Lifting device and cleaning robot

Abstract

The application discloses a lifting device and a cleaning robot. The lifting device is connected with a working assembly. The lifting device comprises a driving assembly and a connecting assembly. The driving assembly is connected with the connecting assembly. The lifting device comprises a lifting part and a transmission part. The lifting part rotates relative to the transmission part. The friction inertia between the transmission part and the working assembly is smaller than the self-weight inertia of the working assembly, so that the transmission part and the working assembly form differential motion. Alternatively, the friction inertia between the lifting part, the working assembly and the transmission part is smaller than the self-weight inertia of the lifting part and the working assembly, so that the lifting part, the working assembly and the transmission part form differential motion. The lifting part and the working assembly rise or fall under the action of the differential motion.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, particularly lifting devices and cleaning robots. Background Technology

[0002] With the development of technology, common cleaning robots (such as sweeping robots and mopping robots) occupy a significant share of the consumer market for household cleaning. Currently, most mainstream cleaning robots can traverse obstacles when they encounter them. When a cleaning robot crosses an obstacle, to prevent the working components (such as side brushes and mops) close to the ground from scraping against the obstacle and affecting the robot's obstacle-crossing ability, these components need to be raised. After the cleaning robot crosses the obstacle, it needs to immediately move the working components down so that they can return to the ground and continue cleaning.

[0003] Existing lifting mechanisms that enable the working components to move upward and downward typically use various sensing elements (or triggering elements) connected to switching elements to control the stroke of the lifting motion. These sensing elements (or triggering elements) and switching elements increase the design cost of the entire cleaning robot and also increase the complexity of the corresponding software control system. Summary of the Invention

[0004] This application provides a lifting device and a cleaning robot. The lifting device connects to a working component and includes a drive component and a connecting component connected to each other. The lifting device includes a lifting section and a transmission section. The frictional inertia between the transmission section and the working component is less than the self-weight inertia of the working component, so that the transmission section and the working component form a differential motion; or, the frictional inertia between the lifting section and the working component and the transmission section is less than the self-weight inertia of the lifting section and the working component, so that the lifting section and the working component and the transmission section form a differential motion. In both cases, the lifting section can be driven to rotate relative to the transmission section, so that the frictional inertia between the lifting section and the transmission section is less than the self-weight inertia of the lifting section, thereby forming a differential motion between the lifting section and the transmission section. The lifting section rises or falls under the action of differential motion, that is, the lifting and lowering of the working component is realized. Based on this, the relationship between the magnitude of frictional inertia and self-weight inertia can be used to realize the automatic lifting of the working component without adding additional components, which can reduce the size and control cost.

[0005] To address the aforementioned technical problems, this application provides a lifting device that connects to a working component. The lifting device includes a drive component and a connecting component, with the drive component connected to the connecting component. The lifting device has a lifting section and a transmission section. The frictional inertia between the transmission section and the working component is less than the self-weight inertia of the working component, thereby enabling the transmission section and the working component to move at a differential speed. Alternatively, the frictional inertia between the lifting section and the working component and the transmission section is less than the self-weight inertia of the lifting section and the working component, thereby enabling the lifting section and the working component and the transmission section to move at a differential speed.

[0006] In some embodiments, the transmission unit includes a connecting component, and the frictional inertia between the connecting component and the working component is less than the self-weight inertia of the working component, so that the connecting component and the working component form a differential motion.

[0007] Alternatively, the lifting part includes the connecting component, the transmission part includes the driving component, and the frictional inertia between the connecting component and the working component and the driving component is less than the self-weight inertia of the connecting component and the working component, so that the connecting component and the working component form a differential motion with the driving component.

[0008] In some embodiments, the connecting assembly includes a connecting shaft, a first connector, and a second connector. The first end of the connecting shaft is disposed within the drive assembly. The first connector is connected to the second end of the connecting shaft. The second connector abuts against the second end of the first connector away from the connecting shaft. The first connector and the second connector are disposed within the working assembly.

[0009] In some embodiments, a groove is provided at the second end of the connecting shaft, and a protrusion is provided at the end of the first connector near the connecting shaft. The protrusion is disposed in the groove, and the protrusion and the groove are interference-fitted.

[0010] In some embodiments, when the transmission part includes a connecting assembly, the working assembly includes a first housing, and the connecting assembly further includes a first limiting member, a second limiting member, and a clearance member located within the first housing.

[0011] The second end of the connecting shaft, the first connecting member, and the second connecting member are disposed within the first limiting member, the first limiting member is disposed within the yielding member, and the yielding member is disposed within the second limiting member.

[0012] In some embodiments, the outer side wall of the second limiting member is provided with a first threaded structure, and the inner side wall of the first housing is provided with a second threaded structure. The second threaded structure is helically engaged with the first threaded structure so that the frictional inertia between the lifting part and the transmission part is less than the self-weight inertia of the lifting part.

[0013] In some embodiments, the second limiting member includes a first component and a second component connected to each other, wherein the cross-sectional area of ​​the first component is larger than the cross-sectional area of ​​the second component.

[0014] The first limiting member is disposed within the first component, the outer wall of the second component is provided with a first protrusion, the first protrusion is provided with a first thread structure, and the clearance member is disposed within the second component.

[0015] In some embodiments, the connecting assembly further includes a first elastic member and a base plate, one end of the first elastic member being fixedly connected to the base plate, and a clearance member passing through the other end of the first elastic member and abutting against the base plate.

[0016] The second connector is disposed on the side of the base plate near the first elastic member, and the second connector abuts against the base plate.

[0017] In some embodiments, the outer side wall of the relief member is provided with a second protrusion, the relief member is disposed within the second component, a portion of the first elastic member is disposed between the relief member and the second component, and a portion of the first elastic member contacts the second protrusion.

[0018] In some embodiments, when the lifting part includes a connecting component and the transmission part includes a driving component, the connecting component further includes a third limiting member, and the driving component further includes a second housing and a fourth limiting member.

[0019] The third and fourth limiting members are disposed inside the second housing, and the first end of the connecting shaft is disposed between the third and fourth limiting members.

[0020] In some embodiments, the outer wall of the third limiting member is provided with a third threaded structure, and the second housing of the drive assembly is provided with a fourth threaded structure. The fourth threaded structure is helically engaged with the third threaded structure so that the frictional inertia between the lifting part and the transmission part is less than the self-weight inertia of the lifting part.

[0021] In some embodiments, the working assembly includes a third housing, and the connecting assembly further includes a fifth limiting member, a sixth limiting member, and a second elastic member disposed within the third housing. The second end of the connecting shaft, the first connecting member, and the second connecting member are disposed within the fifth limiting member, the fifth limiting member is disposed within the sixth limiting member, and the second elastic member is disposed between the sixth limiting member and the third housing.

[0022] In order to solve the above-mentioned technical problems, this application provides a cleaning robot, which includes the above-mentioned lifting device.

[0023] The lifting device and cleaning robot provided in some embodiments of this application include a lifting section and a transmission section. The lifting device is connected to a working component, and the lifting section includes a drive component and a connecting component connected to each other. The frictional inertia between the transmission section and the working component is less than the self-weight inertia of the working component, so that the transmission section and the working component form a differential motion; or, the frictional inertia between the lifting section, the working component, and the transmission section is less than the self-weight inertia of the lifting section and the working component, so that the lifting section, the working component, and the transmission section form a differential motion. In both cases, the lifting section can be driven to rotate relative to the transmission section, so that the frictional inertia between the lifting section and the transmission section is less than the self-weight inertia of the lifting section, thereby forming a differential motion between the lifting section and the transmission section. The lifting section rises or falls under the action of the differential motion, that is, the lifting and lowering of the working component is realized. Based on this, the relationship between frictional inertia and self-weight inertia can be used to realize the automatic lifting of the working component without adding additional components, thus reducing size and control costs. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of 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. Wherein:

[0025] Figure 1 This is a schematic diagram of the frame of the lifting device in some embodiments of this application;

[0026] Figure 2 This is a schematic diagram of the frame of the lifting device in some embodiments of this application;

[0027] Figure 3 This is a schematic diagram of the frame of the lifting device in some embodiments of this application;

[0028] Figure 4 yes Figure 3 The diagram shows the structure of the lifting device.

[0029] Figure 5 yes Figure 3 A schematic diagram of the cross-section of the lifting device shown;

[0030] Figure 6 This is a schematic diagram of the frame of the lifting device in some embodiments of this application;

[0031] Figure 7 yes Figure 6 The diagram shows the structure of the lifting device.

[0032] Figure 8 yes Figure 6A schematic diagram of the cross-section of the lifting device shown;

[0033] Figure 9 This is a schematic diagram of the frame of the cleaning robot in some embodiments of this application. Detailed Implementation

[0034] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0035] See Figure 1 , Figure 1 This is a schematic diagram of the frame of the lifting device in some embodiments of this application. The lifting device 10 has a lifting part 101 and a transmission part 102.

[0036] The lifting part 101 can rotate relative to the transmission part 102. The frictional inertia between the lifting part 101 and the transmission part 102 is less than the self-weight inertia of the lifting part 101, so that the lifting part 101 and the transmission part 102 form a differential motion.

[0037] In some embodiments, the frictional inertia between the lifting part 101 and the transmission part 102 is related to the friction between the lifting part 101 and the transmission part 102.

[0038] Specifically, the frictional inertia between the lifting part 101 and the transmission part 102 is the frictional inertia generated when the transmission part 102 rotates clockwise or counterclockwise and rubs against the lifting part 101.

[0039] Alternatively, the frictional inertia between the lifting part 101 and the transmission part 102 is the frictional inertia between the lifting part 101 and the transmission part 102 when the lifting part 101 rotates clockwise or counterclockwise.

[0040] In some embodiments, the lifting part 101 is provided with a first friction structure, and the transmission part 102 is provided with a second friction structure. The first friction structure and the second friction structure are frictionally connected, so that frictional inertia can be generated between the lifting part 101 and the transmission part 102. The first friction structure and the second friction structure can be internal thread structure, external thread structure, or other types, which are not limited here.

[0041] Specifically, the first friction structure engages with the second friction structure. After the transmission part 102 starts to rotate, the lifting part 101 needs to wait for a period of time before rotating relative to the transmission part 102. Since the first friction structure is set on the lifting part 101, the first friction structure will also rotate with the lifting part 101 at this time. At this time, the frictional inertia between the lifting part 101 and the transmission part 102 is less than the self-weight inertia of the lifting part 101.

[0042] As the lifting unit 101 continues to rotate, when the frictional inertia between the lifting unit 101 and the transmission unit 102 is greater than or equal to the self-weight inertia of the lifting unit 101, the lifting unit 101 will no longer follow the transmission unit 102 in rotation. That is, the first friction structure will no longer follow the second friction structure in rotation. At this point, a height difference exists between the lifting unit 101 and the ground, enabling the lifting unit 101 to automatically rise. Similarly, when a height difference exists between the lifting unit 101 and the transmission unit 102, the lifting unit 101 will automatically descend.

[0043] In some embodiments, the moment of inertia of the lifting part 101 is based on its own weight. The moment of inertia of the lifting part 101 is related to its mass; the greater the mass of the lifting part 101, the greater its moment of inertia. The range of the moment of inertia of the lifting part 101 can be determined through repeated experiments. Based on this range, the weight of the lifting part 101 is limited, thereby defining the relationship between the moment of inertia of the lifting part 101 and the frictional inertia between the lifting part 101 and the transmission part 102.

[0044] It is understandable that when the lifting part 101 begins to rotate relative to the transmission part 102, the lifting part 101 will not rotate immediately. When the frictional inertia between the lifting part 101 and the transmission part 102 is less than the self-weight inertia of the lifting part 101, there is a differential motion between the lifting part 101 and the transmission part 102. The lifting part 101 can automatically rise and fall based on the differential motion. No other devices are needed to control the lifting process of the lifting part 101, which can reduce the use of devices, thereby reducing the size of the lifting device 10 and reducing costs.

[0045] See Figure 2 , Figure 2 This is a schematic diagram of the frame of a lifting device in some embodiments of this application. The lifting device 10 is connected to the working component 201. The lifting device 10 includes a connecting component 202 and a driving component 203 that are connected to each other. The driving component 203 is connected to the working component 201 through the connecting component 202.

[0046] In some embodiments, the operation component 201 includes a sweeping component, which may be a mop disc, a turntable assembly, a rotating mop structure, or others, without limitation.

[0047] In some embodiments, the drive component 203 may be a motor, a driver, a gearbox assembly, or others, without limitation.

[0048] based on Figure 1 and Figure 2 The lifting device 10 shown is described in the following text. Figure 3 , Figure 3 This is a schematic diagram of the frame of the lifting device in some embodiments of this application. Specifically, the transmission part 102 includes a connecting component 202. At this time, the working component 201 can rotate relative to the connecting component 202. The frictional inertia between the working component 201 and the connecting component 202 is less than the self-weight inertia of the working component 201, so that the working component 201 and the connecting component 202 form a differential motion. Therefore, the working component 201 can rotate upward or downward under the action of differential motion. No other device is needed to control the lifting process of the working component 201, which can reduce the use of devices, thereby reducing the size of the lifting device 10 and reducing costs. It can be understood that at this time, the lifting device 10 does not have a lifting part 101, or the lifting part 101 has a lifting part 101, but the lifting part 101 does not perform lifting operations.

[0049] based on Figure 3 The lifting device 10 shown is illustrated in the diagram below. Figure 4 A cross-sectional schematic diagram of the lifting device 10 can be found in [reference needed]. Figure 5 .

[0050] based on Figure 4 and Figure 5 The lifting device 10 shown is as follows:

[0051] In some embodiments, such as Figure 4 and Figure 5 As shown, the connecting assembly 202 includes a connecting shaft 301 and a first connecting member 302. Figure 4 (Not shown) and second connector 303. The first end of the connecting shaft 301 is disposed in the drive assembly 203, the first connector 302 is connected to the second end of the connecting shaft 301, the second connector 303 abuts against the second end of the first connector 302 away from the connecting shaft 301, and the first connector 302 and the second connector 303 are disposed in the working assembly 201.

[0052] In some embodiments, the connecting shaft 301 is part of the drive assembly 203, and the connecting shaft 301 is press-fitted to the drive assembly 203.

[0053] In some embodiments, the connecting shaft 301 is connected to the first connecting member 302 via fasteners. The first connecting member 302 is connected to the second connecting member 303 via fasteners. The fasteners can be bolts, screws, studs, or others. Using fasteners as a connection medium ensures a stable connection between the connecting shaft 301 and the first connecting member 302, and between the first connecting member 302 and the second connecting member 303. Furthermore, the fasteners are detachably connected to the connecting shaft 301, the first connecting member 302, and the second connecting member 303, allowing for replacement of the connecting shaft 301, the first connecting member 302, and / or the second connecting member 303 as needed, thus expanding the application scenarios of the connecting shaft 301, the first connecting member 302, and the second connecting member 303.

[0054] In some embodiments, such as Figure 5 As shown, the second end of the connecting shaft 301 is provided with a groove 401, and the end of the first connecting member 302 near the connecting shaft 301 is provided with a protrusion 402. The protrusion 402 is disposed in the groove 401, and the protrusion 402 and the groove 401 are interference fit.

[0055] Alternatively, the second end of the connecting shaft 301 is provided with a protrusion 402, and the end of the first connecting member 302 near the connecting shaft 301 is provided with a groove 401, the protrusion 402 is disposed in the groove 401, and the protrusion 402 and the groove 401 are interference fit.

[0056] It is understandable that the dimensions of the groove 401 and the protrusion 402 are set to correspond, so that the protrusion 402 can be inserted into the groove 401. The interference fit between the protrusion 402 and the groove 401 prevents them from easily separating, thus achieving a tight connection between the protrusion 402 and the groove 401. This ensures the normal operation of the lifting process of the working component 201 and avoids interruption of the lifting process due to the component detaching.

[0057] In some embodiments, the first connector 302 is made of a magnetic material, such as a metallic magnetic material (e.g., magnetic stainless steel, nickel-based alloy), a non-metallic magnetic material (e.g., soft magnetic ferrite, AlNiCo alloy), or others. In this case, the second connector 303 can be a magnet, and the first connector 302 and the second connector 303 are magnetically connected. This magnetic connection between the first connector 302 and the second connector 303 utilizes the properties of the materials to achieve the connection. Compared to methods using fasteners, this eliminates the need for additional components, reducing the number of devices used and saving costs.

[0058] In some embodiments, a protrusion is provided at one end of the first connector 302 near the second connector 303, and a receiving groove is provided at one end of the second connector 303 near the first connector 302. The protrusion is disposed in the receiving groove, and the protrusion and the receiving groove are interference fit.

[0059] Alternatively, the first connector 302 may have a receiving groove at one end near the second connector 303, and the second connector 303 may have a protrusion at one end near the first connector 302. The protrusion is located in the receiving groove and is interference-fitted with the receiving groove.

[0060] It is understandable that the dimensions of the receiving slot and the bump are set to correspond, so that the bump can be inserted into the receiving slot. The interference fit between the bump and the receiving slot prevents the bump and the receiving slot from easily separating, thus achieving a tight connection between the bump and the receiving slot. This ensures the normal operation of the lifting process of the working component 201 and avoids interruption of the lifting process due to the device detaching.

[0061] In some embodiments, the drive assembly 203 includes a gearbox assembly comprising a plurality of gears. In this case, the first end of the connecting shaft 301 may pass through one of the gears, or the outer sidewall of the first end of the connecting shaft 301 may contact the gear. When the gear rotates, the connecting shaft 301 begins to rotate under the drive of the gear, and thus, under the drive of the connecting shaft 301, drives the first connecting member 302, the second connecting member 303, and the working assembly 201 to rotate.

[0062] In some embodiments, such as Figure 4 and Figure 5 As shown, the working component 201 includes a first housing 403, and the connecting component 202 further includes a first limiting member 304, a second limiting member 305, and a clearance member 306 located within the first housing 403.

[0063] The second end of the connecting shaft 301, the first connecting member 302, and the second connecting member 303 are disposed within the first limiting member 304. The first limiting member 304 is disposed within the yielding member 306, and the yielding member 306 is disposed within the second limiting member 305. The first limiting member 304 and the second limiting member 305 can fix and restrict the connecting assembly 202. The yielding member 306 can yield to the working assembly 201, for example, when the working assembly 201 encounters an obstacle or the ground it contacts is uneven, the yielding member 306 can yield to the working assembly 201, allowing the working assembly 201 to rise.

[0064] In some embodiments, the outer side wall of the second limiting member 305 is provided with a first threaded structure, and the inner side wall of the first housing 403 is provided with a second threaded structure, the second threaded structure being helically engaged with the first threaded structure. Frictional inertia can be generated between the first threaded structure and the second threaded structure, and this frictional inertia corresponds to the frictional inertia between the working component 201 and the connecting component 202.

[0065] It is worth noting that the first threaded structure engages with the second threaded structure. After the connecting component 202 starts to rotate, the working component 201 needs to wait for a period of time before it begins to rotate relative to the connecting component 202. Since the second threaded structure is located on the working component 201, the second threaded structure will also rotate with the working component 201. At this time, the frictional inertia between the working component 201 and the connecting component 202 is less than the self-weight inertia of the working component 201.

[0066] As the working component 201 continues to rotate, when the frictional inertia between the working component 201 and the connecting component 202 is greater than or equal to the self-weight inertia of the working component 201, the working component 201 will no longer follow the connecting component 202 to rotate, that is, the second thread structure will no longer follow the first thread structure to rotate.

[0067] In some embodiments, the first thread structure is an external thread and the second thread structure is an internal thread. Alternatively, the first thread structure is an internal thread and the second thread structure is an external thread.

[0068] In some embodiments, such as Figure 4 and Figure 5 As shown, the second limiting member 305 includes a first component 404 and a second component 405 connected to each other. The cross-sectional area of ​​the first component 404 is larger than that of the second component 405, allowing the second component 405 to be placed inside the working assembly 201. The second limiting member 305 can also be connected to the working assembly 201 via the first component 404, for example, by fasteners. In this case, the first component 404 has a first accommodating space, and the second component 405 has a second accommodating space. The first and second accommodating spaces have the same volume and are interconnected.

[0069] In some embodiments, such as Figure 4 and Figure 5 As shown, the first limiting member 304 is disposed within the first component 404, and the yielding member 306 is disposed within the second component 405. Specifically, the first limiting member 304 is disposed within the first receiving space of the first component 404, and the yielding member 306 is disposed within the second receiving space of the second component 405.

[0070] In some embodiments, such as Figure 4 and Figure 5 As shown, the outer wall of the second component 405 is provided with a first protrusion 4051. The first protrusion 4051 is provided with a first threaded structure.

[0071] In some embodiments, the size and shape of the first accommodating space are configured to correspond to the shape and size of the first limiting member 304, so that when the first limiting member 304 can be placed in the first accommodating space, the first limiting member 304 is prevented from leaving the first accommodating space by matching the shape and other parameters of the first accommodating space with the first limiting member 304.

[0072] Similarly, the second accommodating space is set in correspondence with the clearance member 306 to prevent the clearance member 306 from leaving the second accommodating space and to ensure that the lifting and lowering process of the working component 201 can be carried out normally.

[0073] In some embodiments, such as Figure 4 and Figure 5 As shown, the first housing 403 includes a first housing portion 4032 and a second housing portion 4033 connected by a connector 4031. The first housing portion 4032 is provided with a third accommodating space O1. The second end of the connecting shaft 301 in the connecting assembly 202, the first connector 302, and the second connector 303 can be disposed in the third accommodating space O1. A cleaning object such as a rag is installed on the side of the second housing portion 4033 away from the first housing portion 4032.

[0074] The third accommodating space O1 is provided with a second threaded structure. The second threaded structure can be helically engaged with the first threaded structure on the first protrusion 4051.

[0075] In some embodiments, such as Figure 4 and Figure 5 As shown, the connecting assembly 202 also includes a first elastic element 307 and a base plate 308. One end of the first elastic element 307 is fixedly connected to the base plate 308, and the clearance member 306 passes through the other end of the first elastic element 307 and abuts against the base plate 308. The first elastic element 307 can be a spring, compression spring, elastic rubber sheet, or other types, which are not limited here.

[0076] In some embodiments, the second connector 303 is disposed on the base plate 308 on the side near the first elastic member 307, and the second connector 303 abuts against the base plate 308.

[0077] In some embodiments, such as Figure 4As shown, the outer wall of the yielding member 306 is provided with a second protrusion 406. The yielding member 306 is disposed within the second component 405. A portion of the first elastic member 307 is disposed between the yielding member 306 and the second component 405, and a portion of the first elastic member 307 contacts the second protrusion 406. At this time, the upper and lower sides of the first elastic member 307 are locked between the second protrusion 406 and the base plate 308 of the yielding member 306, and the side of the first elastic member 307 is locked between the yielding member 306 and the second component 405. When the ground is uneven or an obstacle is encountered, the working component 201 cannot maintain horizontal balance. At this time, the first elastic member 307 is compressed, and the first elastic member 307 can provide a reaction force to the yielding member 306, causing the yielding member 306 to move downward, that is, in the direction of the working component 201.

[0078] based on Figure 1 and Figure 2 The lifting device 10 shown is described in the following text. Figure 6 , Figure 6 This is a schematic diagram of the frame of the lifting device in some embodiments of this application. Specifically, the lifting part 101 includes a connecting component 202, and the transmission part 102 includes a driving component 203. At this time, the working component 201 and the connecting component 202 can rotate relative to the driving component 203. The frictional inertia between the working component 201 and the connecting component 202 and the driving component 203 is less than the self-weight inertia of the working component 201 and the connecting component 202, so that the working component 201 and the connecting component 202 and the driving component 203 form a differential motion, and thus the working component 201 and the connecting component 202 can rotate upward or downward under the action of differential motion.

[0079] based on Figure 6 The lifting device 10 shown is illustrated in the diagram below. Figure 7 A cross-sectional schematic diagram of the lifting device 10 can be found in [reference needed]. Figure 8 .

[0080] based on Figure 7 and Figure 8 The lifting device 10 shown is as follows:

[0081] In some embodiments, such as Figure 7 and Figure 8 As shown, the connecting assembly 202 includes a connecting shaft 301, a first connector 302, and a second connector 303. The first end of the connecting shaft 301 is disposed within the driving assembly 203. The first connector 302 is connected to the second end of the connecting shaft 301. The second connector 303 abuts against the second end of the first connector 302 away from the connecting shaft 301. The first connector 302 and the second connector 303 are disposed within the working assembly 201.

[0082] In some embodiments, the connecting shaft 301 is part of the drive assembly 203, and the connecting shaft 301 is press-fitted to the drive assembly 203.

[0083] In some embodiments, the connecting shaft 301 is connected to the first connecting member 302 via fasteners. The first connecting member 302 is connected to the second connecting member 303 via fasteners. The fasteners may be bolts, screws, studs, or others.

[0084] In some embodiments, such as Figure 8 As shown, the second end of the connecting shaft 301 is provided with a groove 401, and the end of the first connecting member 302 near the connecting shaft 301 is provided with a protrusion 402. The protrusion 402 is disposed in the groove 401, and the protrusion 402 and the groove 401 are interference fit.

[0085] Alternatively, the second end of the connecting shaft 301 is provided with a protrusion 402, and the end of the first connecting member 302 near the connecting shaft 301 is provided with a groove 401, the protrusion 402 is disposed in the groove 401, and the protrusion 402 and the groove 401 are interference fit.

[0086] It is understandable that the dimensions of the groove 401 and the protrusion 402 are set to correspond, so that the protrusion 402 can be inserted into the groove 401. The interference fit between the protrusion 402 and the groove 401 prevents them from easily separating, thus achieving a tight connection between the protrusion 402 and the groove 401. This ensures the normal operation of the lifting process of the working component 201 and avoids interruption of the lifting process due to the component detaching.

[0087] In some embodiments, the first connector 302 is made of a magnetic material, such as a metallic magnetic material (e.g., magnetic stainless steel, nickel-based alloy), a non-metallic magnetic material (e.g., soft magnetic ferrite, AlNiCo alloy), or others. In this case, the second connector 303 can be a magnet, and the first connector 302 and the second connector 303 are magnetically connected.

[0088] In some embodiments, a protrusion is provided at one end of the first connector 302 near the second connector 303, and a receiving groove is provided at one end of the second connector 303 near the first connector 302. The protrusion is disposed in the receiving groove, and the protrusion and the receiving groove are interference fit.

[0089] Alternatively, the first connector 302 may have a receiving groove at one end near the second connector 303, and the second connector 303 may have a protrusion at one end near the first connector 302. The protrusion is located in the receiving groove and is interference-fitted with the receiving groove.

[0090] It is understandable that the dimensions of the receiving slot and the bump are set to correspond, so that the bump can be inserted into the receiving slot. The interference fit between the bump and the receiving slot prevents the bump from easily disengaging from the receiving slot, thus achieving a tight connection between the bump and the receiving slot. This ensures the normal operation of the lifting process of the working component 201 and avoids interruption of the lifting process due to the disengagement of the component.

[0091] In some embodiments, the drive assembly 203 includes a gearbox assembly comprising a plurality of gears. In this case, the first end of the connecting shaft 301 may pass through one of the gears, or the outer sidewall of the first end of the connecting shaft 301 may contact the gear. When the gear rotates, the connecting shaft 301 begins to rotate under the drive of the gear, and thus, under the drive of the connecting shaft 301, drives the first connecting member 302, the second connecting member 303, and the working assembly 201 to rotate.

[0092] In some embodiments, such as Figure 7 and Figure 8 As shown, the connecting assembly 202 further includes a third limiting member 309, and the driving assembly 203 further includes a second housing 407 and a fourth limiting member 408. The third limiting member 309 and the fourth limiting member 408 are disposed within the second housing 407, and the first end of the connecting shaft 301 is disposed between the third limiting member 309 and the fourth limiting member 408.

[0093] In some embodiments, the outer side wall of the third limiting member 309 is provided with a third threaded structure, and the inner side wall of the second housing 407 of the drive assembly 203 is provided with a fourth threaded structure, the fourth threaded structure being helically engaged with the third threaded structure. Frictional inertia can be generated between the third threaded structure and the fourth threaded structure, and this frictional inertia corresponds to the frictional inertia between the working assembly 201 and the connecting assembly 202 and the drive assembly 203.

[0094] It is worth noting that the third threaded structure engages with the fourth threaded structure. After the drive assembly 203 starts to rotate, the working assembly 201 and the connecting assembly 202 need to wait for a certain period of time before they begin to rotate relative to the drive assembly 203. Since the third threaded structure is located on the connecting assembly 202, it will also rotate with the drive assembly 203. At this time, the frictional inertia between the working assembly 201 and the connecting assembly 202 and the drive assembly 203 is less than the self-weight inertia of the working assembly 201 and the connecting assembly 202.

[0095] As the working component 201 and the connecting component 202 continue to rotate, when the frictional inertia between the working component 201 and the connecting component 202 and the driving component 203 is greater than or equal to the self-weight inertia of the working component 201 and the connecting component 202, the working component 201 and the connecting component 202 will no longer follow the driving component 203 to rotate, that is, the third thread structure will no longer follow the fourth thread structure to rotate.

[0096] In some embodiments, the third thread structure is an external thread and the fourth thread structure is an internal thread. Alternatively, the third thread structure is an internal thread and the fourth thread structure is an external thread.

[0097] In some embodiments, such as Figure 7 and Figure 8 As shown, a transverse protrusion is provided at the first end of the connecting shaft 301, and the second end of the connecting shaft 301 passes through the fourth limiting member 408, so that the side of the transverse protrusion near the second end of the connecting shaft 301 contacts the fourth limiting member 408. Thus, with the cooperation of the fourth limiting member 408 and the transverse protrusion, the first end of the connecting shaft 301 can be restricted within the drive assembly 203, preventing the connecting shaft 301 from detaching from the drive assembly 203.

[0098] Additionally, the third limiting member 309 is inserted into and contacts the second end of the transverse protrusion away from the connecting shaft 301. This allows the position of the third limiting member 309 to be restricted through the cooperation between the third limiting member 309 and the transverse protrusion, ensuring that the third threaded structure on the third limiting member 309 engages with the fourth threaded structure on the inner wall of the second housing 407.

[0099] In some embodiments, such as Figure 7 and Figure 8 As shown, the working component 201 includes a third housing 409, and the connecting component 202 further includes a fifth limiting member 310, a sixth limiting member 311, and a second elastic member 312 located in the third housing 409. The second end of the connecting shaft 301, the first connecting member 302, and the second connecting member 303 are disposed within the fifth limiting member 310, which is disposed within the sixth limiting member 311. The second elastic member 312 is disposed between the sixth limiting member 311 and the third housing 409. The second elastic member 312 can be a spring, compression spring, elastic rubber sheet, or other types, and is not limited here. The sixth limiting member 311 functions similarly to the yielding member 306; when the working component 201 encounters an obstacle or the ground is uneven, the sixth limiting member 311 can yield to the working component 201, allowing the working component 201 to rise.

[0100] In some embodiments, such as Figure 7 and Figure 8 As shown, the third housing 409 includes a first housing portion 4032 and a second housing portion 4033 connected by a connector 4031. The first housing portion 4032 is provided with a fourth accommodating space O2. The second end of the connecting shaft 301 in the connecting assembly 202, the first connector 302, and the second connector 303 can be disposed in the fourth accommodating space O2. A cleaning object such as a rag is installed on the side of the second housing portion 4033 away from the first housing portion 4032.

[0101] In some embodiments, such as Figure 7 As shown, the outer side wall of the third limiting member 309 is provided with a third protrusion 410, and the third protrusion 410 is provided with a third thread structure.

[0102] In some embodiments, such as Figure 8 As shown, the second housing 407 includes a fifth accommodating space O3, and a fourth threaded structure is provided on the inner wall of the fifth accommodating space O3. The fourth threaded structure can be helically engaged with the third threaded structure on the third protrusion 410.

[0103] See Figure 9 , Figure 9 This is a schematic diagram of the frame of a cleaning robot in some embodiments of this application. The cleaning robot 20 includes the lifting device 10 described in any of the above embodiments, which will not be repeated here.

[0104] In some embodiments, the cleaning robot 20 further includes a memory and a processor, wherein the memory is used to store a computer program and the processor is used to execute the computer program. The processor involved in this application may be referred to as a CPU (Central Processing Unit), which may be an integrated circuit chip, or a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.

[0105] In some embodiments, the cleaning robot 20 may also include other components, such as a charging dock.

[0106] In summary, the lifting device 10 and cleaning robot 20 provided in some embodiments of this application include a lifting part 101 and a transmission part 102, or include a connecting component 202 and a driving component 203.

[0107] The transmission unit 102 includes a connecting component 202. At this time, by providing a first threaded structure on the working component 201 and a second threaded structure on the connecting component 202, when the frictional inertia between the first threaded structure and the second threaded structure is less than the self-weight inertia of the working component 201, a differential motion exists between the working component 201 and the connecting component 202, and the working component 201 can be raised and lowered under the drive of the differential motion.

[0108] Alternatively, the lifting unit 101 may include a connecting component 202, and the transmission unit 102 may include a drive component 203. In this case, a third threaded structure may be provided on the connecting component 202, and a fourth threaded structure may be provided on the drive component 203. When the frictional inertia between the third threaded structure and the fourth threaded structure is less than the self-weight inertia of the working component 201 and the connecting component 202, a differential motion may exist between the working component 201, the connecting component 202, and the drive component 203, allowing the working component 201 and the connecting component 202 to rise and fall under the drive of the differential motion.

[0109] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A lifting device, wherein the lifting device is connected to a working assembly, characterized in that, The lifting device includes: Driver components; A connection component, wherein the driving component is connected to the connection component; The lifting device has a lifting part and a transmission part. The lifting part rotates relative to the transmission part. The frictional inertia between the transmission part and the working component is less than the self-weight inertia of the working component, so that the transmission part and the working component form a differential motion. Alternatively, the frictional inertia between the lifting part and the working component and the transmission part is less than the self-weight inertia of the lifting part and the working component, so that the lifting part and the working component and the transmission part form a differential motion.

2. The lifting device according to claim 1, characterized in that, The transmission unit includes the connecting assembly, and the frictional inertia between the connecting assembly and the working assembly is less than the self-weight inertia of the working assembly, so that the connecting assembly and the working assembly form a differential motion; Alternatively, the lifting part includes the connecting component, the transmission part includes the driving component, and the frictional inertia between the connecting component and the working component and the driving component is less than the self-weight inertia of the connecting component and the working component, so that the connecting component and the working component and the driving component form a differential motion.

3. The lifting device according to claim 2, characterized in that, The connecting assembly includes a connecting shaft, a first connector, and a second connector. The first end of the connecting shaft is disposed within the driving assembly. The first connector is connected to the second end of the connecting shaft. The second connector abuts against the second end of the first connector away from the connecting shaft. The first connector and the second connector are disposed within the working assembly.

4. The lifting device according to claim 3, characterized in that, The second end of the connecting shaft is provided with a groove, and the end of the first connector near the connecting shaft is provided with a protrusion. The protrusion is disposed in the groove, and the protrusion is interference-fitted with the groove.

5. The lifting device according to claim 3, characterized in that, When the transmission part includes the connecting assembly, the working assembly includes a first housing, and the connecting assembly further includes a first limiting member, a second limiting member, and a clearance member located within the first housing; The second end of the connecting shaft, the first connecting member, and the second connecting member are disposed within the first limiting member, the first limiting member is disposed within the yielding member, and the yielding member is disposed within the second limiting member.

6. The lifting device according to claim 5, characterized in that, The outer side wall of the second limiting member is provided with a first threaded structure, and the inner side wall of the first housing is provided with a second threaded structure. The second threaded structure is screwed into the first threaded structure so that the frictional inertia between the lifting part and the transmission part is less than the self-weight inertia of the lifting part.

7. The lifting device according to claim 6, characterized in that, The second limiting member includes a first component and a second component that are connected to each other, wherein the cross-sectional area of ​​the first component is larger than the cross-sectional area of ​​the second component; The first limiting member is disposed inside the first component, the outer side wall of the second component is provided with a first protrusion, the first protrusion is provided with the first thread structure, and the clearance member is disposed inside the second component.

8. The lifting device according to claim 7, characterized in that, The connecting assembly further includes a first elastic element and a base plate, one end of the first elastic element is fixedly connected to the base plate, and the clearance element passes through the other end of the first elastic element and abuts against the base plate. The second connector is disposed on the side of the base plate near the first elastic member, and the second connector abuts against the base plate.

9. The lifting device according to claim 8, characterized in that, The outer wall of the relief member is provided with a second protrusion. The relief member is disposed inside the second component. A portion of the first elastic member is disposed between the relief member and the second component, and a portion of the first elastic member contacts the second protrusion.

10. The lifting device according to claim 3, characterized in that, When the lifting part includes the connecting assembly and the transmission part includes the driving assembly, the connecting assembly further includes a third limiting member, and the driving assembly further includes a second housing and a fourth limiting member; The third and fourth limiting members are disposed within the second housing, and the first end of the connecting shaft is disposed between the third and fourth limiting members.

11. The lifting device according to claim 10, characterized in that, The outer wall of the third limiting member is provided with a third threaded structure, and the second housing of the drive assembly is provided with a fourth threaded structure. The fourth threaded structure is helically engaged with the third threaded structure so that the frictional inertia between the lifting part and the transmission part is less than the self-weight inertia of the lifting part.

12. The lifting device according to claim 10, characterized in that, The working component also includes a third housing, and the connecting component also includes a fifth limiting member, a sixth limiting member, and a second elastic member located within the third housing; The second end of the connecting shaft, the first connecting member, and the second connecting member are disposed within the fifth limiting member, the fifth limiting member is disposed within the sixth limiting member, and the second elastic member is disposed between the sixth limiting member and the third housing.

13. A cleaning robot, characterized in that, Includes the lifting device as described in any one of claims 1-12.

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