332 are threadedly connected. The second motor 3311 is used to drive the second lead screw 3312 to rotate around a first direction.

[0094] In the above embodiment, in the initial state, the first telescopic member 31 and the second telescopic member 32 are overlapped in the first direction. When the second motor 3311 drives the second lead screw 3312 to rotate clockwise around the first direction, the third slider 332 slides along the first direction and moves downward relative to the first telescopic member 31, so that the third slider 332 drives the second telescopic member 32 to move downward relative to the first telescopic member 31, thereby extending the support assembly 3. When the second motor 3311 drives the second lead screw 3312 to rotate counterclockwise around the first direction, the third slider 332 slides along the first direction and moves upward relative to the first telescopic member 31, so that the third slider 332 drives the second telescopic member 32 to rise relative to the first telescopic member 31, thereby contracting the support assembly 3.

[0095] Please refer to Figure 6 and Figure 7In some embodiments, the support assembly 3 further includes a third telescopic member 34, which is slidably connected to the second telescopic member 32. The second drive assembly is configured to drive the second telescopic member 32 to rise relative to the third telescopic member 34 in the first direction when the support member 11 rises relative to the lifting member 12 in the first direction.

[0096] In the above embodiment, by adding a third telescopic member 34, the height of the support component 3 in the extended state can be increased, so that the support component 3 can support the support component 11 suspended on a higher step.

[0097] Please refer to Figure 6 and Figure 7 In some embodiments, the second drive assembly includes a first gear 333, a second gear 334, and a transmission member (not shown in the figure). The first gear 333 and the second gear 334 are disposed at both ends of the second telescopic member 32 in the first direction, and the rotation axes of the first gear 333 and the second gear 334 are both perpendicular to the first direction. The first gear 333 and the second gear 334 rotate synchronously through the transmission member. The first telescopic member 31 is provided with a first rack 311, and the first gear 333 meshes with the first rack 311. The third telescopic member 34 is provided with a second rack 341, and the second gear 334 meshes with the second rack 341.

[0098] In the above embodiment, under the drive of the second drive component, the first telescopic member 31 can slide relative to the second telescopic member 32; since the first gear 333 meshes with the first rack 311 on the first telescopic member 31, the first gear 333 can rotate; since the first gear 333 and the second gear 334 rotate synchronously through the transmission component, the second gear 334 can rotate; since the second gear 334 meshes with the second rack 341 on the third telescopic member 34, the third telescopic member 34 can slide relative to the second telescopic member 32; thus, the sliding movement of the first telescopic member 31 relative to the second telescopic member 32 and the sliding movement of the second telescopic member 32 relative to the third telescopic member 34 are synchronized, which not only saves the time spent when the support component 3 extends, but also simplifies the control precision of the support component 3, and also saves energy.

[0099] Please refer to Figure 6When the second motor 3311 drives the second lead screw 3312 to rotate clockwise around the first direction, the third slider 332 slides along the first direction and moves downward relative to the first telescopic member 31, causing the third slider 332 to drive the second telescopic member 32 to move downward relative to the first telescopic member 31, so that the first telescopic member 31 rises with the support member 11; since the first rack 311 on the first telescopic member 31 meshes with the first gear 333 on the second telescopic member 32, the first gear 333 will rotate; since the first gear 333 and the second gear 334 rotate synchronously through the transmission member, the second gear 334 can rotate; since the second gear 334 meshes with the second rack 341 on the third telescopic member 34, the third telescopic member 34 can slide downward relative to the second telescopic member 32, thereby causing the second telescopic member 32 to rise relative to the third telescopic member 34.

[0100] Please refer to Figure 6 When the second motor 3311 drives the second lead screw 3312 to rotate counterclockwise around the first direction, the third slider 332 slides along the first direction and rises relative to the first telescopic member 31, causing the third slider 332 to drive the second telescopic member 32 to rise relative to the first telescopic member 31, so that the first telescopic member 31 and the second telescopic member 32 are overlapped. Since the first rack 311 on the first telescopic member 31 meshes with the first gear 333 on the second telescopic member 32, the first gear 333 will rotate. Since the first gear 333 and the second gear 334 rotate synchronously through the transmission member, the second gear 334 can rotate. Since the second gear 334 meshes with the second rack 341 on the third telescopic member 34, the third telescopic member 34 can slide upward relative to the second telescopic member 32, so that the second telescopic member 32 and the third telescopic member 34 are overlapped, so that the support assembly 3 can retract.

[0101] Please refer to Figure 8 In some embodiments, the stair-climbing device further includes a moving component 5, which is disposed on the lifting component 1 and / or the support platform 2, and is configured to move the lifting component 1, the support platform 2 and the support component 3.

[0102] In the above embodiments, the moving component 5 can drive the lifting component 1 to move on the upper surface of the ground or steps.

[0103] When the stair-climbing device drives the sweeping robot 7 to clean the upper surface of the steps, the moving component 5 can move the lifting component 1 and the supporting platform 2, so that the sweeping robot 7, which is supported on the supporting platform 2, can move and thus allow the sweeping robot 7 to thoroughly clean the step surface. For example, in Figure 2In the scenario shown, when the lifting mechanism 13 drives the lifting component 12 to rise to the height of the first step 62 (at this time, the carrying platform 2 has not moved forward relative to the lifting component 12 onto the first step 62), the sweeping robot 7 carried on the carrying platform 2 can move relative to the carrying platform 2, so that the cleaning components (roller brush, rotary mop, side brush, etc.) of the sweeping robot 7 move to contact the upper surface of the first step 62, and part of the sweeping robot 7 is still carried on the carrying platform 2, so that the stair climbing device can drive the sweeping robot 7 to move. The moving component 5 drives the lifting component 1 to move on the ground 61 of the lower floor, so as to drive the sweeping robot 7 to move relative to the upper surface of the first step 62, so that the sweeping robot can thoroughly clean the upper surface of the first step 62.

[0104] Please refer to Figure 8 In some embodiments, the moving component 5 includes a first moving component 51 and a second moving component 52. The first moving component 51 is disposed on the bearing platform 2 or the lifting component 1, and is used to drive the bearing platform 2, the lifting component 1 and the support component 3 to move along a fourth direction. The second moving component 52 is disposed on the bearing platform 2 or the lifting component 1, and is used to drive the bearing platform 2, the lifting component 1 and the support component 3 to move along a fifth direction. The fourth direction and the fifth direction intersect.

[0105] It should be noted that both the fourth and fifth directions are parallel to the horizontal direction.

[0106] In some implementations, the fourth and fifth directions are perpendicular to each other.

[0107] Please refer to Figure 8 In some embodiments, the first moving component 51 is disposed on the support platform 2, and the second moving component 52 is disposed on the support member 11.

[0108] In the above embodiment, the fifth direction is perpendicular to the second direction, so that the second moving component 52 can carry the carrying platform 2, the lifting component 1 and the supporting component 3 to move laterally relative to the steps.

[0109] A second aspect of this application provides a cleaning system, including a cleaning device and a stair-climbing device as described in the first aspect embodiment, wherein the stair-climbing device is configured to carry the cleaning device.

[0110] The stair-climbing device can carry the cleaning equipment up the stairs, allowing it to clean the stairs; it can also be transported to the upper floors, allowing it to clean the floors, countertops, etc.

[0111] It should be noted that the cleaning device can be a robot vacuum cleaner, a vacuum cleaner, etc.

[0112] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A stair-climbing device, characterized in that, include: The lifting assembly (1) includes a support member (11), a lifting member (12), and a lifting mechanism (13). The support member (11) and the lifting member (12) are both connected to the lifting mechanism (13). The lifting mechanism (13) is configured to drive the lifting member (12) to rise relative to the support member (11) in a first direction. The lifting mechanism (13) is also configured to drive the support member (11) to rise relative to the lifting member (12) in the first direction. The carrying platform (2) is slidably connected to the lifting member (12), and the carrying platform (2) can slide relative to the lifting member (12) along a second direction, the first direction intersecting the second direction; A support component (3) is connected to the lifting component (1), and the support component (3) is configured to extend and retract along the first direction to support the bearing platform (2).

2. The stair-climbing device according to claim 1, characterized in that, The lifting mechanism (13) includes a first drive assembly (131) and a first drive rod (132) and a second drive rod (133) rotatably connected. The first drive rod (132) has a first end (1321) and a second end (1322) located on both sides of the rotation axis of the first drive rod (132) and the second drive rod (133). The second drive rod (133) has a third end (1331) and a fourth end (1332) located on both sides of the rotation axis of the first drive rod (132) and the second drive rod (133). The first end (1321) is slidably and rotatably connected to one of the support member (11) and the lifting member (12), and the second end (1322) is rotatably connected to the other of the support member (11) and the lifting member (12). The first drive assembly (131) is used to drive the first end (1321) to slide and rotate along a third direction, which intersects with the first direction. The third end (1331) is slidably and rotatably connected to one of the support member (11) and the lifting member (12) along the third direction, and the fourth end (1332) is rotatably connected to the other of the support member (11) and the lifting member (12).

3. The stair-climbing device according to claim 2, characterized in that, When the distance between the support member (11) and the lifting member (12) is at its minimum, The position where the second end (1322) is rotatably connected to the other of the support member (11) and the lifting member (12), and the position where the third end (1331) is slidably and rotatably connected to the other of the support member (11) and the lifting member (12) along the third direction, are respectively located at both ends of the lifting assembly (1) in the second direction; The position where the second end (1322) is rotatably connected to the other of the support member (11) and the lifting member (12), and the position where the third end (1331) is slidably and rotatably connected to the other of the support member (11) and the lifting member (12) along the third direction, are respectively located at both ends of the lifting assembly (1) in the second direction.

4. The stair-climbing device according to claim 2, characterized in that, The first drive assembly (131) includes a first slider (1311) and a first drive member (1312). The first slider (1311) is slidably disposed on one of the support member (11) and the lifting member (12). The first end (1321) is rotatably connected to the first slider (1311). The first drive member (1312) is used to drive the first slider (1311) to slide along the third direction.

5. The stair-climbing device according to claim 2, characterized in that, The lifting mechanism (13) further includes a second slider (134), which is slidably disposed on one of the support member (11) and the lifting member (12), and the third end (1331) is rotatably connected to the second slider (134).

6. The stair-climbing device according to any one of claims 1 to 5, characterized in that, The support assembly (3) is provided with a rolling element (4), the rotation axis of the rolling element (4) is perpendicular to the second direction, and at least a portion of the outer surface of the rolling element (4) protrudes from the support assembly (3) in a direction opposite to the first direction.

7. The stair-climbing device according to any one of claims 1 to 5, characterized in that, The support assembly (3) includes a first telescopic member (31), a second telescopic member (32), and a second drive assembly. The first telescopic member (31) is connected to the support member (11), and the first telescopic member (31) and the second telescopic member (32) are slidably connected. The second drive assembly is configured to drive the first telescopic member (31) to rise relative to the second telescopic member (32) in the first direction when the support member (11) rises relative to the lifting member (12) in the first direction.

8. The stair-climbing device according to claim 7, characterized in that, The second driving component includes a second driving member (331) and a third slider (332). The third slider (332) is connected to the second telescopic member (32). The second driving member (331) is used to drive the third slider (332) to slide relative to the first telescopic member (31) in the first direction.

9. The stair-climbing device according to claim 7, characterized in that, The support assembly (3) further includes a third telescopic member (34), which is slidably connected to the second telescopic member (32). The second drive assembly is configured to drive the second telescopic member (32) to rise relative to the third telescopic member (34) in the first direction when the support member (11) rises relative to the lifting member (12) in the first direction.

10. The stair-climbing device according to claim 9, characterized in that, The second drive assembly includes a first gear (333), a second gear (334), and a transmission component. The first gear (333) and the second gear (334) are disposed at both ends of the second telescopic member (32) in the first direction, and the rotation axes of the first gear (333) and the second gear (334) are both perpendicular to the first direction. The first gear (333) and the second gear (334) rotate synchronously through the transmission component. The first telescopic member (31) is provided with a first rack (311), and the first gear (333) meshes with the first rack (311). The third telescopic member (34) is provided with a second rack (341), and the second gear (334) meshes with the second rack (341).

11. The stair-climbing device according to any one of claims 1 to 5, characterized in that, The stair-climbing device further includes a moving component (5), which is disposed on the lifting component (1) and / or the carrying platform (2), and is configured to move the lifting component (1), the carrying platform (2) and the support component (3).

12. The stair-climbing device according to claim 11, characterized in that, The moving component (5) includes a first moving component (51) and a second moving component (52); The first moving component (51) is disposed on the bearing platform (2) or the lifting component (1), and the first moving component (51) is used to drive the bearing platform (2), the lifting component (1) and the support component (3) to move along the fourth direction; The second moving component (52) is disposed on the bearing platform (2) or the lifting component (1), and the second moving component (52) is used to drive the bearing platform (2), the lifting component (1) and the support component (3) to move along the fifth direction; The fourth direction and the fifth direction intersect.

13. A cleaning system, characterized in that, It includes a cleaning device and a stair-climbing device as described in any one of claims 1 to 12, wherein the stair-climbing device is configured to carry the cleaning device.

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